Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 143 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 143 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -2078401.4 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

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 -2078401.4

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 143 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 001228,6239.871,-1022.137,26,2.8,45,-10.4 TGT_NAME IFRSILL

_CALLS 5 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.213,0.061

_SM_DEPTHo 1.24 KALMAN_X -120949.2,2125.0,1256.9,49946.7,-23273.6

_SM_ANGLEo -53.7 KALMAN_Y 119113.6,-200.6,-667.7,-4293.3,1611.0

GPS2 003207,6239.723,-1022.380,34,1.2,39,-10.4 MHEAD_RNG_PITCHd_Wd 84.4,40577,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.026596 ALTIM_BOTTOM_PING 450.9,103.9

SM_CCo 14340,184.88,0.656,0,0,509,566.15 _24V_AH 23.6,25.696

SM_GC 1.21,0.00,0.00,184.88,0.000,0.000,0.656,66,2410,509,-10.78,0.31,566.15 _10V_AH 10.2,12.406

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34890,696

TT8_MAMPS 0.023777 CFSIZE 260165632,251031552

HUMID 2060 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 17.00 GPS 081207,043628,6239.432,-1022.333,30,2.3,49,-10.4

XPDR_PINGS 21

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 102.58 SBE_CT 491 24 278.34

Roll_motor 131 78 242.88 SBE_O2 491 19 220.19

VBD_pump_during_apogee 308 1039 7559.26 WL_BB2F 471 105 1167.85

VBD_pump_during_surface 184 655 2861.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 163 103 396.39 nil 0 0 0.00

Iridium_during_connect 192 160 726.85 nil 0 0 0.00

Iridium_during_xfer 431 223 2268.67

Transponder_ping 8 420 86.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.86

TT8 1267 19 255.92

LPSleep 11323 2 252.95

TT8_Active 663 19 133.94

TT8_Sampling 1497 39 607.91

TT8_CF8 960 45 448.63

TT8_Kalman 33 81 27.84

Analog_circuits 1419 12 173.70

GPS_charging 0 0 0.00

Compass 1445 8 117.97

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -102.65 0.000 2 0.000 0.000 64 2406 3121

126 -0.85 -146.6 3.9 -3.1 5 152 12.15 2.55 -6.70 0.000 4 0.172 0.078 2220 3757 3418

196 -0.85 -146.6 14.1 -7.9 8 200 0.00 2.47 0.00 0.000 6 0.000 0.043 2220 2384 3418

523 -0.85 -146.6 42.9 -9.1 24 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2384 3417

833 -0.85 -146.6 70.9 -9.0 39 837 0.00 2.60 0.00 0.000 4 0.000 0.065 2220 983 3417

876 -0.85 -146.6 75.5 -9.9 41 880 0.00 2.58 0.00 0.000 6 0.000 0.049 2220 2394 3417

1203 -0.85 -146.6 101.8 -8.1 57 1205 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2393 3418

1512 -0.85 -146.6 126.1 -7.4 72 1517 0.00 2.62 0.00 0.000 4 0.000 0.063 2220 980 3417

1543 -0.85 -146.6 128.7 -8.3 73 1551 0.00 2.58 0.00 0.000 6 0.000 0.048 2220 2396 3417

1859 -0.85 -146.6 154.5 -8.1 89 1864 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 983 3417

1891 -0.85 -146.6 157.1 -7.6 90 1898 0.00 2.58 0.00 0.000 6 0.000 0.049 2220 2400 3418

2207 -0.85 -146.6 184.2 -9.0 106 2212 0.00 2.62 0.00 0.000 4 0.000 0.064 2220 985 3417

2239 -0.85 -146.6 187.1 -8.7 107 2246 0.00 2.55 0.00 0.000 6 0.000 0.048 2220 2395 3418

2555 -0.85 -146.6 213.6 -8.4 123 2556 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3417

2864 -0.85 -146.6 239.3 -8.2 138 2868 0.00 2.62 0.00 0.000 4 0.000 0.066 2220 985 3417

2929 -0.85 -146.6 244.9 -7.9 141 2934 0.00 2.53 0.00 0.000 6 0.000 0.048 2220 2400 3417

3256 -0.85 -146.6 270.2 -7.7 157 3257 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

3565 -0.85 -146.6 292.9 -6.9 172 3569 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 979 3417

3608 -0.85 -146.6 296.1 -7.4 174 3612 0.00 2.55 0.00 0.000 6 0.000 0.048 2220 2403 3417

3934 -0.85 -146.6 320.4 -7.9 190 3939 0.00 2.62 0.00 0.000 4 0.000 0.068 2220 985 3417

3989 -0.85 -146.6 324.8 -8.1 192 3997 0.00 2.58 0.00 0.000 6 0.000 0.050 2220 2404 3417

4307 -0.85 -146.6 350.7 -8.0 208 4308 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3418

4614 -0.85 -146.6 372.8 -6.0 223 4618 0.00 2.65 0.00 0.000 4 0.000 0.067 2220 983 3417

4685 -0.85 -146.6 377.0 -6.2 226 4689 0.00 2.55 0.00 0.000 6 0.000 0.049 2220 2405 3417

5006 -0.85 -146.6 396.8 -7.0 242 5010 0.00 2.65 0.00 0.000 4 0.000 0.068 2220 985 3417

5054 -0.85 -146.6 400.6 -7.5 244 5059 0.00 2.58 0.00 0.000 6 0.000 0.051 2220 2401 3417

5376 -0.85 -146.6 420.7 -5.2 260 5380 0.00 2.65 0.00 0.000 4 0.000 0.070 2220 984 3418

5398 -0.85 -146.6 421.7 -4.8 261 5402 0.00 2.58 0.00 0.000 6 0.000 0.050 2220 2407 3418

5717 -0.85 -146.6 440.5 -7.4 277 5718 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2407 3418

6027 -0.85 -146.6 467.2 -8.8 292 6031 0.00 2.65 0.00 0.000 4 0.000 0.069 2220 985 3418

6058 -0.85 -146.6 470.0 -8.9 293 6065 0.00 2.55 0.00 0.000 6 0.000 0.051 2220 2403 3418

6373 -0.85 -146.6 493.8 -7.5 309 6378 0.00 2.65 0.00 0.000 4 0.000 0.070 2220 985 3418

6422 -0.85 -146.6 497.7 -7.8 311 6427 0.00 2.58 0.00 0.000 6 0.000 0.054 2220 2392 3418

6744 -0.85 -146.6 521.7 -6.4 327 6748 0.00 2.58 0.00 0.000 4 0.000 0.074 2221 3766 3418

6765 -0.85 -146.6 523.2 -7.0 328 6770 0.00 2.47 0.00 0.000 6 0.000 0.050 2220 2403 3418

7085 -0.85 -146.6 542.2 -6.8 344 7089 0.00 2.65 0.00 0.000 4 0.000 0.074 2220 983 3419

7116 -0.85 -146.6 544.3 -6.5 345 7124 0.00 2.60 0.00 0.000 6 0.000 0.057 2220 2398 3418

7142 end dive: BOTTOM_OBSTACLE_DETECTED

state 7142 begin apogee

7147 -0.31 0.0 546.1 7.0 347 7270 0.60 0.00 120.15 1.039 6 0.111 0.000 2339 2197 2817

7271 end apogee: CONTROL_FINISHED_OK

state 7271 begin climb

7273 0.85 146.6 550.6 0.0 353 7399 1.17 2.78 117.55 1.032 4 0.076 0.074 2588 795 2218

7439 0.85 146.6 542.8 9.1 361 7443 0.00 2.60 0.00 0.000 6 0.000 0.051 2588 2203 2218

7764 0.88 176.0 523.1 5.2 377 7794 0.00 2.75 24.42 0.981 4 0.000 0.078 2588 3616 2099

7832 0.88 176.0 519.1 7.1 380 7837 0.00 2.67 0.00 0.000 6 0.000 0.064 2588 2205 2098

8154 0.91 209.3 502.4 5.1 396 8188 0.00 2.80 27.42 1.003 4 0.000 0.075 2588 789 1962

8239 0.91 209.3 497.0 6.9 400 8243 0.00 2.62 0.00 0.000 6 0.000 0.058 2588 2199 1961

8565 0.94 231.3 477.6 5.4 416 8586 0.12 0.00 18.65 0.952 6 0.067 0.000 2621 2199 1873

8893 0.94 231.3 454.8 6.8 432 8898 0.00 2.72 0.00 0.000 4 0.000 0.076 2621 776 1871

8914 0.94 231.3 453.5 6.3 433 8919 0.00 2.65 0.00 0.000 6 0.000 0.054 2621 2193 1871

9241 0.94 231.3 430.2 7.0 449 9242 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2193 1871

9550 0.94 231.3 405.8 8.9 464 9554 0.00 2.67 0.00 0.000 4 0.000 0.074 2621 782 1871

9598 0.94 231.3 401.0 9.4 466 9603 0.00 2.62 0.00 0.000 6 0.000 0.053 2621 2195 1871

9920 0.94 231.3 374.9 7.6 482 9921 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2195 1871

10229 0.94 231.3 351.8 8.4 497 10233 0.00 2.65 0.00 0.000 4 0.000 0.072 2621 3611 1871

10254 0.94 231.3 349.3 9.8 498 10259 0.00 2.62 0.00 0.000 6 0.000 0.061 2621 2196 1870

10576 0.94 231.3 319.7 9.1 514 10580 0.00 2.65 0.00 0.000 4 0.000 0.071 2621 780 1870

10624 0.94 231.3 315.2 9.1 516 10629 0.00 2.60 0.00 0.000 6 0.000 0.050 2621 2193 1871

10945 0.94 231.3 288.3 8.2 532 10946 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2193 1870

11255 0.94 231.3 262.5 8.2 547 11256 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2193 1871

11563 0.94 231.3 236.9 8.1 562 11565 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2193 1871

11873 0.94 231.3 213.3 7.3 577 11877 0.00 2.65 0.00 0.000 4 0.000 0.070 2621 782 1871

11904 0.94 231.3 210.7 8.1 578 11911 0.00 2.60 0.00 0.000 6 0.000 0.049 2621 2204 1871

12220 0.94 231.3 185.8 8.2 594 12221 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2204 1871

12529 0.94 231.3 158.8 9.0 609 12530 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2204 1871

12840 0.94 231.3 132.4 8.3 624 12844 0.00 2.65 0.00 0.000 4 0.000 0.067 2621 785 1871

12883 0.94 231.3 128.4 9.1 626 12887 0.00 2.55 0.00 0.000 6 0.000 0.048 2621 2202 1871

13210 0.94 231.3 101.6 8.6 642 13211 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2202 1872

13519 0.94 231.3 72.3 9.3 657 13520 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2200 1872

13829 0.94 231.3 44.0 9.6 672 13833 0.00 2.65 0.00 0.000 4 0.000 0.068 2621 783 1873

13860 0.94 231.3 40.9 9.5 673 13867 0.00 2.58 0.00 0.000 6 0.000 0.047 2621 2201 1873

14177 0.94 231.3 12.5 9.8 689 14179 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2201 1873

14298 end climb: SURFACE_DEPTH_REACHED

state 14298 begin surface coast

14320 end surface coast: CONTROL_FINISHED_OK

state 14320 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	143	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-2078401.4	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	001228,6239.871,-1022.137,26,2.8,45,-10.4	TGT_NAME	IFRSILL
_CALLS	5	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.213,0.061
_SM_DEPTHo	1.24	KALMAN_X	-120949.2,2125.0,1256.9,49946.7,-23273.6
_SM_ANGLEo	-53.7	KALMAN_Y	119113.6,-200.6,-667.7,-4293.3,1611.0
GPS2	003207,6239.723,-1022.380,34,1.2,39,-10.4	MHEAD_RNG_PITCHd_Wd	84.4,40577,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.026596	ALTIM_BOTTOM_PING	450.9,103.9
SM_CCo	14340,184.88,0.656,0,0,509,566.15	_24V_AH	23.6,25.696
SM_GC	1.21,0.00,0.00,184.88,0.000,0.000,0.656,66,2410,509,-10.78,0.31,566.15	_10V_AH	10.2,12.406
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34890,696
TT8_MAMPS	0.023777	CFSIZE	260165632,251031552
HUMID	2060	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	17.00	GPS	081207,043628,6239.432,-1022.333,30,2.3,49,-10.4
XPDR_PINGS	21

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	102.58	SBE_CT	491	24	278.34
Roll_motor	131	78	242.88	SBE_O2	491	19	220.19
VBD_pump_during_apogee	308	1039	7559.26	WL_BB2F	471	105	1167.85
VBD_pump_during_surface	184	655	2861.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	163	103	396.39	nil	0	0	0.00
Iridium_during_connect	192	160	726.85	nil	0	0	0.00
Iridium_during_xfer	431	223	2268.67
Transponder_ping	8	420	86.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.86
TT8	1267	19	255.92
LPSleep	11323	2	252.95
TT8_Active	663	19	133.94
TT8_Sampling	1497	39	607.91
TT8_CF8	960	45	448.63
TT8_Kalman	33	81	27.84
Analog_circuits	1419	12	173.70
GPS_charging	0	0	0.00
Compass	1445	8	117.97
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-102.65	0.000	2	0.000	0.000	64	2406	3121
126	-0.85	-146.6	3.9	-3.1	5	152	12.15	2.55	-6.70	0.000	4	0.172	0.078	2220	3757	3418
196	-0.85	-146.6	14.1	-7.9	8	200	0.00	2.47	0.00	0.000	6	0.000	0.043	2220	2384	3418
523	-0.85	-146.6	42.9	-9.1	24	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2384	3417
833	-0.85	-146.6	70.9	-9.0	39	837	0.00	2.60	0.00	0.000	4	0.000	0.065	2220	983	3417
876	-0.85	-146.6	75.5	-9.9	41	880	0.00	2.58	0.00	0.000	6	0.000	0.049	2220	2394	3417
1203	-0.85	-146.6	101.8	-8.1	57	1205	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2393	3418
1512	-0.85	-146.6	126.1	-7.4	72	1517	0.00	2.62	0.00	0.000	4	0.000	0.063	2220	980	3417
1543	-0.85	-146.6	128.7	-8.3	73	1551	0.00	2.58	0.00	0.000	6	0.000	0.048	2220	2396	3417
1859	-0.85	-146.6	154.5	-8.1	89	1864	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	983	3417
1891	-0.85	-146.6	157.1	-7.6	90	1898	0.00	2.58	0.00	0.000	6	0.000	0.049	2220	2400	3418
2207	-0.85	-146.6	184.2	-9.0	106	2212	0.00	2.62	0.00	0.000	4	0.000	0.064	2220	985	3417
2239	-0.85	-146.6	187.1	-8.7	107	2246	0.00	2.55	0.00	0.000	6	0.000	0.048	2220	2395	3418
2555	-0.85	-146.6	213.6	-8.4	123	2556	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3417
2864	-0.85	-146.6	239.3	-8.2	138	2868	0.00	2.62	0.00	0.000	4	0.000	0.066	2220	985	3417
2929	-0.85	-146.6	244.9	-7.9	141	2934	0.00	2.53	0.00	0.000	6	0.000	0.048	2220	2400	3417
3256	-0.85	-146.6	270.2	-7.7	157	3257	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
3565	-0.85	-146.6	292.9	-6.9	172	3569	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	979	3417
3608	-0.85	-146.6	296.1	-7.4	174	3612	0.00	2.55	0.00	0.000	6	0.000	0.048	2220	2403	3417
3934	-0.85	-146.6	320.4	-7.9	190	3939	0.00	2.62	0.00	0.000	4	0.000	0.068	2220	985	3417
3989	-0.85	-146.6	324.8	-8.1	192	3997	0.00	2.58	0.00	0.000	6	0.000	0.050	2220	2404	3417
4307	-0.85	-146.6	350.7	-8.0	208	4308	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3418
4614	-0.85	-146.6	372.8	-6.0	223	4618	0.00	2.65	0.00	0.000	4	0.000	0.067	2220	983	3417
4685	-0.85	-146.6	377.0	-6.2	226	4689	0.00	2.55	0.00	0.000	6	0.000	0.049	2220	2405	3417
5006	-0.85	-146.6	396.8	-7.0	242	5010	0.00	2.65	0.00	0.000	4	0.000	0.068	2220	985	3417
5054	-0.85	-146.6	400.6	-7.5	244	5059	0.00	2.58	0.00	0.000	6	0.000	0.051	2220	2401	3417
5376	-0.85	-146.6	420.7	-5.2	260	5380	0.00	2.65	0.00	0.000	4	0.000	0.070	2220	984	3418
5398	-0.85	-146.6	421.7	-4.8	261	5402	0.00	2.58	0.00	0.000	6	0.000	0.050	2220	2407	3418
5717	-0.85	-146.6	440.5	-7.4	277	5718	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2407	3418
6027	-0.85	-146.6	467.2	-8.8	292	6031	0.00	2.65	0.00	0.000	4	0.000	0.069	2220	985	3418
6058	-0.85	-146.6	470.0	-8.9	293	6065	0.00	2.55	0.00	0.000	6	0.000	0.051	2220	2403	3418
6373	-0.85	-146.6	493.8	-7.5	309	6378	0.00	2.65	0.00	0.000	4	0.000	0.070	2220	985	3418
6422	-0.85	-146.6	497.7	-7.8	311	6427	0.00	2.58	0.00	0.000	6	0.000	0.054	2220	2392	3418
6744	-0.85	-146.6	521.7	-6.4	327	6748	0.00	2.58	0.00	0.000	4	0.000	0.074	2221	3766	3418
6765	-0.85	-146.6	523.2	-7.0	328	6770	0.00	2.47	0.00	0.000	6	0.000	0.050	2220	2403	3418
7085	-0.85	-146.6	542.2	-6.8	344	7089	0.00	2.65	0.00	0.000	4	0.000	0.074	2220	983	3419
7116	-0.85	-146.6	544.3	-6.5	345	7124	0.00	2.60	0.00	0.000	6	0.000	0.057	2220	2398	3418
7142	end dive: BOTTOM_OBSTACLE_DETECTED
state	7142	begin apogee
7147	-0.31	0.0	546.1	7.0	347	7270	0.60	0.00	120.15	1.039	6	0.111	0.000	2339	2197	2817
7271	end apogee: CONTROL_FINISHED_OK
state	7271	begin climb
7273	0.85	146.6	550.6	0.0	353	7399	1.17	2.78	117.55	1.032	4	0.076	0.074	2588	795	2218
7439	0.85	146.6	542.8	9.1	361	7443	0.00	2.60	0.00	0.000	6	0.000	0.051	2588	2203	2218
7764	0.88	176.0	523.1	5.2	377	7794	0.00	2.75	24.42	0.981	4	0.000	0.078	2588	3616	2099
7832	0.88	176.0	519.1	7.1	380	7837	0.00	2.67	0.00	0.000	6	0.000	0.064	2588	2205	2098
8154	0.91	209.3	502.4	5.1	396	8188	0.00	2.80	27.42	1.003	4	0.000	0.075	2588	789	1962
8239	0.91	209.3	497.0	6.9	400	8243	0.00	2.62	0.00	0.000	6	0.000	0.058	2588	2199	1961
8565	0.94	231.3	477.6	5.4	416	8586	0.12	0.00	18.65	0.952	6	0.067	0.000	2621	2199	1873
8893	0.94	231.3	454.8	6.8	432	8898	0.00	2.72	0.00	0.000	4	0.000	0.076	2621	776	1871
8914	0.94	231.3	453.5	6.3	433	8919	0.00	2.65	0.00	0.000	6	0.000	0.054	2621	2193	1871
9241	0.94	231.3	430.2	7.0	449	9242	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2193	1871
9550	0.94	231.3	405.8	8.9	464	9554	0.00	2.67	0.00	0.000	4	0.000	0.074	2621	782	1871
9598	0.94	231.3	401.0	9.4	466	9603	0.00	2.62	0.00	0.000	6	0.000	0.053	2621	2195	1871
9920	0.94	231.3	374.9	7.6	482	9921	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2195	1871
10229	0.94	231.3	351.8	8.4	497	10233	0.00	2.65	0.00	0.000	4	0.000	0.072	2621	3611	1871
10254	0.94	231.3	349.3	9.8	498	10259	0.00	2.62	0.00	0.000	6	0.000	0.061	2621	2196	1870
10576	0.94	231.3	319.7	9.1	514	10580	0.00	2.65	0.00	0.000	4	0.000	0.071	2621	780	1870
10624	0.94	231.3	315.2	9.1	516	10629	0.00	2.60	0.00	0.000	6	0.000	0.050	2621	2193	1871
10945	0.94	231.3	288.3	8.2	532	10946	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2193	1870
11255	0.94	231.3	262.5	8.2	547	11256	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2193	1871
11563	0.94	231.3	236.9	8.1	562	11565	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2193	1871
11873	0.94	231.3	213.3	7.3	577	11877	0.00	2.65	0.00	0.000	4	0.000	0.070	2621	782	1871
11904	0.94	231.3	210.7	8.1	578	11911	0.00	2.60	0.00	0.000	6	0.000	0.049	2621	2204	1871
12220	0.94	231.3	185.8	8.2	594	12221	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2204	1871
12529	0.94	231.3	158.8	9.0	609	12530	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2204	1871
12840	0.94	231.3	132.4	8.3	624	12844	0.00	2.65	0.00	0.000	4	0.000	0.067	2621	785	1871
12883	0.94	231.3	128.4	9.1	626	12887	0.00	2.55	0.00	0.000	6	0.000	0.048	2621	2202	1871
13210	0.94	231.3	101.6	8.6	642	13211	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2202	1872
13519	0.94	231.3	72.3	9.3	657	13520	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2200	1872
13829	0.94	231.3	44.0	9.6	672	13833	0.00	2.65	0.00	0.000	4	0.000	0.068	2621	783	1873
13860	0.94	231.3	40.9	9.5	673	13867	0.00	2.58	0.00	0.000	6	0.000	0.047	2621	2201	1873
14177	0.94	231.3	12.5	9.8	689	14179	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2201	1873
14298	end climb: SURFACE_DEPTH_REACHED
state	14298	begin surface coast
14320	end surface coast: CONTROL_FINISHED_OK
state	14320	begin surface