Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 245 * 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 245 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 53 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -81206.055 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 2700 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 -81206.055

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 2700 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 53 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 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 245 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 074538,6231.660,-1026.700,29,1.1,29,-10.4 TGT_NAME IFRSILL

_CALLS 2 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.204,0.087

_SM_DEPTHo 0.75 KALMAN_X -59866.2,718.9,1051.4,81345.2,-10671.5

_SM_ANGLEo -56.4 KALMAN_Y -29969.6,197.5,1075.7,70240.1,-6862.7

GPS2 075403,6231.709,-1026.718,16,1.1,16,-10.4 MHEAD_RNG_PITCHd_Wd 77.4,52039,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.015870 ALTIM_BOTTOM_PING 525.5,65.7

SM_CCo 15100,230.50,0.781,0,0,390,547.02 _24V_AH 23.8,47.215

SM_GC 0.63,0.00,0.00,230.50,0.000,0.000,0.781,420,2191,390,-10.49,1.16,547.02 _10V_AH 10.1,22.978

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 38052,719

TT8_MAMPS 0.029146 CAP_FILE_SIZE 123718,0

HUMID 1701 CFSIZE 254472192,235651072

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,24,0,0

XPDR_PINGS 414 GPS 310708,121138,6231.846,-1023.862,32,1.0,32,-10.4

ALTIM_TOP_PING 18.9,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 139 82.98 SBE_CT 492 24 281.57

Roll_motor 161 74 285.13 SBE_O2 532 19 240.66

VBD_pump_during_apogee 240 1235 7077.81 WL_BB2F 471 105 1179.38

VBD_pump_during_surface 230 780 4283.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.16 nil 0 0 0.00

Iridium_during_connect 81 160 311.10 nil 0 0 0.00

Iridium_during_xfer 162 223 860.37

Transponder_ping 108 420 1079.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.13

TT8 1390 19 277.97

LPSleep 11464 2 253.58

TT8_Active 669 19 133.84

TT8_Sampling 1697 39 682.37

TT8_CF8 616 45 285.33

TT8_Kalman 33 81 27.55

Analog_circuits 1530 12 185.53

GPS_charging 0 0 0.00

Compass 1657 8 133.96

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -110.12 0.000 6 0.000 0.000 421 2128 3100

142 -1.30 -117.3 2.1 -1.7 5 158 10.35 2.55 0.00 0.000 4 0.140 0.054 2407 3559 3098

209 -0.94 -117.3 14.8 -15.2 7 214 0.43 2.47 0.00 0.000 6 0.094 0.045 2494 2170 3098

532 -0.87 -117.3 46.7 -9.9 23 537 0.00 2.53 0.00 0.000 4 0.000 0.056 2495 3556 3098

567 -0.78 -117.3 50.4 -10.4 24 573 0.15 2.53 0.00 0.000 6 0.091 0.044 2527 2129 3097

883 -0.78 -117.3 74.5 -7.3 40 887 0.00 2.47 0.00 0.000 4 0.000 0.057 2527 740 3098

1076 -0.78 -117.3 90.0 -7.8 48 1083 0.00 2.47 0.00 0.000 6 0.000 0.048 2527 2128 3098

1394 -0.82 -117.3 116.7 -8.5 64 1399 0.00 2.55 0.00 0.000 4 0.000 0.059 2527 3556 3099

1512 -0.82 -117.3 127.2 -8.4 69 1516 0.00 2.53 0.00 0.000 6 0.000 0.044 2527 2129 3099

1829 -0.87 -117.3 152.1 -8.0 84 1830 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2128 3099

2139 -0.91 -117.3 176.2 -7.5 99 2143 0.12 2.45 0.00 0.000 4 0.052 0.059 2489 747 3099

2202 -0.83 -117.3 181.7 -8.4 102 2207 0.12 2.50 0.00 0.000 6 0.096 0.050 2516 2148 3098

2529 -0.83 -117.3 207.4 -7.6 118 2533 0.00 2.53 0.00 0.000 4 0.000 0.060 2515 3555 3098

2595 -0.83 -117.3 212.6 -7.8 121 2600 0.00 2.50 0.00 0.000 6 0.000 0.047 2516 2145 3097

2918 -0.83 -117.3 234.9 -6.9 137 2922 0.00 2.50 0.00 0.000 4 0.000 0.061 2515 746 3097

2968 -0.83 -117.3 238.7 -7.3 139 2972 0.00 2.50 0.00 0.000 6 0.000 0.051 2516 2142 3097

3284 -0.83 -117.3 258.7 -5.9 154 3286 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2141 3097

3595 -0.83 -117.3 275.7 -4.9 169 3596 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2141 3097

3902 -0.83 -117.3 291.0 -5.3 184 3906 0.00 2.55 0.00 0.000 4 0.000 0.062 2516 739 3097

3998 -0.83 -117.3 296.5 -5.7 188 4002 0.00 2.50 0.00 0.000 6 0.000 0.052 2516 2134 3096

4314 -0.83 -117.3 313.5 -5.4 203 4318 0.00 2.50 0.00 0.000 4 0.000 0.061 2516 745 3096

4358 -0.83 -117.3 316.1 -6.0 205 4362 0.00 2.47 0.00 0.000 6 0.000 0.052 2516 2132 3096

4680 -0.83 -117.3 335.4 -6.4 221 4684 0.00 2.58 0.00 0.000 4 0.000 0.063 2516 3560 3096

4742 -0.83 -117.3 340.0 -7.5 224 4747 0.00 2.55 0.00 0.000 6 0.000 0.050 2516 2122 3096

5070 -0.83 -117.3 363.8 -7.4 240 5074 0.00 2.47 0.00 0.000 4 0.000 0.063 2516 742 3095

5137 -0.83 -117.3 369.4 -8.6 243 5141 0.00 2.50 0.00 0.000 6 0.000 0.054 2516 2130 3095

5459 -0.83 -117.3 395.3 -8.2 259 5463 0.00 2.55 0.00 0.000 4 0.000 0.064 2516 3556 3095

5537 -0.83 -117.3 401.9 -8.3 262 5543 0.00 2.55 0.00 0.000 6 0.000 0.051 2516 2131 3095

5856 -0.83 -117.3 425.4 -7.2 278 5860 0.00 2.62 0.00 0.000 4 0.000 0.064 2516 3553 3094

5940 -0.83 -117.3 432.1 -8.0 282 5945 0.00 2.50 0.00 0.000 6 0.000 0.051 2516 2147 3094

6268 -0.83 -117.3 452.9 -5.8 298 6272 0.00 2.50 0.00 0.000 4 0.000 0.064 2516 750 3094

6397 -0.83 -117.3 460.6 -5.9 304 6402 0.00 2.47 0.00 0.000 6 0.000 0.053 2516 2131 3094

6725 -0.83 -117.3 480.2 -6.2 320 6730 0.00 2.55 0.00 0.000 4 0.000 0.064 2516 742 3094

6799 -0.83 -117.3 485.2 -7.1 323 6803 0.00 2.47 0.00 0.000 6 0.000 0.056 2516 2113 3094

7116 -0.87 -117.3 505.4 -6.2 338 7120 0.00 2.62 0.00 0.000 4 0.000 0.068 2516 3556 3093

7194 -0.87 -117.3 510.1 -5.8 341 7200 0.00 2.60 0.00 0.000 6 0.000 0.055 2516 2113 3093

7511 -0.92 -117.3 528.0 -6.0 357 7515 0.00 2.45 0.00 0.000 4 0.000 0.065 2516 743 3093

7675 -0.92 -117.3 538.8 -6.8 364 7680 0.00 2.47 0.00 0.000 6 0.000 0.059 2516 2100 3092

7992 -0.98 -117.3 558.1 -6.3 379 7997 0.12 2.50 0.00 0.000 4 0.057 0.071 2479 744 3092

8065 -0.92 -117.3 563.7 -8.3 382 8069 0.00 2.47 0.00 0.000 6 0.000 0.061 2479 2094 3091

8316 end dive: BOTTOM_OBSTACLE_DETECTED

state 8316 begin apogee

8323 -0.33 0.0 582.5 6.9 394 8425 0.70 0.00 98.93 1.236 6 0.090 0.000 2624 2095 2620

8426 end apogee: CONTROL_FINISHED_OK

state 8426 begin climb

8429 1.30 117.3 585.9 0.0 399 8536 1.65 2.70 98.25 1.208 4 0.074 0.074 2977 691 2141

8586 1.30 117.3 575.1 9.2 406 8592 0.00 2.62 0.00 0.000 6 0.000 0.063 2977 2101 2140

8902 1.30 117.3 549.4 8.0 422 8906 0.00 2.62 0.00 0.000 4 0.000 0.074 2976 3512 2139

8942 1.30 117.3 546.1 8.4 424 8946 0.00 2.60 0.00 0.000 6 0.000 0.063 2977 2105 2138

9268 1.30 117.3 519.4 8.2 440 9272 0.00 2.65 0.00 0.000 4 0.000 0.074 2976 3512 2138

9308 1.30 117.3 516.0 8.7 442 9312 0.00 2.58 0.00 0.000 6 0.000 0.063 2977 2118 2138

9634 1.30 117.3 488.4 8.4 458 9639 0.00 2.62 0.00 0.000 4 0.000 0.072 2977 681 2137

9667 1.30 117.3 485.3 9.4 459 9673 0.00 2.67 0.00 0.000 6 0.000 0.063 2977 2131 2137

9984 1.33 131.7 461.1 7.3 475 10006 0.00 2.62 12.55 1.101 4 0.000 0.071 2977 3505 2083

10030 1.33 131.7 457.4 8.8 477 10035 0.00 2.55 0.00 0.000 6 0.000 0.059 2977 2123 2083

10357 1.33 131.7 428.5 9.6 493 10361 0.00 2.60 0.00 0.000 4 0.000 0.070 2977 3510 2081

10385 1.33 131.7 425.7 10.5 494 10389 0.00 2.53 0.00 0.000 6 0.000 0.058 2977 2128 2081

10701 1.33 131.7 395.4 9.4 509 10705 0.00 2.58 0.00 0.000 4 0.000 0.067 2977 3515 2081

10768 1.33 131.7 388.6 10.7 512 10773 0.00 2.50 0.00 0.000 6 0.000 0.056 2977 2143 2081

11090 1.33 131.7 360.4 8.4 528 11095 0.00 2.55 0.00 0.000 4 0.000 0.066 2977 3516 2080

11118 1.33 131.7 357.8 8.8 529 11122 0.00 2.47 0.00 0.000 6 0.000 0.053 2977 2148 2080

11434 1.35 144.5 333.7 7.4 544 11455 0.00 2.58 11.70 0.998 4 0.000 0.064 2977 3509 2030

11462 1.36 149.6 331.6 7.8 545 11473 0.00 2.45 6.20 0.864 6 0.000 0.052 2977 2166 2010

11782 1.37 157.7 306.4 7.6 560 11793 0.00 0.00 8.57 0.929 6 0.000 0.000 2977 2166 1977

12092 1.42 160.8 282.8 7.9 575 12099 0.15 0.00 4.47 0.734 6 0.048 0.000 3019 2166 1964

12402 1.35 160.8 251.4 10.3 590 12407 0.12 2.47 0.00 0.000 4 0.095 0.061 2995 3518 1964

12435 1.35 160.8 247.8 9.9 591 12442 0.00 2.40 0.00 0.000 6 0.000 0.049 2996 2169 1963

12751 1.35 160.8 218.7 9.3 607 12755 0.00 2.45 0.00 0.000 4 0.000 0.061 2996 3510 1964

12779 1.35 160.8 215.7 10.2 608 12783 0.00 2.40 0.00 0.000 6 0.000 0.049 2996 2174 1964

13095 1.35 160.8 185.2 10.0 623 13099 0.00 2.45 0.00 0.000 4 0.000 0.061 2995 3517 1965

13127 1.35 160.8 181.4 10.6 624 13133 0.00 2.38 0.00 0.000 6 0.000 0.048 2995 2193 1965

13444 1.35 160.8 147.6 10.8 640 13448 0.00 2.40 0.00 0.000 4 0.000 0.061 2996 3510 1965

13461 1.35 160.8 145.6 10.7 640 13467 0.00 2.33 0.00 0.000 6 0.000 0.048 2996 2209 1966

13778 1.35 160.8 111.9 10.3 656 13779 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2209 1966

14086 1.35 160.8 82.3 9.3 671 14088 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2208 1966

14395 1.35 160.8 54.7 8.5 686 14396 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2206 1967

14704 1.35 160.8 29.2 8.5 701 14708 0.00 2.38 0.00 0.000 4 0.000 0.058 2995 3511 1967

14783 1.35 160.8 22.4 8.1 704 14789 0.00 2.33 0.00 0.000 6 0.000 0.048 2995 2204 1967

15056 end climb: SURFACE_DEPTH_REACHED

state 15057 begin surface coast

15077 end surface coast: CONTROL_FINISHED_OK

state 15077 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	245	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	53	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-81206.055	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	2700	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	074538,6231.660,-1026.700,29,1.1,29,-10.4	TGT_NAME	IFRSILL
_CALLS	2	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.204,0.087
_SM_DEPTHo	0.75	KALMAN_X	-59866.2,718.9,1051.4,81345.2,-10671.5
_SM_ANGLEo	-56.4	KALMAN_Y	-29969.6,197.5,1075.7,70240.1,-6862.7
GPS2	075403,6231.709,-1026.718,16,1.1,16,-10.4	MHEAD_RNG_PITCHd_Wd	77.4,52039,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.3,1.015870	ALTIM_BOTTOM_PING	525.5,65.7
SM_CCo	15100,230.50,0.781,0,0,390,547.02	_24V_AH	23.8,47.215
SM_GC	0.63,0.00,0.00,230.50,0.000,0.000,0.781,420,2191,390,-10.49,1.16,547.02	_10V_AH	10.1,22.978
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	38052,719
TT8_MAMPS	0.029146	CAP_FILE_SIZE	123718,0
HUMID	1701	CFSIZE	254472192,235651072
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,24,0,0
XPDR_PINGS	414	GPS	310708,121138,6231.846,-1023.862,32,1.0,32,-10.4
ALTIM_TOP_PING	18.9,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	139	82.98	SBE_CT	492	24	281.57
Roll_motor	161	74	285.13	SBE_O2	532	19	240.66
VBD_pump_during_apogee	240	1235	7077.81	WL_BB2F	471	105	1179.38
VBD_pump_during_surface	230	780	4283.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.16	nil	0	0	0.00
Iridium_during_connect	81	160	311.10	nil	0	0	0.00
Iridium_during_xfer	162	223	860.37
Transponder_ping	108	420	1079.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.13
TT8	1390	19	277.97
LPSleep	11464	2	253.58
TT8_Active	669	19	133.84
TT8_Sampling	1697	39	682.37
TT8_CF8	616	45	285.33
TT8_Kalman	33	81	27.55
Analog_circuits	1530	12	185.53
GPS_charging	0	0	0.00
Compass	1657	8	133.96
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-110.12	0.000	6	0.000	0.000	421	2128	3100
142	-1.30	-117.3	2.1	-1.7	5	158	10.35	2.55	0.00	0.000	4	0.140	0.054	2407	3559	3098
209	-0.94	-117.3	14.8	-15.2	7	214	0.43	2.47	0.00	0.000	6	0.094	0.045	2494	2170	3098
532	-0.87	-117.3	46.7	-9.9	23	537	0.00	2.53	0.00	0.000	4	0.000	0.056	2495	3556	3098
567	-0.78	-117.3	50.4	-10.4	24	573	0.15	2.53	0.00	0.000	6	0.091	0.044	2527	2129	3097
883	-0.78	-117.3	74.5	-7.3	40	887	0.00	2.47	0.00	0.000	4	0.000	0.057	2527	740	3098
1076	-0.78	-117.3	90.0	-7.8	48	1083	0.00	2.47	0.00	0.000	6	0.000	0.048	2527	2128	3098
1394	-0.82	-117.3	116.7	-8.5	64	1399	0.00	2.55	0.00	0.000	4	0.000	0.059	2527	3556	3099
1512	-0.82	-117.3	127.2	-8.4	69	1516	0.00	2.53	0.00	0.000	6	0.000	0.044	2527	2129	3099
1829	-0.87	-117.3	152.1	-8.0	84	1830	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2128	3099
2139	-0.91	-117.3	176.2	-7.5	99	2143	0.12	2.45	0.00	0.000	4	0.052	0.059	2489	747	3099
2202	-0.83	-117.3	181.7	-8.4	102	2207	0.12	2.50	0.00	0.000	6	0.096	0.050	2516	2148	3098
2529	-0.83	-117.3	207.4	-7.6	118	2533	0.00	2.53	0.00	0.000	4	0.000	0.060	2515	3555	3098
2595	-0.83	-117.3	212.6	-7.8	121	2600	0.00	2.50	0.00	0.000	6	0.000	0.047	2516	2145	3097
2918	-0.83	-117.3	234.9	-6.9	137	2922	0.00	2.50	0.00	0.000	4	0.000	0.061	2515	746	3097
2968	-0.83	-117.3	238.7	-7.3	139	2972	0.00	2.50	0.00	0.000	6	0.000	0.051	2516	2142	3097
3284	-0.83	-117.3	258.7	-5.9	154	3286	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2141	3097
3595	-0.83	-117.3	275.7	-4.9	169	3596	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2141	3097
3902	-0.83	-117.3	291.0	-5.3	184	3906	0.00	2.55	0.00	0.000	4	0.000	0.062	2516	739	3097
3998	-0.83	-117.3	296.5	-5.7	188	4002	0.00	2.50	0.00	0.000	6	0.000	0.052	2516	2134	3096
4314	-0.83	-117.3	313.5	-5.4	203	4318	0.00	2.50	0.00	0.000	4	0.000	0.061	2516	745	3096
4358	-0.83	-117.3	316.1	-6.0	205	4362	0.00	2.47	0.00	0.000	6	0.000	0.052	2516	2132	3096
4680	-0.83	-117.3	335.4	-6.4	221	4684	0.00	2.58	0.00	0.000	4	0.000	0.063	2516	3560	3096
4742	-0.83	-117.3	340.0	-7.5	224	4747	0.00	2.55	0.00	0.000	6	0.000	0.050	2516	2122	3096
5070	-0.83	-117.3	363.8	-7.4	240	5074	0.00	2.47	0.00	0.000	4	0.000	0.063	2516	742	3095
5137	-0.83	-117.3	369.4	-8.6	243	5141	0.00	2.50	0.00	0.000	6	0.000	0.054	2516	2130	3095
5459	-0.83	-117.3	395.3	-8.2	259	5463	0.00	2.55	0.00	0.000	4	0.000	0.064	2516	3556	3095
5537	-0.83	-117.3	401.9	-8.3	262	5543	0.00	2.55	0.00	0.000	6	0.000	0.051	2516	2131	3095
5856	-0.83	-117.3	425.4	-7.2	278	5860	0.00	2.62	0.00	0.000	4	0.000	0.064	2516	3553	3094
5940	-0.83	-117.3	432.1	-8.0	282	5945	0.00	2.50	0.00	0.000	6	0.000	0.051	2516	2147	3094
6268	-0.83	-117.3	452.9	-5.8	298	6272	0.00	2.50	0.00	0.000	4	0.000	0.064	2516	750	3094
6397	-0.83	-117.3	460.6	-5.9	304	6402	0.00	2.47	0.00	0.000	6	0.000	0.053	2516	2131	3094
6725	-0.83	-117.3	480.2	-6.2	320	6730	0.00	2.55	0.00	0.000	4	0.000	0.064	2516	742	3094
6799	-0.83	-117.3	485.2	-7.1	323	6803	0.00	2.47	0.00	0.000	6	0.000	0.056	2516	2113	3094
7116	-0.87	-117.3	505.4	-6.2	338	7120	0.00	2.62	0.00	0.000	4	0.000	0.068	2516	3556	3093
7194	-0.87	-117.3	510.1	-5.8	341	7200	0.00	2.60	0.00	0.000	6	0.000	0.055	2516	2113	3093
7511	-0.92	-117.3	528.0	-6.0	357	7515	0.00	2.45	0.00	0.000	4	0.000	0.065	2516	743	3093
7675	-0.92	-117.3	538.8	-6.8	364	7680	0.00	2.47	0.00	0.000	6	0.000	0.059	2516	2100	3092
7992	-0.98	-117.3	558.1	-6.3	379	7997	0.12	2.50	0.00	0.000	4	0.057	0.071	2479	744	3092
8065	-0.92	-117.3	563.7	-8.3	382	8069	0.00	2.47	0.00	0.000	6	0.000	0.061	2479	2094	3091
8316	end dive: BOTTOM_OBSTACLE_DETECTED
state	8316	begin apogee
8323	-0.33	0.0	582.5	6.9	394	8425	0.70	0.00	98.93	1.236	6	0.090	0.000	2624	2095	2620
8426	end apogee: CONTROL_FINISHED_OK
state	8426	begin climb
8429	1.30	117.3	585.9	0.0	399	8536	1.65	2.70	98.25	1.208	4	0.074	0.074	2977	691	2141
8586	1.30	117.3	575.1	9.2	406	8592	0.00	2.62	0.00	0.000	6	0.000	0.063	2977	2101	2140
8902	1.30	117.3	549.4	8.0	422	8906	0.00	2.62	0.00	0.000	4	0.000	0.074	2976	3512	2139
8942	1.30	117.3	546.1	8.4	424	8946	0.00	2.60	0.00	0.000	6	0.000	0.063	2977	2105	2138
9268	1.30	117.3	519.4	8.2	440	9272	0.00	2.65	0.00	0.000	4	0.000	0.074	2976	3512	2138
9308	1.30	117.3	516.0	8.7	442	9312	0.00	2.58	0.00	0.000	6	0.000	0.063	2977	2118	2138
9634	1.30	117.3	488.4	8.4	458	9639	0.00	2.62	0.00	0.000	4	0.000	0.072	2977	681	2137
9667	1.30	117.3	485.3	9.4	459	9673	0.00	2.67	0.00	0.000	6	0.000	0.063	2977	2131	2137
9984	1.33	131.7	461.1	7.3	475	10006	0.00	2.62	12.55	1.101	4	0.000	0.071	2977	3505	2083
10030	1.33	131.7	457.4	8.8	477	10035	0.00	2.55	0.00	0.000	6	0.000	0.059	2977	2123	2083
10357	1.33	131.7	428.5	9.6	493	10361	0.00	2.60	0.00	0.000	4	0.000	0.070	2977	3510	2081
10385	1.33	131.7	425.7	10.5	494	10389	0.00	2.53	0.00	0.000	6	0.000	0.058	2977	2128	2081
10701	1.33	131.7	395.4	9.4	509	10705	0.00	2.58	0.00	0.000	4	0.000	0.067	2977	3515	2081
10768	1.33	131.7	388.6	10.7	512	10773	0.00	2.50	0.00	0.000	6	0.000	0.056	2977	2143	2081
11090	1.33	131.7	360.4	8.4	528	11095	0.00	2.55	0.00	0.000	4	0.000	0.066	2977	3516	2080
11118	1.33	131.7	357.8	8.8	529	11122	0.00	2.47	0.00	0.000	6	0.000	0.053	2977	2148	2080
11434	1.35	144.5	333.7	7.4	544	11455	0.00	2.58	11.70	0.998	4	0.000	0.064	2977	3509	2030
11462	1.36	149.6	331.6	7.8	545	11473	0.00	2.45	6.20	0.864	6	0.000	0.052	2977	2166	2010
11782	1.37	157.7	306.4	7.6	560	11793	0.00	0.00	8.57	0.929	6	0.000	0.000	2977	2166	1977
12092	1.42	160.8	282.8	7.9	575	12099	0.15	0.00	4.47	0.734	6	0.048	0.000	3019	2166	1964
12402	1.35	160.8	251.4	10.3	590	12407	0.12	2.47	0.00	0.000	4	0.095	0.061	2995	3518	1964
12435	1.35	160.8	247.8	9.9	591	12442	0.00	2.40	0.00	0.000	6	0.000	0.049	2996	2169	1963
12751	1.35	160.8	218.7	9.3	607	12755	0.00	2.45	0.00	0.000	4	0.000	0.061	2996	3510	1964
12779	1.35	160.8	215.7	10.2	608	12783	0.00	2.40	0.00	0.000	6	0.000	0.049	2996	2174	1964
13095	1.35	160.8	185.2	10.0	623	13099	0.00	2.45	0.00	0.000	4	0.000	0.061	2995	3517	1965
13127	1.35	160.8	181.4	10.6	624	13133	0.00	2.38	0.00	0.000	6	0.000	0.048	2995	2193	1965
13444	1.35	160.8	147.6	10.8	640	13448	0.00	2.40	0.00	0.000	4	0.000	0.061	2996	3510	1965
13461	1.35	160.8	145.6	10.7	640	13467	0.00	2.33	0.00	0.000	6	0.000	0.048	2996	2209	1966
13778	1.35	160.8	111.9	10.3	656	13779	0.00	0.00	0.00	0.000	6	0.000	0.000	2995	2209	1966
14086	1.35	160.8	82.3	9.3	671	14088	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2208	1966
14395	1.35	160.8	54.7	8.5	686	14396	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2206	1967
14704	1.35	160.8	29.2	8.5	701	14708	0.00	2.38	0.00	0.000	4	0.000	0.058	2995	3511	1967
14783	1.35	160.8	22.4	8.1	704	14789	0.00	2.33	0.00	0.000	6	0.000	0.048	2995	2204	1967
15056	end climb: SURFACE_DEPTH_REACHED
state	15057	begin surface coast
15077	end surface coast: CONTROL_FINISHED_OK
state	15077	begin surface