Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 317 * 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 317 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 -82683.047 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0023424325

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0002635108

HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SM_CC 547.01898

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 432 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.477776 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 52

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -7

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -82683.047

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2730 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 159 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2620 MASS 52000 R_PORT_OVSHOOT 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 317 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 131151,6319.131,-828.551,43,3.6,62,-9.6 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.072,0.210

_SM_DEPTHo 0.27 KALMAN_X -127688.8,-310.2,-402.5,253864.9,4100.7

_SM_ANGLEo -49.4 KALMAN_Y -81105.8,789.6,690.9,208957.4,-11684.1

GPS2 131738,6319.108,-828.581,15,1.3,32,-9.6 MHEAD_RNG_PITCHd_Wd 28.6,53362,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026905 ALTIM_BOTTOM_PING 526.3,57.4

SM_CCo 14611,218.30,0.791,0,0,390,547.02 _24V_AH 23.7,58.155

SM_GC 0.18,0.00,0.00,218.30,0.000,0.000,0.791,423,2132,390,-10.61,-0.51,547.02 _10V_AH 10.1,27.819

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 35003,696

TT8_MAMPS 0.029146 CAP_FILE_SIZE 119359,0

HUMID 1716 CFSIZE 254472192,231895040

TCM_TEMP 19.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,0,0

XPDR_PINGS 305 GPS 110808,172704,6320.788,-824.925,43,1.8,46,-9.6

ALTIM_TOP_PING 18.4,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 82.19 SBE_CT 479 24 272.91

Roll_motor 147 84 294.59 SBE_O2 517 19 233.06

VBD_pump_during_apogee 252 1298 7767.66 WL_BB2F 459 105 1143.70

VBD_pump_during_surface 218 790 4091.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 36 160 138.50 nil 0 0 0.00

Iridium_during_xfer 132 223 698.04

Transponder_ping 81 420 806.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.17

TT8 1357 19 271.42

LPSleep 10921 2 241.57

TT8_Active 659 19 131.93

TT8_Sampling 1737 39 698.61

TT8_CF8 502 45 232.51

TT8_Kalman 33 81 27.56

Analog_circuits 1524 12 184.83

GPS_charging 0 0 0.00

Compass 1677 8 135.55

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 149 0.00 0.00 -116.03 0.000 6 0.000 0.000 423 2192 3099

153 -1.30 -117.3 3.2 -3.3 6 169 10.55 0.00 0.00 0.000 6 0.137 0.000 2437 2195 3099

482 -1.04 -117.3 46.1 -11.8 22 484 0.30 0.00 0.00 0.000 6 0.091 0.000 2500 2195 3098

789 -0.97 -117.3 77.2 -9.3 37 793 0.00 2.60 0.00 0.000 4 0.000 0.052 2500 753 3098

862 -0.90 -117.3 84.2 -9.9 40 867 0.15 2.50 0.00 0.000 6 0.093 0.046 2532 2157 3098

1179 -0.90 -117.3 111.0 -8.5 55 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2155 3099

1488 -0.90 -117.3 135.5 -6.9 70 1489 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2156 3100

1797 -0.90 -117.3 152.3 -4.8 85 1798 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2156 3100

2107 -0.94 -117.3 169.0 -5.7 100 2108 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2156 3100

2416 -0.98 -117.3 188.9 -6.9 115 2420 0.00 2.55 0.00 0.000 4 0.000 0.058 2532 753 3099

2501 -0.98 -117.3 195.6 -8.1 119 2506 0.00 2.47 0.00 0.000 6 0.000 0.051 2532 2139 3099

2829 -1.04 -117.3 220.3 -7.7 135 2831 0.12 0.00 0.00 0.000 6 0.053 0.000 2494 2139 3099

3138 -0.98 -117.3 245.7 -8.4 150 3143 0.10 2.53 0.00 0.000 4 0.099 0.058 2515 755 3099

3223 -0.98 -117.3 252.6 -8.0 154 3228 0.00 2.47 0.00 0.000 6 0.000 0.051 2515 2140 3099

3553 -0.98 -117.3 276.2 -6.5 170 3557 0.00 2.53 0.00 0.000 4 0.000 0.059 2515 745 3098

3671 -0.98 -117.3 283.9 -6.2 175 3676 0.00 2.45 0.00 0.000 6 0.000 0.052 2515 2106 3098

3987 -0.98 -117.3 299.6 -4.3 190 3992 0.00 2.62 0.00 0.000 4 0.000 0.064 2515 3558 3098

4245 -0.98 -117.3 317.0 -7.4 201 4249 0.00 2.55 0.00 0.000 6 0.000 0.049 2515 2131 3097

4561 -0.98 -117.3 341.5 -8.5 216 4562 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2130 3098

4871 -0.98 -117.3 368.3 -8.4 231 4876 0.00 2.50 0.00 0.000 4 0.000 0.063 2515 739 3097

4979 -0.98 -117.3 378.1 -9.1 236 4984 0.00 2.50 0.00 0.000 6 0.000 0.055 2515 2124 3097

5308 -0.98 -117.3 400.1 -5.4 252 5313 0.00 2.62 0.00 0.000 4 0.000 0.070 2515 3557 3096

5539 -0.98 -117.3 412.4 -5.4 262 5543 0.00 2.58 0.00 0.000 6 0.000 0.056 2515 2135 3096

5855 -0.98 -117.3 426.2 -4.5 277 5860 0.00 2.53 0.00 0.000 4 0.000 0.067 2515 742 3096

5969 -0.98 -117.3 432.6 -5.9 282 5974 0.00 2.55 0.00 0.000 6 0.000 0.061 2515 2133 3096

6291 -0.98 -117.3 451.6 -6.3 298 6295 0.00 2.65 0.00 0.000 4 0.000 0.076 2515 3564 3095

6498 -0.98 -117.3 466.0 -7.2 307 6502 0.00 2.58 0.00 0.000 6 0.000 0.062 2515 2157 3094

6814 -0.98 -117.3 485.0 -6.0 322 6818 0.00 2.58 0.00 0.000 4 0.000 0.073 2515 747 3093

6926 -0.98 -117.3 493.2 -7.7 327 6930 0.00 2.62 0.00 0.000 6 0.000 0.068 2515 2164 3092

7247 -0.98 -117.3 514.9 -6.8 343 7248 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2164 3091

7557 -0.98 -117.3 536.3 -6.9 358 7561 0.00 2.67 0.00 0.000 4 0.000 0.078 2515 748 3090

7635 -0.98 -117.3 542.2 -7.2 361 7641 0.00 2.62 0.00 0.000 6 0.000 0.071 2515 2154 3089

7951 -0.98 -117.3 563.7 -6.6 377 7956 0.00 2.62 0.00 0.000 4 0.000 0.084 2515 3562 3088

8053 -0.98 -117.3 571.6 -8.3 381 8059 0.00 2.62 0.00 0.000 6 0.000 0.070 2515 2148 3087

8077 end dive: BOTTOM_OBSTACLE_DETECTED

state 8077 begin apogee

8084 -0.33 0.0 573.7 7.9 383 8186 0.68 0.00 98.85 1.299 6 0.092 0.000 2653 2130 2620

8187 end apogee: CONTROL_FINISHED_OK

state 8187 begin climb

8190 1.30 117.3 576.9 0.0 388 8296 1.67 2.70 98.38 1.257 4 0.076 0.082 3009 3516 2141

8352 1.21 117.3 566.4 9.6 395 8359 0.00 2.67 0.00 0.000 6 0.000 0.071 3009 2103 2140

8669 1.15 117.3 537.8 9.3 411 8674 0.15 2.70 0.00 0.000 4 0.101 0.082 2978 3508 2139

8737 1.15 117.3 531.5 8.8 414 8741 0.00 2.62 0.00 0.000 6 0.000 0.070 2978 2113 2138

9058 1.17 130.7 506.4 7.4 430 9080 0.00 2.75 12.25 1.159 4 0.000 0.081 2978 3502 2086

9126 1.17 130.7 500.9 8.1 433 9131 0.00 2.60 0.00 0.000 6 0.000 0.068 2978 2122 2086

9454 1.20 150.9 477.1 7.1 449 9478 0.00 2.75 18.35 1.200 4 0.000 0.082 2978 3505 2004

9535 1.20 150.9 470.5 8.3 452 9541 0.00 2.60 0.00 0.000 6 0.000 0.069 2978 2131 2003

9852 1.28 157.4 445.9 7.7 468 9867 0.12 2.72 7.07 1.048 4 0.064 0.081 3009 3508 1978

9913 1.23 157.4 440.0 9.7 470 9920 0.00 2.58 0.00 0.000 6 0.000 0.070 3009 2142 1978

10230 1.23 157.4 409.7 10.2 486 10234 0.00 2.62 0.00 0.000 4 0.000 0.081 3009 3508 1977

10292 1.23 157.4 402.8 11.0 489 10296 0.00 2.53 0.00 0.000 6 0.000 0.067 3009 2150 1976

10618 1.23 157.4 369.7 10.2 505 10623 0.00 2.60 0.00 0.000 4 0.000 0.080 3009 3510 1976

10659 1.19 157.4 365.2 10.8 507 10664 0.00 2.53 0.00 0.000 6 0.000 0.065 3009 2152 1976

10986 1.19 157.4 329.5 11.1 523 10991 0.00 2.58 0.00 0.000 4 0.000 0.075 3009 3509 1975

11076 1.14 157.4 319.0 11.9 527 11081 0.15 2.47 0.00 0.000 6 0.101 0.061 2980 2170 1974

11399 1.20 157.4 290.5 8.4 543 11400 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2152 1974

11708 1.28 163.6 265.6 7.7 558 11722 0.12 2.58 6.35 0.912 4 0.058 0.069 3013 3511 1952

11740 1.24 163.6 262.8 9.3 559 11744 0.00 2.47 0.00 0.000 6 0.000 0.057 3013 2164 1952

12056 1.24 163.6 236.1 8.3 574 12060 0.00 2.50 0.00 0.000 4 0.000 0.066 3013 3512 1952

12073 1.24 163.6 234.5 8.5 575 12077 0.00 2.42 0.00 0.000 6 0.000 0.054 3013 2171 1952

12401 1.24 163.6 204.1 9.7 591 12405 0.00 2.47 0.00 0.000 4 0.000 0.065 3013 3512 1953

12444 1.24 163.6 199.3 10.9 593 12449 0.00 2.42 0.00 0.000 6 0.000 0.052 3013 2171 1953

12766 1.24 163.6 167.7 9.5 609 12770 0.00 2.47 0.00 0.000 4 0.000 0.064 3013 3515 1954

12806 1.24 163.6 163.6 10.7 611 12811 0.00 2.40 0.00 0.000 6 0.000 0.051 3013 2179 1954

13134 1.24 163.6 134.7 8.6 627 13138 0.00 2.45 0.00 0.000 4 0.000 0.062 3013 3514 1954

13162 1.24 163.6 132.0 9.4 628 13166 0.00 2.38 0.00 0.000 6 0.000 0.049 3013 2189 1954

13479 1.24 163.6 104.1 9.0 643 13483 0.00 2.42 0.00 0.000 4 0.000 0.061 3013 3513 1955

13523 1.24 163.6 99.7 9.7 645 13527 0.00 2.35 0.00 0.000 6 0.000 0.048 3013 2197 1955

13850 1.24 163.6 68.7 9.9 661 13854 0.00 2.40 0.00 0.000 4 0.000 0.061 3013 3512 1956

13861 1.24 163.6 67.5 10.2 661 13868 0.00 2.35 0.00 0.000 6 0.000 0.048 3013 2202 1956

14178 1.24 163.6 37.9 8.4 677 14182 0.00 2.40 0.00 0.000 4 0.000 0.060 3014 3516 1957

14223 1.24 165.5 34.1 7.9 679 14232 0.00 2.33 4.25 0.604 6 0.000 0.046 3013 2212 1945

14551 1.25 172.5 5.3 7.7 695 14565 0.00 2.45 6.90 0.698 4 0.000 0.058 3013 3516 1915

14579 end climb: SURFACE_DEPTH_REACHED

state 14579 begin surface coast

14586 end surface coast: CONTROL_FINISHED_OK

state 14586 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	317	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	-82683.047	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0023424325
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0002635108
HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	131151,6319.131,-828.551,43,3.6,62,-9.6	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.072,0.210
_SM_DEPTHo	0.27	KALMAN_X	-127688.8,-310.2,-402.5,253864.9,4100.7
_SM_ANGLEo	-49.4	KALMAN_Y	-81105.8,789.6,690.9,208957.4,-11684.1
GPS2	131738,6319.108,-828.581,15,1.3,32,-9.6	MHEAD_RNG_PITCHd_Wd	28.6,53362,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.7,1.026905	ALTIM_BOTTOM_PING	526.3,57.4
SM_CCo	14611,218.30,0.791,0,0,390,547.02	_24V_AH	23.7,58.155
SM_GC	0.18,0.00,0.00,218.30,0.000,0.000,0.791,423,2132,390,-10.61,-0.51,547.02	_10V_AH	10.1,27.819
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	35003,696
TT8_MAMPS	0.029146	CAP_FILE_SIZE	119359,0
HUMID	1716	CFSIZE	254472192,231895040
TCM_TEMP	19.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
XPDR_PINGS	305	GPS	110808,172704,6320.788,-824.925,43,1.8,46,-9.6
ALTIM_TOP_PING	18.4,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	82.19	SBE_CT	479	24	272.91
Roll_motor	147	84	294.59	SBE_O2	517	19	233.06
VBD_pump_during_apogee	252	1298	7767.66	WL_BB2F	459	105	1143.70
VBD_pump_during_surface	218	790	4091.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	36	160	138.50	nil	0	0	0.00
Iridium_during_xfer	132	223	698.04
Transponder_ping	81	420	806.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.17
TT8	1357	19	271.42
LPSleep	10921	2	241.57
TT8_Active	659	19	131.93
TT8_Sampling	1737	39	698.61
TT8_CF8	502	45	232.51
TT8_Kalman	33	81	27.56
Analog_circuits	1524	12	184.83
GPS_charging	0	0	0.00
Compass	1677	8	135.55
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	149	0.00	0.00	-116.03	0.000	6	0.000	0.000	423	2192	3099
153	-1.30	-117.3	3.2	-3.3	6	169	10.55	0.00	0.00	0.000	6	0.137	0.000	2437	2195	3099
482	-1.04	-117.3	46.1	-11.8	22	484	0.30	0.00	0.00	0.000	6	0.091	0.000	2500	2195	3098
789	-0.97	-117.3	77.2	-9.3	37	793	0.00	2.60	0.00	0.000	4	0.000	0.052	2500	753	3098
862	-0.90	-117.3	84.2	-9.9	40	867	0.15	2.50	0.00	0.000	6	0.093	0.046	2532	2157	3098
1179	-0.90	-117.3	111.0	-8.5	55	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2155	3099
1488	-0.90	-117.3	135.5	-6.9	70	1489	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2156	3100
1797	-0.90	-117.3	152.3	-4.8	85	1798	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2156	3100
2107	-0.94	-117.3	169.0	-5.7	100	2108	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2156	3100
2416	-0.98	-117.3	188.9	-6.9	115	2420	0.00	2.55	0.00	0.000	4	0.000	0.058	2532	753	3099
2501	-0.98	-117.3	195.6	-8.1	119	2506	0.00	2.47	0.00	0.000	6	0.000	0.051	2532	2139	3099
2829	-1.04	-117.3	220.3	-7.7	135	2831	0.12	0.00	0.00	0.000	6	0.053	0.000	2494	2139	3099
3138	-0.98	-117.3	245.7	-8.4	150	3143	0.10	2.53	0.00	0.000	4	0.099	0.058	2515	755	3099
3223	-0.98	-117.3	252.6	-8.0	154	3228	0.00	2.47	0.00	0.000	6	0.000	0.051	2515	2140	3099
3553	-0.98	-117.3	276.2	-6.5	170	3557	0.00	2.53	0.00	0.000	4	0.000	0.059	2515	745	3098
3671	-0.98	-117.3	283.9	-6.2	175	3676	0.00	2.45	0.00	0.000	6	0.000	0.052	2515	2106	3098
3987	-0.98	-117.3	299.6	-4.3	190	3992	0.00	2.62	0.00	0.000	4	0.000	0.064	2515	3558	3098
4245	-0.98	-117.3	317.0	-7.4	201	4249	0.00	2.55	0.00	0.000	6	0.000	0.049	2515	2131	3097
4561	-0.98	-117.3	341.5	-8.5	216	4562	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2130	3098
4871	-0.98	-117.3	368.3	-8.4	231	4876	0.00	2.50	0.00	0.000	4	0.000	0.063	2515	739	3097
4979	-0.98	-117.3	378.1	-9.1	236	4984	0.00	2.50	0.00	0.000	6	0.000	0.055	2515	2124	3097
5308	-0.98	-117.3	400.1	-5.4	252	5313	0.00	2.62	0.00	0.000	4	0.000	0.070	2515	3557	3096
5539	-0.98	-117.3	412.4	-5.4	262	5543	0.00	2.58	0.00	0.000	6	0.000	0.056	2515	2135	3096
5855	-0.98	-117.3	426.2	-4.5	277	5860	0.00	2.53	0.00	0.000	4	0.000	0.067	2515	742	3096
5969	-0.98	-117.3	432.6	-5.9	282	5974	0.00	2.55	0.00	0.000	6	0.000	0.061	2515	2133	3096
6291	-0.98	-117.3	451.6	-6.3	298	6295	0.00	2.65	0.00	0.000	4	0.000	0.076	2515	3564	3095
6498	-0.98	-117.3	466.0	-7.2	307	6502	0.00	2.58	0.00	0.000	6	0.000	0.062	2515	2157	3094
6814	-0.98	-117.3	485.0	-6.0	322	6818	0.00	2.58	0.00	0.000	4	0.000	0.073	2515	747	3093
6926	-0.98	-117.3	493.2	-7.7	327	6930	0.00	2.62	0.00	0.000	6	0.000	0.068	2515	2164	3092
7247	-0.98	-117.3	514.9	-6.8	343	7248	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2164	3091
7557	-0.98	-117.3	536.3	-6.9	358	7561	0.00	2.67	0.00	0.000	4	0.000	0.078	2515	748	3090
7635	-0.98	-117.3	542.2	-7.2	361	7641	0.00	2.62	0.00	0.000	6	0.000	0.071	2515	2154	3089
7951	-0.98	-117.3	563.7	-6.6	377	7956	0.00	2.62	0.00	0.000	4	0.000	0.084	2515	3562	3088
8053	-0.98	-117.3	571.6	-8.3	381	8059	0.00	2.62	0.00	0.000	6	0.000	0.070	2515	2148	3087
8077	end dive: BOTTOM_OBSTACLE_DETECTED
state	8077	begin apogee
8084	-0.33	0.0	573.7	7.9	383	8186	0.68	0.00	98.85	1.299	6	0.092	0.000	2653	2130	2620
8187	end apogee: CONTROL_FINISHED_OK
state	8187	begin climb
8190	1.30	117.3	576.9	0.0	388	8296	1.67	2.70	98.38	1.257	4	0.076	0.082	3009	3516	2141
8352	1.21	117.3	566.4	9.6	395	8359	0.00	2.67	0.00	0.000	6	0.000	0.071	3009	2103	2140
8669	1.15	117.3	537.8	9.3	411	8674	0.15	2.70	0.00	0.000	4	0.101	0.082	2978	3508	2139
8737	1.15	117.3	531.5	8.8	414	8741	0.00	2.62	0.00	0.000	6	0.000	0.070	2978	2113	2138
9058	1.17	130.7	506.4	7.4	430	9080	0.00	2.75	12.25	1.159	4	0.000	0.081	2978	3502	2086
9126	1.17	130.7	500.9	8.1	433	9131	0.00	2.60	0.00	0.000	6	0.000	0.068	2978	2122	2086
9454	1.20	150.9	477.1	7.1	449	9478	0.00	2.75	18.35	1.200	4	0.000	0.082	2978	3505	2004
9535	1.20	150.9	470.5	8.3	452	9541	0.00	2.60	0.00	0.000	6	0.000	0.069	2978	2131	2003
9852	1.28	157.4	445.9	7.7	468	9867	0.12	2.72	7.07	1.048	4	0.064	0.081	3009	3508	1978
9913	1.23	157.4	440.0	9.7	470	9920	0.00	2.58	0.00	0.000	6	0.000	0.070	3009	2142	1978
10230	1.23	157.4	409.7	10.2	486	10234	0.00	2.62	0.00	0.000	4	0.000	0.081	3009	3508	1977
10292	1.23	157.4	402.8	11.0	489	10296	0.00	2.53	0.00	0.000	6	0.000	0.067	3009	2150	1976
10618	1.23	157.4	369.7	10.2	505	10623	0.00	2.60	0.00	0.000	4	0.000	0.080	3009	3510	1976
10659	1.19	157.4	365.2	10.8	507	10664	0.00	2.53	0.00	0.000	6	0.000	0.065	3009	2152	1976
10986	1.19	157.4	329.5	11.1	523	10991	0.00	2.58	0.00	0.000	4	0.000	0.075	3009	3509	1975
11076	1.14	157.4	319.0	11.9	527	11081	0.15	2.47	0.00	0.000	6	0.101	0.061	2980	2170	1974
11399	1.20	157.4	290.5	8.4	543	11400	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2152	1974
11708	1.28	163.6	265.6	7.7	558	11722	0.12	2.58	6.35	0.912	4	0.058	0.069	3013	3511	1952
11740	1.24	163.6	262.8	9.3	559	11744	0.00	2.47	0.00	0.000	6	0.000	0.057	3013	2164	1952
12056	1.24	163.6	236.1	8.3	574	12060	0.00	2.50	0.00	0.000	4	0.000	0.066	3013	3512	1952
12073	1.24	163.6	234.5	8.5	575	12077	0.00	2.42	0.00	0.000	6	0.000	0.054	3013	2171	1952
12401	1.24	163.6	204.1	9.7	591	12405	0.00	2.47	0.00	0.000	4	0.000	0.065	3013	3512	1953
12444	1.24	163.6	199.3	10.9	593	12449	0.00	2.42	0.00	0.000	6	0.000	0.052	3013	2171	1953
12766	1.24	163.6	167.7	9.5	609	12770	0.00	2.47	0.00	0.000	4	0.000	0.064	3013	3515	1954
12806	1.24	163.6	163.6	10.7	611	12811	0.00	2.40	0.00	0.000	6	0.000	0.051	3013	2179	1954
13134	1.24	163.6	134.7	8.6	627	13138	0.00	2.45	0.00	0.000	4	0.000	0.062	3013	3514	1954
13162	1.24	163.6	132.0	9.4	628	13166	0.00	2.38	0.00	0.000	6	0.000	0.049	3013	2189	1954
13479	1.24	163.6	104.1	9.0	643	13483	0.00	2.42	0.00	0.000	4	0.000	0.061	3013	3513	1955
13523	1.24	163.6	99.7	9.7	645	13527	0.00	2.35	0.00	0.000	6	0.000	0.048	3013	2197	1955
13850	1.24	163.6	68.7	9.9	661	13854	0.00	2.40	0.00	0.000	4	0.000	0.061	3013	3512	1956
13861	1.24	163.6	67.5	10.2	661	13868	0.00	2.35	0.00	0.000	6	0.000	0.048	3013	2202	1956
14178	1.24	163.6	37.9	8.4	677	14182	0.00	2.40	0.00	0.000	4	0.000	0.060	3014	3516	1957
14223	1.24	165.5	34.1	7.9	679	14232	0.00	2.33	4.25	0.604	6	0.000	0.046	3013	2212	1945
14551	1.25	172.5	5.3	7.7	695	14565	0.00	2.45	6.90	0.698	4	0.000	0.058	3013	3516	1915
14579	end climb: SURFACE_DEPTH_REACHED
state	14579	begin surface coast
14586	end surface coast: CONTROL_FINISHED_OK
state	14586	begin surface