Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 253 * 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 253 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -81362.734 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 -81362.734

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 33 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 18 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 253 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 181807,6236.981,-1031.142,36,1.7,36,-10.5 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.206,0.083

_SM_DEPTHo 0.57 KALMAN_X -97870.9,1797.0,946.3,114341.4,-22590.5

_SM_ANGLEo -48.4 KALMAN_Y -32464.5,-23.4,434.5,83571.0,-3119.7

GPS2 182327,6237.071,-1031.338,15,1.8,15,-10.5 MHEAD_RNG_PITCHd_Wd 78.5,49576,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026493 ALTIM_BOTTOM_PING 550.0,22.9

SM_CCo 13780,209.18,0.775,0,0,390,547.02 _24V_AH 23.8,48.466

SM_GC 0.44,0.00,0.00,209.18,0.000,0.000,0.775,417,2133,390,-10.50,-0.48,547.02 _10V_AH 10.1,23.566

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34805,660

TT8_MAMPS 0.029146 CAP_FILE_SIZE 104402,0

HUMID 1689 CFSIZE 254472192,235212800

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

XPDR_PINGS 370 GPS 010808,221837,6239.648,-1029.088,30,1.6,30,-10.5

ALTIM_TOP_PING 18.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 135 79.56 SBE_CT 452 24 258.40

Roll_motor 116 101 281.26 SBE_O2 488 19 220.89

VBD_pump_during_apogee 263 1217 7620.57 WL_BB2F 440 105 1101.77

VBD_pump_during_surface 209 775 3860.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 28 160 107.15 nil 0 0 0.00

Iridium_during_xfer 132 223 702.31

Transponder_ping 97 420 974.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.88

TT8 1241 19 248.22

LPSleep 10497 2 232.19

TT8_Active 622 19 124.53

TT8_Sampling 1485 39 597.07

TT8_CF8 466 45 215.58

TT8_Kalman 33 81 27.56

Analog_circuits 1374 12 166.64

GPS_charging 0 0 0.00

Compass 1449 8 117.12

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 -111.00 0.000 6 0.000 0.000 423 2127 3099

144 -1.30 -117.3 2.9 -2.7 6 159 10.27 2.47 0.00 0.000 4 0.136 0.054 2408 753 3098

216 -0.94 -117.3 14.9 -15.0 8 221 0.40 2.50 0.00 0.000 6 0.094 0.047 2489 2157 3096

533 -0.85 -117.3 42.7 -8.1 23 538 0.10 2.50 0.00 0.000 4 0.110 0.057 2510 3556 3096

703 -0.85 -117.3 58.1 -9.5 30 710 0.00 2.50 0.00 0.000 6 0.000 0.045 2510 2144 3097

1019 -0.85 -117.3 86.3 -8.9 46 1021 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2125 3097

1329 -0.85 -117.3 110.0 -7.4 61 1333 0.00 2.50 0.00 0.000 4 0.000 0.058 2510 742 3098

1369 -0.85 -117.3 113.1 -8.5 63 1374 0.00 2.53 0.00 0.000 6 0.000 0.049 2510 2162 3098

1697 -0.85 -117.3 137.3 -7.2 79 1702 0.00 2.58 0.00 0.000 4 0.000 0.059 2510 748 3098

1770 -0.85 -117.3 142.8 -7.7 82 1775 0.00 2.53 0.00 0.000 6 0.000 0.051 2510 2155 3098

2087 -0.85 -117.3 165.8 -7.8 97 2088 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2155 3098

2395 -0.85 -117.3 192.1 -8.9 112 2396 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2156 3098

2704 -0.85 -117.3 221.0 -9.8 127 2705 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2156 3097

3014 -0.85 -117.3 252.2 -9.7 142 3019 0.00 2.58 0.00 0.000 4 0.000 0.063 2510 749 3098

3065 -0.85 -117.3 257.2 -9.4 144 3069 0.00 2.50 0.00 0.000 6 0.000 0.052 2510 2137 3098

3380 -0.85 -117.3 285.6 -8.5 159 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2136 3097

3691 -0.85 -117.3 309.9 -7.9 174 3695 0.00 2.53 0.00 0.000 4 0.000 0.064 2510 742 3097

3763 -0.85 -117.3 315.9 -7.6 177 3767 0.00 2.50 0.00 0.000 6 0.000 0.054 2510 2129 3097

4080 -0.85 -117.3 340.0 -7.3 192 4081 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2129 3096

4388 -0.85 -117.3 360.0 -5.5 207 4392 0.00 2.58 0.00 0.000 4 0.000 0.064 2510 3558 3096

4411 -0.85 -117.3 361.3 -5.9 208 4415 0.00 2.58 0.00 0.000 6 0.000 0.054 2510 2126 3096

4733 -0.85 -117.3 375.6 -4.2 224 4734 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2107 3096

5041 -0.85 -117.3 391.6 -5.9 239 5042 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2107 3096

5350 -0.85 -117.3 410.6 -6.0 254 5355 0.00 2.65 0.00 0.000 4 0.000 0.066 2510 3562 3096

5385 -0.85 -117.3 412.8 -6.5 255 5391 0.00 2.53 0.00 0.000 6 0.000 0.055 2510 2147 3096

5701 -0.85 -117.3 429.1 -4.4 271 5702 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2130 3095

6010 -0.85 -117.3 440.9 -4.0 286 6015 0.00 2.50 0.00 0.000 4 0.000 0.066 2510 744 3095

6090 -0.85 -117.3 444.5 -4.7 289 6096 0.00 2.58 0.00 0.000 6 0.000 0.057 2510 2166 3095

6406 -0.85 -117.3 464.0 -7.2 305 6410 0.00 2.62 0.00 0.000 4 0.000 0.068 2510 743 3095

6478 -0.85 -117.3 470.2 -9.0 308 6482 0.00 2.50 0.00 0.000 6 0.000 0.058 2510 2131 3094

6794 -0.85 -117.3 497.9 -9.7 323 6799 0.00 2.60 0.00 0.000 4 0.000 0.070 2510 3557 3094

6924 -0.85 -117.3 510.7 -9.5 329 6929 0.00 2.58 0.00 0.000 6 0.000 0.058 2510 2128 3093

7252 -0.85 -117.3 535.2 -7.0 345 7257 0.00 2.67 0.00 0.000 4 0.000 0.071 2510 3563 3092

7472 -0.85 -117.3 551.3 -7.1 355 7476 0.00 2.53 0.00 0.000 6 0.000 0.061 2510 2174 3092

7672 end dive: BOTTOM_OBSTACLE_DETECTED

state 7672 begin apogee

7679 -0.33 0.0 564.2 6.1 365 7781 0.55 0.00 98.50 1.217 6 0.087 0.000 2625 2080 2620

7781 end apogee: CONTROL_FINISHED_OK

state 7782 begin climb

7785 1.30 117.3 567.6 0.0 370 7891 1.67 2.72 97.95 1.186 4 0.071 0.070 2980 3511 2140

7911 1.26 117.3 559.6 9.7 375 7917 0.00 2.60 0.00 0.000 6 0.000 0.062 2980 2119 2140

8227 1.26 117.3 529.2 9.9 391 8231 0.00 2.60 0.00 0.000 4 0.000 0.071 2980 3505 2138

8293 1.26 117.3 521.6 11.3 394 8297 0.00 2.58 0.00 0.000 6 0.000 0.062 2980 2116 2138

8615 1.26 117.3 486.0 10.4 410 8619 0.00 2.62 0.00 0.000 4 0.000 0.072 2980 3506 2138

8692 1.26 117.3 477.8 10.7 413 8698 0.00 2.55 0.00 0.000 6 0.000 0.061 2981 2122 2137

9008 1.26 117.3 447.7 9.7 429 9013 0.00 2.60 0.00 0.000 4 0.000 0.073 2980 3511 2136

9041 1.26 117.3 444.1 10.0 430 9048 0.00 2.55 0.00 0.000 6 0.000 0.061 2980 2128 2136

9357 1.26 117.3 412.9 9.6 446 9362 0.00 2.60 0.00 0.000 4 0.000 0.071 2980 3511 2135

9402 1.26 117.3 408.2 10.0 448 9406 0.00 2.50 0.00 0.000 6 0.000 0.059 2981 2148 2135

9724 1.26 119.0 381.6 7.9 464 9728 0.00 2.55 0.00 0.000 4 0.000 0.070 2980 3511 2134

9768 1.26 119.0 377.6 9.0 466 9772 0.00 2.47 0.00 0.000 6 0.000 0.057 2980 2151 2134

10089 1.26 119.0 349.4 8.7 482 10094 0.00 2.53 0.00 0.000 4 0.000 0.066 2981 3508 2134

10134 1.26 119.0 345.1 9.7 484 10138 0.00 2.45 0.00 0.000 6 0.000 0.055 2980 2163 2134

10455 1.28 126.3 319.3 7.7 500 10469 0.00 2.53 7.65 0.919 4 0.000 0.064 2980 3501 2105

10510 1.29 137.4 315.0 7.5 502 10526 0.00 2.42 10.90 0.969 6 0.000 0.054 2981 2170 2059

10848 1.37 187.7 292.8 5.7 519 10898 0.00 2.58 42.25 1.027 4 0.000 0.062 2980 3507 1853

10921 1.44 192.9 288.0 7.8 522 10934 0.15 2.42 5.80 0.802 6 0.050 0.054 3021 2188 1833

11243 1.39 192.9 259.3 9.4 538 11244 0.00 0.00 0.00 0.000 6 0.000 0.000 3021 2188 1832

11552 1.34 192.9 229.0 10.0 553 11554 0.17 0.00 0.00 0.000 6 0.088 0.000 2988 2188 1833

11862 1.38 192.9 201.5 9.2 568 11866 0.00 2.42 0.00 0.000 4 0.000 0.061 2988 3515 1833

11890 1.43 192.9 198.6 10.2 569 11895 0.10 2.40 0.00 0.000 6 0.059 0.053 3017 2189 1833

12211 1.43 192.9 164.2 10.6 585 12215 0.00 2.40 0.00 0.000 4 0.000 0.060 3017 3508 1833

12229 1.43 192.9 162.3 10.5 586 12233 0.00 2.35 0.00 0.000 6 0.000 0.052 3017 2198 1834

12562 1.43 192.9 129.9 9.2 602 12563 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2197 1834

12872 1.43 192.9 100.5 10.1 617 12873 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2197 1835

13181 1.43 192.9 65.3 12.2 632 13182 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2196 1835

13490 1.43 192.9 27.4 11.7 647 13491 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2196 1835

13734 end climb: SURFACE_DEPTH_REACHED

state 13734 begin surface coast

13756 end surface coast: CONTROL_FINISHED_OK

state 13756 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	253	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-81362.734	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	181807,6236.981,-1031.142,36,1.7,36,-10.5	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.206,0.083
_SM_DEPTHo	0.57	KALMAN_X	-97870.9,1797.0,946.3,114341.4,-22590.5
_SM_ANGLEo	-48.4	KALMAN_Y	-32464.5,-23.4,434.5,83571.0,-3119.7
GPS2	182327,6237.071,-1031.338,15,1.8,15,-10.5	MHEAD_RNG_PITCHd_Wd	78.5,49576,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.1,1.026493	ALTIM_BOTTOM_PING	550.0,22.9
SM_CCo	13780,209.18,0.775,0,0,390,547.02	_24V_AH	23.8,48.466
SM_GC	0.44,0.00,0.00,209.18,0.000,0.000,0.775,417,2133,390,-10.50,-0.48,547.02	_10V_AH	10.1,23.566
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34805,660
TT8_MAMPS	0.029146	CAP_FILE_SIZE	104402,0
HUMID	1689	CFSIZE	254472192,235212800
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
XPDR_PINGS	370	GPS	010808,221837,6239.648,-1029.088,30,1.6,30,-10.5
ALTIM_TOP_PING	18.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	135	79.56	SBE_CT	452	24	258.40
Roll_motor	116	101	281.26	SBE_O2	488	19	220.89
VBD_pump_during_apogee	263	1217	7620.57	WL_BB2F	440	105	1101.77
VBD_pump_during_surface	209	775	3860.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	28	160	107.15	nil	0	0	0.00
Iridium_during_xfer	132	223	702.31
Transponder_ping	97	420	974.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.88
TT8	1241	19	248.22
LPSleep	10497	2	232.19
TT8_Active	622	19	124.53
TT8_Sampling	1485	39	597.07
TT8_CF8	466	45	215.58
TT8_Kalman	33	81	27.56
Analog_circuits	1374	12	166.64
GPS_charging	0	0	0.00
Compass	1449	8	117.12
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	-111.00	0.000	6	0.000	0.000	423	2127	3099
144	-1.30	-117.3	2.9	-2.7	6	159	10.27	2.47	0.00	0.000	4	0.136	0.054	2408	753	3098
216	-0.94	-117.3	14.9	-15.0	8	221	0.40	2.50	0.00	0.000	6	0.094	0.047	2489	2157	3096
533	-0.85	-117.3	42.7	-8.1	23	538	0.10	2.50	0.00	0.000	4	0.110	0.057	2510	3556	3096
703	-0.85	-117.3	58.1	-9.5	30	710	0.00	2.50	0.00	0.000	6	0.000	0.045	2510	2144	3097
1019	-0.85	-117.3	86.3	-8.9	46	1021	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2125	3097
1329	-0.85	-117.3	110.0	-7.4	61	1333	0.00	2.50	0.00	0.000	4	0.000	0.058	2510	742	3098
1369	-0.85	-117.3	113.1	-8.5	63	1374	0.00	2.53	0.00	0.000	6	0.000	0.049	2510	2162	3098
1697	-0.85	-117.3	137.3	-7.2	79	1702	0.00	2.58	0.00	0.000	4	0.000	0.059	2510	748	3098
1770	-0.85	-117.3	142.8	-7.7	82	1775	0.00	2.53	0.00	0.000	6	0.000	0.051	2510	2155	3098
2087	-0.85	-117.3	165.8	-7.8	97	2088	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2155	3098
2395	-0.85	-117.3	192.1	-8.9	112	2396	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2156	3098
2704	-0.85	-117.3	221.0	-9.8	127	2705	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2156	3097
3014	-0.85	-117.3	252.2	-9.7	142	3019	0.00	2.58	0.00	0.000	4	0.000	0.063	2510	749	3098
3065	-0.85	-117.3	257.2	-9.4	144	3069	0.00	2.50	0.00	0.000	6	0.000	0.052	2510	2137	3098
3380	-0.85	-117.3	285.6	-8.5	159	3382	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2136	3097
3691	-0.85	-117.3	309.9	-7.9	174	3695	0.00	2.53	0.00	0.000	4	0.000	0.064	2510	742	3097
3763	-0.85	-117.3	315.9	-7.6	177	3767	0.00	2.50	0.00	0.000	6	0.000	0.054	2510	2129	3097
4080	-0.85	-117.3	340.0	-7.3	192	4081	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2129	3096
4388	-0.85	-117.3	360.0	-5.5	207	4392	0.00	2.58	0.00	0.000	4	0.000	0.064	2510	3558	3096
4411	-0.85	-117.3	361.3	-5.9	208	4415	0.00	2.58	0.00	0.000	6	0.000	0.054	2510	2126	3096
4733	-0.85	-117.3	375.6	-4.2	224	4734	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2107	3096
5041	-0.85	-117.3	391.6	-5.9	239	5042	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2107	3096
5350	-0.85	-117.3	410.6	-6.0	254	5355	0.00	2.65	0.00	0.000	4	0.000	0.066	2510	3562	3096
5385	-0.85	-117.3	412.8	-6.5	255	5391	0.00	2.53	0.00	0.000	6	0.000	0.055	2510	2147	3096
5701	-0.85	-117.3	429.1	-4.4	271	5702	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2130	3095
6010	-0.85	-117.3	440.9	-4.0	286	6015	0.00	2.50	0.00	0.000	4	0.000	0.066	2510	744	3095
6090	-0.85	-117.3	444.5	-4.7	289	6096	0.00	2.58	0.00	0.000	6	0.000	0.057	2510	2166	3095
6406	-0.85	-117.3	464.0	-7.2	305	6410	0.00	2.62	0.00	0.000	4	0.000	0.068	2510	743	3095
6478	-0.85	-117.3	470.2	-9.0	308	6482	0.00	2.50	0.00	0.000	6	0.000	0.058	2510	2131	3094
6794	-0.85	-117.3	497.9	-9.7	323	6799	0.00	2.60	0.00	0.000	4	0.000	0.070	2510	3557	3094
6924	-0.85	-117.3	510.7	-9.5	329	6929	0.00	2.58	0.00	0.000	6	0.000	0.058	2510	2128	3093
7252	-0.85	-117.3	535.2	-7.0	345	7257	0.00	2.67	0.00	0.000	4	0.000	0.071	2510	3563	3092
7472	-0.85	-117.3	551.3	-7.1	355	7476	0.00	2.53	0.00	0.000	6	0.000	0.061	2510	2174	3092
7672	end dive: BOTTOM_OBSTACLE_DETECTED
state	7672	begin apogee
7679	-0.33	0.0	564.2	6.1	365	7781	0.55	0.00	98.50	1.217	6	0.087	0.000	2625	2080	2620
7781	end apogee: CONTROL_FINISHED_OK
state	7782	begin climb
7785	1.30	117.3	567.6	0.0	370	7891	1.67	2.72	97.95	1.186	4	0.071	0.070	2980	3511	2140
7911	1.26	117.3	559.6	9.7	375	7917	0.00	2.60	0.00	0.000	6	0.000	0.062	2980	2119	2140
8227	1.26	117.3	529.2	9.9	391	8231	0.00	2.60	0.00	0.000	4	0.000	0.071	2980	3505	2138
8293	1.26	117.3	521.6	11.3	394	8297	0.00	2.58	0.00	0.000	6	0.000	0.062	2980	2116	2138
8615	1.26	117.3	486.0	10.4	410	8619	0.00	2.62	0.00	0.000	4	0.000	0.072	2980	3506	2138
8692	1.26	117.3	477.8	10.7	413	8698	0.00	2.55	0.00	0.000	6	0.000	0.061	2981	2122	2137
9008	1.26	117.3	447.7	9.7	429	9013	0.00	2.60	0.00	0.000	4	0.000	0.073	2980	3511	2136
9041	1.26	117.3	444.1	10.0	430	9048	0.00	2.55	0.00	0.000	6	0.000	0.061	2980	2128	2136
9357	1.26	117.3	412.9	9.6	446	9362	0.00	2.60	0.00	0.000	4	0.000	0.071	2980	3511	2135
9402	1.26	117.3	408.2	10.0	448	9406	0.00	2.50	0.00	0.000	6	0.000	0.059	2981	2148	2135
9724	1.26	119.0	381.6	7.9	464	9728	0.00	2.55	0.00	0.000	4	0.000	0.070	2980	3511	2134
9768	1.26	119.0	377.6	9.0	466	9772	0.00	2.47	0.00	0.000	6	0.000	0.057	2980	2151	2134
10089	1.26	119.0	349.4	8.7	482	10094	0.00	2.53	0.00	0.000	4	0.000	0.066	2981	3508	2134
10134	1.26	119.0	345.1	9.7	484	10138	0.00	2.45	0.00	0.000	6	0.000	0.055	2980	2163	2134
10455	1.28	126.3	319.3	7.7	500	10469	0.00	2.53	7.65	0.919	4	0.000	0.064	2980	3501	2105
10510	1.29	137.4	315.0	7.5	502	10526	0.00	2.42	10.90	0.969	6	0.000	0.054	2981	2170	2059
10848	1.37	187.7	292.8	5.7	519	10898	0.00	2.58	42.25	1.027	4	0.000	0.062	2980	3507	1853
10921	1.44	192.9	288.0	7.8	522	10934	0.15	2.42	5.80	0.802	6	0.050	0.054	3021	2188	1833
11243	1.39	192.9	259.3	9.4	538	11244	0.00	0.00	0.00	0.000	6	0.000	0.000	3021	2188	1832
11552	1.34	192.9	229.0	10.0	553	11554	0.17	0.00	0.00	0.000	6	0.088	0.000	2988	2188	1833
11862	1.38	192.9	201.5	9.2	568	11866	0.00	2.42	0.00	0.000	4	0.000	0.061	2988	3515	1833
11890	1.43	192.9	198.6	10.2	569	11895	0.10	2.40	0.00	0.000	6	0.059	0.053	3017	2189	1833
12211	1.43	192.9	164.2	10.6	585	12215	0.00	2.40	0.00	0.000	4	0.000	0.060	3017	3508	1833
12229	1.43	192.9	162.3	10.5	586	12233	0.00	2.35	0.00	0.000	6	0.000	0.052	3017	2198	1834
12562	1.43	192.9	129.9	9.2	602	12563	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2197	1834
12872	1.43	192.9	100.5	10.1	617	12873	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2197	1835
13181	1.43	192.9	65.3	12.2	632	13182	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2196	1835
13490	1.43	192.9	27.4	11.7	647	13491	0.00	0.00	0.00	0.000	6	0.000	0.000	3017	2196	1835
13734	end climb: SURFACE_DEPTH_REACHED
state	13734	begin surface coast
13756	end surface coast: CONTROL_FINISHED_OK
state	13756	begin surface