Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 252 * 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 252 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -81346.5 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 -81346.5

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 36 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 21 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 252 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 141901,6236.364,-1027.548,41,1.4,41,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 1 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.205,0.085

_SM_DEPTHo 0.60 KALMAN_X -89983.0,1899.0,220.9,110104.7,-15735.2

_SM_ANGLEo -48.8 KALMAN_Y -30132.2,-120.2,-835.4,81213.3,1635.7

GPS2 142511,6236.321,-1027.805,13,2.2,32,-10.4 MHEAD_RNG_PITCHd_Wd 77.9,47706,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026826 ALTIM_BOTTOM_PING 550.1,18.6

SM_CCo 13651,198.18,0.776,0,0,389,547.02 _24V_AH 23.8,48.313

SM_GC 0.48,0.00,0.00,198.18,0.000,0.000,0.776,423,2125,389,-10.47,-0.71,547.02 _10V_AH 10.1,23.498

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34819,654

TT8_MAMPS 0.029146 CAP_FILE_SIZE 111460,0

HUMID 1699 CFSIZE 254472192,235257856

TCM_TEMP 19.20 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,17,0,0

XPDR_PINGS 371 GPS 010808,181807,6236.981,-1031.142,36,1.7,36,-10.5

ALTIM_TOP_PING 19.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 134 80.82 SBE_CT 447 24 255.86

Roll_motor 142 72 246.43 SBE_O2 486 19 219.81

VBD_pump_during_apogee 278 1208 7997.85 WL_BB2F 441 105 1102.08

VBD_pump_during_surface 198 776 3661.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 26 160 102.59 nil 0 0 0.00

Iridium_during_xfer 145 223 771.85

Transponder_ping 97 420 974.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.79

TT8 1257 19 251.51

LPSleep 10284 2 227.48

TT8_Active 656 19 131.19

TT8_Sampling 1519 39 610.67

TT8_CF8 503 45 233.09

TT8_Kalman 33 81 27.55

Analog_circuits 1427 12 172.96

GPS_charging 0 0 0.00

Compass 1466 8 118.46

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 0 140 0.00 0.00 -110.40 0.000 6 0.000 0.000 421 2122 3099

144 -1.30 -117.3 2.1 -1.6 5 160 10.25 2.58 0.00 0.000 4 0.134 0.056 2409 3564 3097

222 -0.93 -117.3 14.2 -10.9 7 230 0.43 2.50 0.00 0.000 6 0.094 0.047 2497 2158 3097

541 -0.86 -117.3 44.5 -9.0 23 545 0.00 2.53 0.00 0.000 4 0.000 0.058 2497 741 3096

631 -0.78 -117.3 52.9 -9.3 27 636 0.15 2.47 0.00 0.000 6 0.094 0.047 2528 2134 3096

953 -0.78 -117.3 78.4 -8.0 43 957 0.00 2.53 0.00 0.000 4 0.000 0.057 2528 3556 3097

1070 -0.78 -117.3 87.7 -7.5 48 1074 0.00 2.53 0.00 0.000 6 0.000 0.046 2528 2133 3097

1387 -0.78 -117.3 111.1 -7.5 63 1391 0.00 2.47 0.00 0.000 4 0.000 0.058 2528 744 3097

1473 -0.78 -117.3 117.7 -7.5 67 1477 0.00 2.47 0.00 0.000 6 0.000 0.050 2528 2131 3098

1803 -0.83 -117.3 138.5 -6.2 83 1807 0.00 2.55 0.00 0.000 4 0.000 0.058 2528 3558 3097

1867 -0.83 -117.3 142.7 -6.2 86 1871 0.00 2.53 0.00 0.000 6 0.000 0.048 2528 2134 3097

2194 -0.88 -117.3 163.1 -6.6 102 2198 0.00 2.47 0.00 0.000 4 0.000 0.061 2529 750 3098

2309 -0.88 -117.3 171.2 -7.2 107 2313 0.00 2.42 0.00 0.000 6 0.000 0.051 2528 2108 3098

2630 -0.93 -117.3 192.8 -6.7 123 2635 0.15 2.58 0.00 0.000 4 0.051 0.060 2480 3555 3097

2709 -0.82 -117.3 199.6 -8.5 126 2720 0.20 2.58 0.00 0.000 6 0.089 0.050 2521 2109 3097

3025 -0.82 -117.3 221.6 -6.9 142 3026 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2109 3096

3335 -0.82 -117.3 243.8 -7.2 157 3339 0.00 2.65 0.00 0.000 4 0.000 0.061 2521 3562 3096

3379 -0.82 -117.3 247.4 -7.9 159 3384 0.00 2.60 0.00 0.000 6 0.000 0.051 2521 2112 3096

3701 -0.82 -117.3 271.7 -7.7 175 3705 0.00 2.45 0.00 0.000 4 0.000 0.064 2522 743 3096

3746 -0.82 -117.3 275.4 -8.5 177 3751 0.00 2.45 0.00 0.000 6 0.000 0.051 2521 2117 3096

4069 -0.87 -117.3 300.8 -7.8 193 4071 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2116 3095

4378 -0.91 -117.3 321.6 -6.2 208 4379 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2116 3095

4687 -0.91 -117.3 339.2 -5.4 223 4688 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2116 3095

4996 -0.96 -117.3 355.0 -4.9 238 5001 0.15 2.53 0.00 0.000 4 0.052 0.064 2478 743 3095

5060 -0.86 -117.3 358.9 -6.8 241 5065 0.15 2.47 0.00 0.000 6 0.094 0.054 2511 2120 3095

5387 -0.86 -117.3 379.4 -6.6 257 5392 0.00 2.60 0.00 0.000 4 0.000 0.065 2511 3557 3094

5432 -0.86 -117.3 382.7 -7.4 259 5437 0.00 2.62 0.00 0.000 6 0.000 0.055 2511 2100 3094

5755 -0.86 -117.3 406.7 -8.0 275 5759 0.00 2.45 0.00 0.000 4 0.000 0.067 2511 746 3094

5878 -0.86 -117.3 418.2 -8.9 280 5884 0.00 2.45 0.00 0.000 6 0.000 0.054 2511 2109 3093

6194 -0.86 -117.3 446.9 -9.6 296 6199 0.00 2.50 0.00 0.000 4 0.000 0.063 2511 741 3093

6324 -0.86 -117.3 460.1 -9.7 302 6329 0.00 2.42 0.00 0.000 6 0.000 0.055 2510 2086 3093

6652 -0.86 -117.3 484.5 -6.3 318 6657 0.00 2.67 0.00 0.000 4 0.000 0.067 2511 3561 3093

6708 -0.86 -117.3 488.1 -6.2 320 6715 0.00 2.65 0.00 0.000 6 0.000 0.055 2511 2087 3093

7025 -0.86 -117.3 504.5 -5.0 336 7026 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2070 3092

7335 -0.86 -117.3 522.5 -6.3 351 7339 0.00 2.72 0.00 0.000 4 0.000 0.069 2511 3556 3092

7368 -0.86 -117.3 524.9 -7.2 352 7375 0.00 2.67 0.00 0.000 6 0.000 0.059 2511 2082 3092

7684 -0.86 -117.3 546.1 -7.6 368 7688 0.00 2.75 0.00 0.000 4 0.000 0.071 2511 3557 3091

7763 -0.86 -117.3 551.0 -5.1 371 7769 0.00 2.60 0.00 0.000 6 0.000 0.060 2511 2114 3091

7870 end dive: BOTTOM_OBSTACLE_DETECTED

state 7870 begin apogee

7877 -0.33 0.0 559.6 8.2 377 7978 0.55 0.00 98.35 1.209 6 0.084 0.000 2625 2106 2620

7979 end apogee: CONTROL_FINISHED_OK

state 7979 begin climb

7982 1.30 117.3 562.6 0.0 382 8087 1.67 2.67 97.75 1.179 4 0.071 0.072 2981 693 2141

8114 1.37 156.7 554.1 6.2 388 8156 0.00 2.60 33.92 1.133 6 0.000 0.061 2981 2098 1981

8465 1.37 156.7 522.7 8.9 405 8469 0.00 2.60 0.00 0.000 4 0.000 0.073 2981 3507 1980

8510 1.37 156.7 518.5 10.1 407 8514 0.00 2.58 0.00 0.000 6 0.000 0.062 2981 2117 1980

8830 1.37 156.7 486.5 10.4 423 8835 0.00 2.60 0.00 0.000 4 0.000 0.072 2981 3505 1978

8870 1.37 156.7 481.9 11.9 425 8875 0.00 2.58 0.00 0.000 6 0.000 0.062 2980 2107 1978

9198 1.37 156.7 440.6 13.4 441 9203 0.00 2.62 0.00 0.000 4 0.000 0.070 2981 3513 1977

9248 1.37 156.7 433.7 14.0 443 9252 0.00 2.55 0.00 0.000 6 0.000 0.061 2981 2125 1976

9564 1.37 156.7 397.9 9.6 458 9568 0.00 2.60 0.00 0.000 4 0.000 0.071 2981 690 1976

9574 1.37 156.7 396.9 9.0 458 9580 0.00 2.62 0.00 0.000 6 0.000 0.060 2981 2126 1976

9890 1.41 181.4 372.8 6.9 474 9917 0.10 2.60 20.58 1.068 4 0.059 0.067 3009 3515 1880

9952 1.36 181.4 367.7 9.1 477 9957 0.00 2.53 0.00 0.000 6 0.000 0.057 3010 2139 1880

10279 1.36 181.4 341.2 8.6 493 10284 0.00 2.55 0.00 0.000 4 0.000 0.066 3010 3511 1879

10313 1.31 181.4 337.9 9.5 494 10320 0.15 2.47 0.00 0.000 6 0.094 0.056 2981 2152 1879

10631 1.41 213.4 315.6 6.5 510 10660 0.12 0.00 27.40 1.032 6 0.054 0.000 3016 2151 1750

10959 1.41 213.4 285.2 9.7 526 10963 0.00 2.50 0.00 0.000 4 0.000 0.062 3016 3513 1750

10991 1.41 213.4 281.8 10.1 527 10997 0.00 2.45 0.00 0.000 6 0.000 0.054 3016 2163 1749

11308 1.41 213.4 251.7 9.9 543 11309 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2163 1749

11616 1.41 213.4 218.7 10.9 558 11621 0.00 2.45 0.00 0.000 4 0.000 0.061 3016 3512 1750

11638 1.41 213.4 216.1 11.8 559 11642 0.00 2.42 0.00 0.000 6 0.000 0.052 3016 2167 1750

11960 1.41 213.4 181.0 11.3 575 11961 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2167 1750

12269 1.41 213.4 146.2 11.3 590 12274 0.00 2.45 0.00 0.000 4 0.000 0.060 3016 3512 1750

12297 1.41 213.4 142.8 12.3 591 12301 0.00 2.42 0.00 0.000 6 0.000 0.051 3016 2168 1750

12615 1.41 213.4 109.2 10.3 606 12616 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2167 1751

12923 1.41 213.4 77.0 10.7 621 12927 0.00 2.45 0.00 0.000 4 0.000 0.059 3016 3515 1751

12950 1.41 213.4 73.6 12.1 622 12954 0.00 2.40 0.00 0.000 6 0.000 0.051 3016 2179 1751

13266 1.41 213.4 39.0 10.8 637 13267 0.00 0.00 0.00 0.000 6 0.000 0.000 3016 2180 1752

13577 1.41 213.4 7.1 10.4 652 13582 0.00 2.42 0.00 0.000 4 0.000 0.057 3016 3512 1752

13619 end climb: SURFACE_DEPTH_REACHED

state 13619 begin surface coast

13626 end surface coast: CONTROL_FINISHED_OK

state 13626 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	252	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-81346.5	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	141901,6236.364,-1027.548,41,1.4,41,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	1	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.205,0.085
_SM_DEPTHo	0.60	KALMAN_X	-89983.0,1899.0,220.9,110104.7,-15735.2
_SM_ANGLEo	-48.8	KALMAN_Y	-30132.2,-120.2,-835.4,81213.3,1635.7
GPS2	142511,6236.321,-1027.805,13,2.2,32,-10.4	MHEAD_RNG_PITCHd_Wd	77.9,47706,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.7,1.026826	ALTIM_BOTTOM_PING	550.1,18.6
SM_CCo	13651,198.18,0.776,0,0,389,547.02	_24V_AH	23.8,48.313
SM_GC	0.48,0.00,0.00,198.18,0.000,0.000,0.776,423,2125,389,-10.47,-0.71,547.02	_10V_AH	10.1,23.498
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34819,654
TT8_MAMPS	0.029146	CAP_FILE_SIZE	111460,0
HUMID	1699	CFSIZE	254472192,235257856
TCM_TEMP	19.20	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,17,0,0
XPDR_PINGS	371	GPS	010808,181807,6236.981,-1031.142,36,1.7,36,-10.5
ALTIM_TOP_PING	19.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	134	80.82	SBE_CT	447	24	255.86
Roll_motor	142	72	246.43	SBE_O2	486	19	219.81
VBD_pump_during_apogee	278	1208	7997.85	WL_BB2F	441	105	1102.08
VBD_pump_during_surface	198	776	3661.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	26	160	102.59	nil	0	0	0.00
Iridium_during_xfer	145	223	771.85
Transponder_ping	97	420	974.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.79
TT8	1257	19	251.51
LPSleep	10284	2	227.48
TT8_Active	656	19	131.19
TT8_Sampling	1519	39	610.67
TT8_CF8	503	45	233.09
TT8_Kalman	33	81	27.55
Analog_circuits	1427	12	172.96
GPS_charging	0	0	0.00
Compass	1466	8	118.46
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	140	0.00	0.00	-110.40	0.000	6	0.000	0.000	421	2122	3099
144	-1.30	-117.3	2.1	-1.6	5	160	10.25	2.58	0.00	0.000	4	0.134	0.056	2409	3564	3097
222	-0.93	-117.3	14.2	-10.9	7	230	0.43	2.50	0.00	0.000	6	0.094	0.047	2497	2158	3097
541	-0.86	-117.3	44.5	-9.0	23	545	0.00	2.53	0.00	0.000	4	0.000	0.058	2497	741	3096
631	-0.78	-117.3	52.9	-9.3	27	636	0.15	2.47	0.00	0.000	6	0.094	0.047	2528	2134	3096
953	-0.78	-117.3	78.4	-8.0	43	957	0.00	2.53	0.00	0.000	4	0.000	0.057	2528	3556	3097
1070	-0.78	-117.3	87.7	-7.5	48	1074	0.00	2.53	0.00	0.000	6	0.000	0.046	2528	2133	3097
1387	-0.78	-117.3	111.1	-7.5	63	1391	0.00	2.47	0.00	0.000	4	0.000	0.058	2528	744	3097
1473	-0.78	-117.3	117.7	-7.5	67	1477	0.00	2.47	0.00	0.000	6	0.000	0.050	2528	2131	3098
1803	-0.83	-117.3	138.5	-6.2	83	1807	0.00	2.55	0.00	0.000	4	0.000	0.058	2528	3558	3097
1867	-0.83	-117.3	142.7	-6.2	86	1871	0.00	2.53	0.00	0.000	6	0.000	0.048	2528	2134	3097
2194	-0.88	-117.3	163.1	-6.6	102	2198	0.00	2.47	0.00	0.000	4	0.000	0.061	2529	750	3098
2309	-0.88	-117.3	171.2	-7.2	107	2313	0.00	2.42	0.00	0.000	6	0.000	0.051	2528	2108	3098
2630	-0.93	-117.3	192.8	-6.7	123	2635	0.15	2.58	0.00	0.000	4	0.051	0.060	2480	3555	3097
2709	-0.82	-117.3	199.6	-8.5	126	2720	0.20	2.58	0.00	0.000	6	0.089	0.050	2521	2109	3097
3025	-0.82	-117.3	221.6	-6.9	142	3026	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2109	3096
3335	-0.82	-117.3	243.8	-7.2	157	3339	0.00	2.65	0.00	0.000	4	0.000	0.061	2521	3562	3096
3379	-0.82	-117.3	247.4	-7.9	159	3384	0.00	2.60	0.00	0.000	6	0.000	0.051	2521	2112	3096
3701	-0.82	-117.3	271.7	-7.7	175	3705	0.00	2.45	0.00	0.000	4	0.000	0.064	2522	743	3096
3746	-0.82	-117.3	275.4	-8.5	177	3751	0.00	2.45	0.00	0.000	6	0.000	0.051	2521	2117	3096
4069	-0.87	-117.3	300.8	-7.8	193	4071	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2116	3095
4378	-0.91	-117.3	321.6	-6.2	208	4379	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2116	3095
4687	-0.91	-117.3	339.2	-5.4	223	4688	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2116	3095
4996	-0.96	-117.3	355.0	-4.9	238	5001	0.15	2.53	0.00	0.000	4	0.052	0.064	2478	743	3095
5060	-0.86	-117.3	358.9	-6.8	241	5065	0.15	2.47	0.00	0.000	6	0.094	0.054	2511	2120	3095
5387	-0.86	-117.3	379.4	-6.6	257	5392	0.00	2.60	0.00	0.000	4	0.000	0.065	2511	3557	3094
5432	-0.86	-117.3	382.7	-7.4	259	5437	0.00	2.62	0.00	0.000	6	0.000	0.055	2511	2100	3094
5755	-0.86	-117.3	406.7	-8.0	275	5759	0.00	2.45	0.00	0.000	4	0.000	0.067	2511	746	3094
5878	-0.86	-117.3	418.2	-8.9	280	5884	0.00	2.45	0.00	0.000	6	0.000	0.054	2511	2109	3093
6194	-0.86	-117.3	446.9	-9.6	296	6199	0.00	2.50	0.00	0.000	4	0.000	0.063	2511	741	3093
6324	-0.86	-117.3	460.1	-9.7	302	6329	0.00	2.42	0.00	0.000	6	0.000	0.055	2510	2086	3093
6652	-0.86	-117.3	484.5	-6.3	318	6657	0.00	2.67	0.00	0.000	4	0.000	0.067	2511	3561	3093
6708	-0.86	-117.3	488.1	-6.2	320	6715	0.00	2.65	0.00	0.000	6	0.000	0.055	2511	2087	3093
7025	-0.86	-117.3	504.5	-5.0	336	7026	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2070	3092
7335	-0.86	-117.3	522.5	-6.3	351	7339	0.00	2.72	0.00	0.000	4	0.000	0.069	2511	3556	3092
7368	-0.86	-117.3	524.9	-7.2	352	7375	0.00	2.67	0.00	0.000	6	0.000	0.059	2511	2082	3092
7684	-0.86	-117.3	546.1	-7.6	368	7688	0.00	2.75	0.00	0.000	4	0.000	0.071	2511	3557	3091
7763	-0.86	-117.3	551.0	-5.1	371	7769	0.00	2.60	0.00	0.000	6	0.000	0.060	2511	2114	3091
7870	end dive: BOTTOM_OBSTACLE_DETECTED
state	7870	begin apogee
7877	-0.33	0.0	559.6	8.2	377	7978	0.55	0.00	98.35	1.209	6	0.084	0.000	2625	2106	2620
7979	end apogee: CONTROL_FINISHED_OK
state	7979	begin climb
7982	1.30	117.3	562.6	0.0	382	8087	1.67	2.67	97.75	1.179	4	0.071	0.072	2981	693	2141
8114	1.37	156.7	554.1	6.2	388	8156	0.00	2.60	33.92	1.133	6	0.000	0.061	2981	2098	1981
8465	1.37	156.7	522.7	8.9	405	8469	0.00	2.60	0.00	0.000	4	0.000	0.073	2981	3507	1980
8510	1.37	156.7	518.5	10.1	407	8514	0.00	2.58	0.00	0.000	6	0.000	0.062	2981	2117	1980
8830	1.37	156.7	486.5	10.4	423	8835	0.00	2.60	0.00	0.000	4	0.000	0.072	2981	3505	1978
8870	1.37	156.7	481.9	11.9	425	8875	0.00	2.58	0.00	0.000	6	0.000	0.062	2980	2107	1978
9198	1.37	156.7	440.6	13.4	441	9203	0.00	2.62	0.00	0.000	4	0.000	0.070	2981	3513	1977
9248	1.37	156.7	433.7	14.0	443	9252	0.00	2.55	0.00	0.000	6	0.000	0.061	2981	2125	1976
9564	1.37	156.7	397.9	9.6	458	9568	0.00	2.60	0.00	0.000	4	0.000	0.071	2981	690	1976
9574	1.37	156.7	396.9	9.0	458	9580	0.00	2.62	0.00	0.000	6	0.000	0.060	2981	2126	1976
9890	1.41	181.4	372.8	6.9	474	9917	0.10	2.60	20.58	1.068	4	0.059	0.067	3009	3515	1880
9952	1.36	181.4	367.7	9.1	477	9957	0.00	2.53	0.00	0.000	6	0.000	0.057	3010	2139	1880
10279	1.36	181.4	341.2	8.6	493	10284	0.00	2.55	0.00	0.000	4	0.000	0.066	3010	3511	1879
10313	1.31	181.4	337.9	9.5	494	10320	0.15	2.47	0.00	0.000	6	0.094	0.056	2981	2152	1879
10631	1.41	213.4	315.6	6.5	510	10660	0.12	0.00	27.40	1.032	6	0.054	0.000	3016	2151	1750
10959	1.41	213.4	285.2	9.7	526	10963	0.00	2.50	0.00	0.000	4	0.000	0.062	3016	3513	1750
10991	1.41	213.4	281.8	10.1	527	10997	0.00	2.45	0.00	0.000	6	0.000	0.054	3016	2163	1749
11308	1.41	213.4	251.7	9.9	543	11309	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2163	1749
11616	1.41	213.4	218.7	10.9	558	11621	0.00	2.45	0.00	0.000	4	0.000	0.061	3016	3512	1750
11638	1.41	213.4	216.1	11.8	559	11642	0.00	2.42	0.00	0.000	6	0.000	0.052	3016	2167	1750
11960	1.41	213.4	181.0	11.3	575	11961	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2167	1750
12269	1.41	213.4	146.2	11.3	590	12274	0.00	2.45	0.00	0.000	4	0.000	0.060	3016	3512	1750
12297	1.41	213.4	142.8	12.3	591	12301	0.00	2.42	0.00	0.000	6	0.000	0.051	3016	2168	1750
12615	1.41	213.4	109.2	10.3	606	12616	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2167	1751
12923	1.41	213.4	77.0	10.7	621	12927	0.00	2.45	0.00	0.000	4	0.000	0.059	3016	3515	1751
12950	1.41	213.4	73.6	12.1	622	12954	0.00	2.40	0.00	0.000	6	0.000	0.051	3016	2179	1751
13266	1.41	213.4	39.0	10.8	637	13267	0.00	0.00	0.00	0.000	6	0.000	0.000	3016	2180	1752
13577	1.41	213.4	7.1	10.4	652	13582	0.00	2.42	0.00	0.000	4	0.000	0.057	3016	3512	1752
13619	end climb: SURFACE_DEPTH_REACHED
state	13619	begin surface coast
13626	end surface coast: CONTROL_FINISHED_OK
state	13626	begin surface