Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 208 * 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 208 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -80495.289 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 -80495.289

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 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 208 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 231407,6157.340,-1009.319,40,1.3,40,-10.0 TGT_NAME IFRS1K

_CALLS 2 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.169,0.144

_SM_DEPTHo 0.54 KALMAN_X -33644.2,28.0,5792.2,-28319.8,-5752.4

_SM_ANGLEo -48.4 KALMAN_Y 167.1,121.3,3405.6,-22249.9,-5834.5

GPS2 232408,6157.354,-1008.854,16,1.2,34,-10.0 MHEAD_RNG_PITCHd_Wd 320.5,46268,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.026931 ALTIM_BOTTOM_PING 725.2,92.2

SM_CCo 19867,219.95,0.772,0,0,390,547.02 _24V_AH 23.8,40.568

SM_GC 0.43,0.00,0.00,219.95,0.000,0.000,0.772,423,2117,390,-10.47,-0.93,547.02 _10V_AH 10.1,19.403

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47392,952

TT8_MAMPS 0.029146 CAP_FILE_SIZE 156845,0

HUMID 1668 CFSIZE 254472192,238292992

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

XPDR_PINGS 541 GPS 220708,050125,6158.156,-1010.211,41,1.4,59,-10.0

ALTIM_TOP_PING 19.0,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 143 90.89 SBE_CT 652 24 372.81

Roll_motor 170 82 333.27 SBE_O2 708 19 320.46

VBD_pump_during_apogee 245 1394 8154.01 WL_BB2F 545 105 1363.52

VBD_pump_during_surface 219 771 4039.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 185.15 nil 0 0 0.00

Iridium_during_connect 58 160 223.66 nil 0 0 0.00

Iridium_during_xfer 247 223 1315.56

Transponder_ping 141 420 1416.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.43

TT8 1797 19 359.38

LPSleep 15297 2 338.36

TT8_Active 670 19 134.13

TT8_Sampling 2181 39 876.75

TT8_CF8 738 45 341.41

TT8_Kalman 33 81 27.57

Analog_circuits 1741 12 211.04

GPS_charging 0 0 0.00

Compass 2113 8 170.74

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -110.15 0.000 6 0.000 0.000 420 2176 3099

141 -1.30 -117.3 2.1 -1.7 5 158 10.43 2.65 0.00 0.000 4 0.143 0.058 2408 733 3099

411 -0.96 -117.3 41.5 -11.8 16 416 0.40 2.55 0.00 0.000 6 0.098 0.047 2489 2163 3097

735 -0.89 -117.3 67.6 -8.2 32 739 0.00 2.47 0.00 0.000 4 0.000 0.057 2490 3557 3097

814 -0.79 -117.3 75.0 -8.4 35 821 0.17 2.53 0.00 0.000 6 0.091 0.045 2526 2124 3097

1132 -0.79 -117.3 97.4 -6.9 51 1136 0.00 2.45 0.00 0.000 4 0.000 0.059 2526 752 3097

1250 -0.79 -117.3 106.7 -7.9 56 1254 0.00 2.47 0.00 0.000 6 0.000 0.048 2525 2137 3097

1566 -0.79 -117.3 126.5 -6.0 71 1570 0.00 2.55 0.00 0.000 4 0.000 0.059 2526 3564 3097

1706 -0.79 -117.3 137.5 -8.2 77 1710 0.00 2.53 0.00 0.000 6 0.000 0.046 2526 2132 3097

2022 -0.84 -117.3 164.1 -9.3 92 2026 0.00 2.47 0.00 0.000 4 0.000 0.060 2525 743 3097

2094 -0.84 -117.3 171.3 -9.8 95 2098 0.00 2.50 0.00 0.000 6 0.000 0.050 2526 2138 3097

2418 -0.89 -117.3 197.4 -7.4 111 2422 0.00 2.53 0.00 0.000 4 0.000 0.060 2526 751 3097

2512 -0.89 -117.3 204.0 -6.5 115 2517 0.00 2.47 0.00 0.000 6 0.000 0.050 2526 2134 3097

2829 -0.93 -117.3 221.1 -5.0 130 2834 0.15 2.55 0.00 0.000 4 0.049 0.061 2478 3556 3096

2914 -0.80 -117.3 227.4 -7.6 134 2919 0.22 2.53 0.00 0.000 6 0.091 0.047 2524 2125 3096

3242 -0.85 -117.3 244.4 -4.1 150 3243 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2106 3096

3552 -0.89 -117.3 259.4 -4.9 165 3553 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2106 3096

3860 -0.89 -117.3 276.4 -5.5 180 3864 0.00 2.62 0.00 0.000 4 0.000 0.062 2524 3558 3095

3961 -0.89 -117.3 283.4 -7.3 184 3967 0.00 2.55 0.00 0.000 6 0.000 0.049 2524 2127 3095

4277 -0.94 -117.3 307.1 -7.4 200 4282 0.15 2.47 0.00 0.000 4 0.050 0.062 2476 746 3094

4344 -0.83 -117.3 313.8 -10.1 203 4349 0.20 2.47 0.00 0.000 6 0.095 0.051 2517 2130 3095

4666 -0.83 -117.3 334.1 -4.8 219 4671 0.00 2.58 0.00 0.000 4 0.000 0.063 2518 3563 3094

4762 -0.83 -117.3 341.8 -7.4 223 4766 0.00 2.55 0.00 0.000 6 0.000 0.049 2518 2128 3094

5078 -0.83 -117.3 363.9 -7.3 238 5083 0.00 2.47 0.00 0.000 4 0.000 0.064 2517 738 3094

5196 -0.83 -117.3 372.4 -8.5 243 5200 0.00 2.50 0.00 0.000 6 0.000 0.053 2517 2131 3094

5513 -0.83 -117.3 394.9 -7.4 258 5514 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2131 3093

5821 -0.83 -117.3 416.2 -6.7 273 5822 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2131 3093

6131 -0.83 -117.3 436.9 -6.5 288 6135 0.00 2.58 0.00 0.000 4 0.000 0.064 2518 3557 3093

6232 -0.83 -117.3 444.3 -7.0 292 6238 0.00 2.58 0.00 0.000 6 0.000 0.051 2517 2114 3093

6548 -0.83 -117.3 466.2 -7.2 308 6552 0.00 2.42 0.00 0.000 4 0.000 0.062 2517 747 3093

6626 -0.83 -117.3 472.3 -7.6 311 6632 0.00 2.47 0.00 0.000 6 0.000 0.052 2517 2126 3093

6943 -0.87 -117.3 497.9 -8.3 327 6944 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2129 3093

7252 -0.91 -117.3 522.5 -8.0 342 7256 0.00 2.50 0.00 0.000 4 0.000 0.061 2517 747 3092

7330 -0.91 -117.3 529.0 -8.4 345 7336 0.00 2.47 0.00 0.000 6 0.000 0.054 2517 2124 3092

7649 -0.96 -117.3 551.1 -5.8 361 7654 0.12 2.60 0.00 0.000 4 0.054 0.065 2480 3564 3092

7740 -0.86 -117.3 557.6 -7.5 365 7745 0.15 2.58 0.00 0.000 6 0.098 0.051 2511 2120 3092

8062 -0.86 -117.3 577.0 -5.8 381 8063 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2105 3092

8371 -0.86 -117.3 595.6 -5.7 396 8372 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3091

8681 -0.86 -117.3 615.8 -7.1 411 8682 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3091

8989 -0.86 -117.3 641.0 -8.0 426 8990 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3091

9299 -0.86 -117.3 663.3 -7.5 441 9300 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3091

9609 -0.86 -117.3 679.0 -4.1 456 9610 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3091

9917 -0.86 -117.3 695.2 -5.9 471 9922 0.00 2.47 0.00 0.000 4 0.000 0.064 2511 741 3091

10026 -0.86 -117.3 702.5 -7.2 476 10030 0.00 2.50 0.00 0.000 6 0.000 0.056 2511 2126 3091

10353 -0.91 -117.3 722.6 -6.4 492 10358 0.00 2.60 0.00 0.000 4 0.000 0.069 2511 3561 3091

10409 -0.91 -117.3 726.4 -6.7 494 10415 0.00 2.60 0.00 0.000 6 0.000 0.056 2511 2117 3091

10726 -0.91 -117.3 742.1 -4.3 510 10730 0.00 2.47 0.00 0.000 4 0.000 0.067 2511 744 3091

10885 -0.91 -117.3 751.4 -7.3 517 10889 0.00 2.50 0.00 0.000 6 0.000 0.061 2511 2120 3091

11207 -0.97 -117.3 775.7 -7.5 533 11208 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2121 3091

11516 -1.02 -117.3 795.7 -6.6 548 11518 0.15 0.00 0.00 0.000 6 0.057 0.000 2469 2120 3090

11656 end dive: BOTTOM_OBSTACLE_DETECTED

state 11656 begin apogee

11664 -0.33 0.0 809.0 9.8 555 11768 0.75 0.00 100.88 1.394 6 0.091 0.000 2626 2121 2620

11769 end apogee: CONTROL_FINISHED_OK

state 11769 begin climb

11772 1.30 117.3 812.1 0.0 560 11882 1.65 2.67 100.65 1.367 4 0.076 0.078 2976 3513 2140

11901 1.34 168.1 804.1 5.7 566 11951 0.00 2.67 44.17 1.327 6 0.000 0.070 2976 2104 1933

12282 1.34 168.1 770.5 9.4 585 12286 0.00 2.70 0.00 0.000 4 0.000 0.082 2976 3515 1931

12314 1.34 168.1 765.7 13.4 586 12320 0.00 2.65 0.00 0.000 6 0.000 0.071 2977 2108 1931

12631 1.34 168.1 727.8 10.1 602 12632 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2089 1929

12939 1.34 168.1 702.6 8.4 617 12944 0.00 2.67 0.00 0.000 4 0.000 0.080 2976 3515 1927

13040 1.34 168.1 693.7 8.1 621 13046 0.00 2.60 0.00 0.000 6 0.000 0.065 2976 2118 1927

13356 1.34 168.1 665.1 9.7 637 13358 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2115 1925

13665 1.34 168.1 633.8 9.1 652 13669 0.00 2.60 0.00 0.000 4 0.000 0.070 2976 3511 1924

13715 1.38 168.1 629.3 8.5 654 13720 0.10 2.55 0.00 0.000 6 0.062 0.058 3004 2116 1924

14032 1.33 168.1 600.3 8.5 669 14036 0.00 2.58 0.00 0.000 4 0.000 0.067 3004 3516 1924

14087 1.28 168.1 594.5 11.2 671 14094 0.12 2.53 0.00 0.000 6 0.097 0.056 2979 2127 1923

14403 1.28 168.1 563.5 10.0 687 14408 0.00 2.55 0.00 0.000 4 0.000 0.065 2980 3511 1923

14459 1.28 168.1 557.9 9.9 689 14465 0.00 2.47 0.00 0.000 6 0.000 0.054 2980 2139 1924

14775 1.32 168.1 528.2 9.2 705 14780 0.00 2.53 0.00 0.000 4 0.000 0.063 2980 3515 1925

14798 1.32 168.1 526.1 9.0 706 14802 0.00 2.45 0.00 0.000 6 0.000 0.052 2980 2152 1924

15119 1.37 168.1 497.6 9.1 722 15123 0.00 2.50 0.00 0.000 4 0.000 0.063 2980 3515 1925

15136 1.37 168.1 495.8 9.4 723 15140 0.00 2.45 0.00 0.000 6 0.000 0.052 2979 2151 1925

15463 1.41 168.1 464.6 10.0 739 15468 0.12 2.50 0.00 0.000 4 0.051 0.061 3017 3511 1926

15480 1.41 168.1 462.5 10.4 740 15485 0.00 2.42 0.00 0.000 6 0.000 0.051 3016 2161 1926

15808 1.36 168.1 422.1 12.1 756 15812 0.00 2.47 0.00 0.000 4 0.000 0.061 3016 3518 1927

15853 1.30 168.1 416.3 13.1 758 15858 0.17 2.42 0.00 0.000 6 0.088 0.051 2981 2166 1927

16174 1.30 168.1 385.7 9.4 774 16178 0.00 2.45 0.00 0.000 4 0.000 0.061 2981 3514 1927

16207 1.35 168.1 382.3 9.9 775 16214 0.00 2.40 0.00 0.000 6 0.000 0.051 2981 2177 1928

16524 1.40 168.1 352.4 9.4 791 16529 0.10 2.45 0.00 0.000 4 0.057 0.061 3012 3512 1928

16564 1.35 168.1 347.8 11.2 793 16568 0.00 2.38 0.00 0.000 6 0.000 0.050 3012 2183 1928

16891 1.35 168.1 312.3 11.0 809 16892 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2169 1929

17200 1.35 168.1 275.9 11.9 824 17201 0.00 0.00 0.00 0.000 6 0.000 0.000 3012 2168 1929

17509 1.35 168.1 239.8 11.9 839 17513 0.00 2.40 0.00 0.000 4 0.000 0.059 3012 3510 1930

17537 1.30 168.1 236.3 11.6 840 17542 0.15 2.38 0.00 0.000 6 0.087 0.050 2981 2185 1930

17859 1.36 168.1 202.7 10.4 856 17863 0.00 2.42 0.00 0.000 4 0.000 0.060 2981 3519 1930

17892 1.41 168.1 199.1 9.5 857 17899 0.10 2.38 0.00 0.000 6 0.056 0.049 3013 2192 1930

18208 1.41 168.1 163.6 11.4 873 18209 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2174 1930

18519 1.41 168.1 127.6 11.9 888 18523 0.00 2.40 0.00 0.000 4 0.000 0.058 3013 3509 1930

18537 1.37 168.1 125.2 11.6 889 18541 0.00 2.33 0.00 0.000 6 0.000 0.050 3013 2194 1930

18870 1.37 168.1 88.0 10.7 905 18872 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2190 1931

19179 1.37 168.1 59.4 8.5 920 19180 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 2178 1931

19490 1.37 168.1 32.6 8.1 935 19494 0.00 2.40 0.00 0.000 4 0.000 0.058 3013 3521 1932

19591 1.37 169.5 25.2 7.9 939 19597 0.00 2.30 0.00 0.000 6 0.000 0.051 3013 2224 1932

19821 end climb: SURFACE_DEPTH_REACHED

state 19822 begin surface coast

19844 end surface coast: CONTROL_FINISHED_OK

state 19844 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	208	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-80495.289	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	231407,6157.340,-1009.319,40,1.3,40,-10.0	TGT_NAME	IFRS1K
_CALLS	2	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.169,0.144
_SM_DEPTHo	0.54	KALMAN_X	-33644.2,28.0,5792.2,-28319.8,-5752.4
_SM_ANGLEo	-48.4	KALMAN_Y	167.1,121.3,3405.6,-22249.9,-5834.5
GPS2	232408,6157.354,-1008.854,16,1.2,34,-10.0	MHEAD_RNG_PITCHd_Wd	320.5,46268,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.0,1.026931	ALTIM_BOTTOM_PING	725.2,92.2
SM_CCo	19867,219.95,0.772,0,0,390,547.02	_24V_AH	23.8,40.568
SM_GC	0.43,0.00,0.00,219.95,0.000,0.000,0.772,423,2117,390,-10.47,-0.93,547.02	_10V_AH	10.1,19.403
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47392,952
TT8_MAMPS	0.029146	CAP_FILE_SIZE	156845,0
HUMID	1668	CFSIZE	254472192,238292992
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
XPDR_PINGS	541	GPS	220708,050125,6158.156,-1010.211,41,1.4,59,-10.0
ALTIM_TOP_PING	19.0,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	143	90.89	SBE_CT	652	24	372.81
Roll_motor	170	82	333.27	SBE_O2	708	19	320.46
VBD_pump_during_apogee	245	1394	8154.01	WL_BB2F	545	105	1363.52
VBD_pump_during_surface	219	771	4039.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	185.15	nil	0	0	0.00
Iridium_during_connect	58	160	223.66	nil	0	0	0.00
Iridium_during_xfer	247	223	1315.56
Transponder_ping	141	420	1416.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.43
TT8	1797	19	359.38
LPSleep	15297	2	338.36
TT8_Active	670	19	134.13
TT8_Sampling	2181	39	876.75
TT8_CF8	738	45	341.41
TT8_Kalman	33	81	27.57
Analog_circuits	1741	12	211.04
GPS_charging	0	0	0.00
Compass	2113	8	170.74
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-110.15	0.000	6	0.000	0.000	420	2176	3099
141	-1.30	-117.3	2.1	-1.7	5	158	10.43	2.65	0.00	0.000	4	0.143	0.058	2408	733	3099
411	-0.96	-117.3	41.5	-11.8	16	416	0.40	2.55	0.00	0.000	6	0.098	0.047	2489	2163	3097
735	-0.89	-117.3	67.6	-8.2	32	739	0.00	2.47	0.00	0.000	4	0.000	0.057	2490	3557	3097
814	-0.79	-117.3	75.0	-8.4	35	821	0.17	2.53	0.00	0.000	6	0.091	0.045	2526	2124	3097
1132	-0.79	-117.3	97.4	-6.9	51	1136	0.00	2.45	0.00	0.000	4	0.000	0.059	2526	752	3097
1250	-0.79	-117.3	106.7	-7.9	56	1254	0.00	2.47	0.00	0.000	6	0.000	0.048	2525	2137	3097
1566	-0.79	-117.3	126.5	-6.0	71	1570	0.00	2.55	0.00	0.000	4	0.000	0.059	2526	3564	3097
1706	-0.79	-117.3	137.5	-8.2	77	1710	0.00	2.53	0.00	0.000	6	0.000	0.046	2526	2132	3097
2022	-0.84	-117.3	164.1	-9.3	92	2026	0.00	2.47	0.00	0.000	4	0.000	0.060	2525	743	3097
2094	-0.84	-117.3	171.3	-9.8	95	2098	0.00	2.50	0.00	0.000	6	0.000	0.050	2526	2138	3097
2418	-0.89	-117.3	197.4	-7.4	111	2422	0.00	2.53	0.00	0.000	4	0.000	0.060	2526	751	3097
2512	-0.89	-117.3	204.0	-6.5	115	2517	0.00	2.47	0.00	0.000	6	0.000	0.050	2526	2134	3097
2829	-0.93	-117.3	221.1	-5.0	130	2834	0.15	2.55	0.00	0.000	4	0.049	0.061	2478	3556	3096
2914	-0.80	-117.3	227.4	-7.6	134	2919	0.22	2.53	0.00	0.000	6	0.091	0.047	2524	2125	3096
3242	-0.85	-117.3	244.4	-4.1	150	3243	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2106	3096
3552	-0.89	-117.3	259.4	-4.9	165	3553	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2106	3096
3860	-0.89	-117.3	276.4	-5.5	180	3864	0.00	2.62	0.00	0.000	4	0.000	0.062	2524	3558	3095
3961	-0.89	-117.3	283.4	-7.3	184	3967	0.00	2.55	0.00	0.000	6	0.000	0.049	2524	2127	3095
4277	-0.94	-117.3	307.1	-7.4	200	4282	0.15	2.47	0.00	0.000	4	0.050	0.062	2476	746	3094
4344	-0.83	-117.3	313.8	-10.1	203	4349	0.20	2.47	0.00	0.000	6	0.095	0.051	2517	2130	3095
4666	-0.83	-117.3	334.1	-4.8	219	4671	0.00	2.58	0.00	0.000	4	0.000	0.063	2518	3563	3094
4762	-0.83	-117.3	341.8	-7.4	223	4766	0.00	2.55	0.00	0.000	6	0.000	0.049	2518	2128	3094
5078	-0.83	-117.3	363.9	-7.3	238	5083	0.00	2.47	0.00	0.000	4	0.000	0.064	2517	738	3094
5196	-0.83	-117.3	372.4	-8.5	243	5200	0.00	2.50	0.00	0.000	6	0.000	0.053	2517	2131	3094
5513	-0.83	-117.3	394.9	-7.4	258	5514	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2131	3093
5821	-0.83	-117.3	416.2	-6.7	273	5822	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2131	3093
6131	-0.83	-117.3	436.9	-6.5	288	6135	0.00	2.58	0.00	0.000	4	0.000	0.064	2518	3557	3093
6232	-0.83	-117.3	444.3	-7.0	292	6238	0.00	2.58	0.00	0.000	6	0.000	0.051	2517	2114	3093
6548	-0.83	-117.3	466.2	-7.2	308	6552	0.00	2.42	0.00	0.000	4	0.000	0.062	2517	747	3093
6626	-0.83	-117.3	472.3	-7.6	311	6632	0.00	2.47	0.00	0.000	6	0.000	0.052	2517	2126	3093
6943	-0.87	-117.3	497.9	-8.3	327	6944	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2129	3093
7252	-0.91	-117.3	522.5	-8.0	342	7256	0.00	2.50	0.00	0.000	4	0.000	0.061	2517	747	3092
7330	-0.91	-117.3	529.0	-8.4	345	7336	0.00	2.47	0.00	0.000	6	0.000	0.054	2517	2124	3092
7649	-0.96	-117.3	551.1	-5.8	361	7654	0.12	2.60	0.00	0.000	4	0.054	0.065	2480	3564	3092
7740	-0.86	-117.3	557.6	-7.5	365	7745	0.15	2.58	0.00	0.000	6	0.098	0.051	2511	2120	3092
8062	-0.86	-117.3	577.0	-5.8	381	8063	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2105	3092
8371	-0.86	-117.3	595.6	-5.7	396	8372	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3091
8681	-0.86	-117.3	615.8	-7.1	411	8682	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3091
8989	-0.86	-117.3	641.0	-8.0	426	8990	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3091
9299	-0.86	-117.3	663.3	-7.5	441	9300	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3091
9609	-0.86	-117.3	679.0	-4.1	456	9610	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3091
9917	-0.86	-117.3	695.2	-5.9	471	9922	0.00	2.47	0.00	0.000	4	0.000	0.064	2511	741	3091
10026	-0.86	-117.3	702.5	-7.2	476	10030	0.00	2.50	0.00	0.000	6	0.000	0.056	2511	2126	3091
10353	-0.91	-117.3	722.6	-6.4	492	10358	0.00	2.60	0.00	0.000	4	0.000	0.069	2511	3561	3091
10409	-0.91	-117.3	726.4	-6.7	494	10415	0.00	2.60	0.00	0.000	6	0.000	0.056	2511	2117	3091
10726	-0.91	-117.3	742.1	-4.3	510	10730	0.00	2.47	0.00	0.000	4	0.000	0.067	2511	744	3091
10885	-0.91	-117.3	751.4	-7.3	517	10889	0.00	2.50	0.00	0.000	6	0.000	0.061	2511	2120	3091
11207	-0.97	-117.3	775.7	-7.5	533	11208	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2121	3091
11516	-1.02	-117.3	795.7	-6.6	548	11518	0.15	0.00	0.00	0.000	6	0.057	0.000	2469	2120	3090
11656	end dive: BOTTOM_OBSTACLE_DETECTED
state	11656	begin apogee
11664	-0.33	0.0	809.0	9.8	555	11768	0.75	0.00	100.88	1.394	6	0.091	0.000	2626	2121	2620
11769	end apogee: CONTROL_FINISHED_OK
state	11769	begin climb
11772	1.30	117.3	812.1	0.0	560	11882	1.65	2.67	100.65	1.367	4	0.076	0.078	2976	3513	2140
11901	1.34	168.1	804.1	5.7	566	11951	0.00	2.67	44.17	1.327	6	0.000	0.070	2976	2104	1933
12282	1.34	168.1	770.5	9.4	585	12286	0.00	2.70	0.00	0.000	4	0.000	0.082	2976	3515	1931
12314	1.34	168.1	765.7	13.4	586	12320	0.00	2.65	0.00	0.000	6	0.000	0.071	2977	2108	1931
12631	1.34	168.1	727.8	10.1	602	12632	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2089	1929
12939	1.34	168.1	702.6	8.4	617	12944	0.00	2.67	0.00	0.000	4	0.000	0.080	2976	3515	1927
13040	1.34	168.1	693.7	8.1	621	13046	0.00	2.60	0.00	0.000	6	0.000	0.065	2976	2118	1927
13356	1.34	168.1	665.1	9.7	637	13358	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2115	1925
13665	1.34	168.1	633.8	9.1	652	13669	0.00	2.60	0.00	0.000	4	0.000	0.070	2976	3511	1924
13715	1.38	168.1	629.3	8.5	654	13720	0.10	2.55	0.00	0.000	6	0.062	0.058	3004	2116	1924
14032	1.33	168.1	600.3	8.5	669	14036	0.00	2.58	0.00	0.000	4	0.000	0.067	3004	3516	1924
14087	1.28	168.1	594.5	11.2	671	14094	0.12	2.53	0.00	0.000	6	0.097	0.056	2979	2127	1923
14403	1.28	168.1	563.5	10.0	687	14408	0.00	2.55	0.00	0.000	4	0.000	0.065	2980	3511	1923
14459	1.28	168.1	557.9	9.9	689	14465	0.00	2.47	0.00	0.000	6	0.000	0.054	2980	2139	1924
14775	1.32	168.1	528.2	9.2	705	14780	0.00	2.53	0.00	0.000	4	0.000	0.063	2980	3515	1925
14798	1.32	168.1	526.1	9.0	706	14802	0.00	2.45	0.00	0.000	6	0.000	0.052	2980	2152	1924
15119	1.37	168.1	497.6	9.1	722	15123	0.00	2.50	0.00	0.000	4	0.000	0.063	2980	3515	1925
15136	1.37	168.1	495.8	9.4	723	15140	0.00	2.45	0.00	0.000	6	0.000	0.052	2979	2151	1925
15463	1.41	168.1	464.6	10.0	739	15468	0.12	2.50	0.00	0.000	4	0.051	0.061	3017	3511	1926
15480	1.41	168.1	462.5	10.4	740	15485	0.00	2.42	0.00	0.000	6	0.000	0.051	3016	2161	1926
15808	1.36	168.1	422.1	12.1	756	15812	0.00	2.47	0.00	0.000	4	0.000	0.061	3016	3518	1927
15853	1.30	168.1	416.3	13.1	758	15858	0.17	2.42	0.00	0.000	6	0.088	0.051	2981	2166	1927
16174	1.30	168.1	385.7	9.4	774	16178	0.00	2.45	0.00	0.000	4	0.000	0.061	2981	3514	1927
16207	1.35	168.1	382.3	9.9	775	16214	0.00	2.40	0.00	0.000	6	0.000	0.051	2981	2177	1928
16524	1.40	168.1	352.4	9.4	791	16529	0.10	2.45	0.00	0.000	4	0.057	0.061	3012	3512	1928
16564	1.35	168.1	347.8	11.2	793	16568	0.00	2.38	0.00	0.000	6	0.000	0.050	3012	2183	1928
16891	1.35	168.1	312.3	11.0	809	16892	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2169	1929
17200	1.35	168.1	275.9	11.9	824	17201	0.00	0.00	0.00	0.000	6	0.000	0.000	3012	2168	1929
17509	1.35	168.1	239.8	11.9	839	17513	0.00	2.40	0.00	0.000	4	0.000	0.059	3012	3510	1930
17537	1.30	168.1	236.3	11.6	840	17542	0.15	2.38	0.00	0.000	6	0.087	0.050	2981	2185	1930
17859	1.36	168.1	202.7	10.4	856	17863	0.00	2.42	0.00	0.000	4	0.000	0.060	2981	3519	1930
17892	1.41	168.1	199.1	9.5	857	17899	0.10	2.38	0.00	0.000	6	0.056	0.049	3013	2192	1930
18208	1.41	168.1	163.6	11.4	873	18209	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2174	1930
18519	1.41	168.1	127.6	11.9	888	18523	0.00	2.40	0.00	0.000	4	0.000	0.058	3013	3509	1930
18537	1.37	168.1	125.2	11.6	889	18541	0.00	2.33	0.00	0.000	6	0.000	0.050	3013	2194	1930
18870	1.37	168.1	88.0	10.7	905	18872	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2190	1931
19179	1.37	168.1	59.4	8.5	920	19180	0.00	0.00	0.00	0.000	6	0.000	0.000	3013	2178	1931
19490	1.37	168.1	32.6	8.1	935	19494	0.00	2.40	0.00	0.000	4	0.000	0.058	3013	3521	1932
19591	1.37	169.5	25.2	7.9	939	19597	0.00	2.30	0.00	0.000	6	0.000	0.051	3013	2224	1932
19821	end climb: SURFACE_DEPTH_REACHED
state	19822	begin surface coast
19844	end surface coast: CONTROL_FINISHED_OK
state	19844	begin surface