Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 235 * 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 235 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -81014.398 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 0 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 -81014.398

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 0 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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 22 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

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

DIVE 235 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 060938,6224.769,-1052.568,28,1.8,28,-10.6 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.188,0.117

_SM_DEPTHo 0.80 KALMAN_X -55001.3,745.9,1120.0,54134.4,-6120.1

_SM_ANGLEo -55.7 KALMAN_Y -1633.4,-669.0,20.4,31017.3,3872.2

GPS2 061735,6224.764,-1052.408,15,3.0,34,-10.6 MHEAD_RNG_PITCHd_Wd 68.7,77026,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026772 ALTIM_TOP_PING 18.2,17.4

SM_CCo 18260,228.00,0.771,0,0,390,547.02 _24V_AH 23.7,45.594

SM_GC 0.56,0.00,0.00,228.00,0.000,0.000,0.771,424,2141,390,-10.47,-0.25,547.02 _10V_AH 10.1,22.163

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44281,871

TT8_MAMPS 0.029146 CAP_FILE_SIZE 151097,0

HUMID 1677 CFSIZE 254472192,236253184

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

XPDR_PINGS 554 GPS 290708,112755,6224.991,-1047.069,39,1.7,39,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 137 86.96 SBE_CT 597 24 339.82

Roll_motor 201 75 362.89 SBE_O2 642 19 289.47

VBD_pump_during_apogee 244 1324 7686.63 WL_BB2F 535 105 1331.43

VBD_pump_during_surface 228 770 4165.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.17 nil 0 0 0.00

Iridium_during_connect 26 160 102.09 nil 0 0 0.00

Iridium_during_xfer 259 223 1371.30

Transponder_ping 144 420 1438.35

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.96

TT8 1686 19 337.31

LPSleep 13765 2 304.48

TT8_Active 684 19 136.82

TT8_Sampling 2150 39 864.63

TT8_CF8 676 45 312.71

TT8_Kalman 33 81 27.56

Analog_circuits 1747 12 211.85

GPS_charging 0 0 0.00

Compass 2082 8 168.26

RAFOS 0 0 0.00

Guidance and control:

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -109.72 0.000 6 0.000 0.000 422 2128 3099

142 -1.30 -117.3 2.2 -1.6 5 158 10.30 2.50 0.00 0.000 4 0.137 0.054 2408 742 3098

227 -0.95 -117.3 16.8 -13.6 8 232 0.40 2.53 0.00 0.000 6 0.094 0.048 2490 2153 3097

556 -0.86 -117.3 47.6 -9.6 24 560 0.10 2.55 0.00 0.000 4 0.097 0.055 2512 743 3097

776 -0.86 -117.3 67.4 -7.2 34 780 0.00 2.45 0.00 0.000 6 0.000 0.048 2512 2126 3097

1104 -0.86 -117.3 90.1 -7.3 50 1108 0.00 2.53 0.00 0.000 4 0.000 0.059 2512 740 3097

1138 -0.86 -117.3 92.8 -7.8 51 1144 0.00 2.45 0.00 0.000 6 0.000 0.048 2512 2116 3098

1456 -0.86 -117.3 115.3 -7.4 67 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2116 3098

1764 -0.86 -117.3 139.8 -8.5 82 1768 0.00 2.50 0.00 0.000 4 0.000 0.058 2512 741 3098

1864 -0.86 -117.3 149.2 -9.4 86 1870 0.00 2.45 0.00 0.000 6 0.000 0.049 2512 2113 3098

2180 -0.86 -117.3 173.9 -7.3 102 2184 0.00 2.58 0.00 0.000 4 0.000 0.059 2512 3553 3097

2230 -0.86 -117.3 177.8 -8.0 104 2234 0.00 2.58 0.00 0.000 6 0.000 0.046 2512 2100 3097

2546 -0.86 -117.3 199.4 -6.4 119 2550 0.00 2.42 0.00 0.000 4 0.000 0.061 2512 744 3097

2624 -0.86 -117.3 205.6 -7.7 122 2631 0.00 2.45 0.00 0.000 6 0.000 0.051 2512 2107 3097

2940 -0.86 -117.3 231.6 -7.9 138 2942 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2108 3096

3250 -0.86 -117.3 256.6 -7.8 153 3254 0.00 2.60 0.00 0.000 4 0.000 0.061 2512 3559 3096

3300 -0.86 -117.3 260.8 -8.2 155 3304 0.00 2.60 0.00 0.000 6 0.000 0.048 2512 2097 3096

3616 -0.86 -117.3 284.7 -7.7 170 3617 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2097 3096

3925 -0.86 -117.3 307.1 -7.4 185 3926 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2097 3096

4235 -0.86 -117.3 328.8 -6.8 200 4240 0.00 2.65 0.00 0.000 4 0.000 0.061 2512 3556 3095

4303 -0.86 -117.3 333.7 -6.8 203 4307 0.00 2.60 0.00 0.000 6 0.000 0.048 2512 2093 3095

4625 -0.86 -117.3 355.2 -6.5 219 4629 0.00 2.40 0.00 0.000 4 0.000 0.061 2511 746 3095

4672 -0.86 -117.3 358.5 -7.6 221 4676 0.00 2.42 0.00 0.000 6 0.000 0.051 2511 2104 3095

4999 -0.86 -117.3 379.8 -6.2 237 5003 0.00 2.62 0.00 0.000 4 0.000 0.064 2512 3561 3095

5072 -0.86 -117.3 384.9 -7.4 240 5076 0.00 2.62 0.00 0.000 6 0.000 0.051 2512 2091 3094

5388 -0.86 -117.3 405.9 -7.4 255 5389 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2090 3094

5697 -0.86 -117.3 432.6 -9.1 270 5701 0.00 2.40 0.00 0.000 4 0.000 0.061 2511 746 3094

5759 -0.86 -117.3 438.7 -9.8 273 5763 0.00 2.40 0.00 0.000 6 0.000 0.051 2512 2087 3093

6086 -0.86 -117.3 470.1 -9.4 289 6091 0.00 2.65 0.00 0.000 4 0.000 0.063 2512 3563 3093

6217 -0.86 -117.3 482.5 -9.6 295 6221 0.00 2.60 0.00 0.000 6 0.000 0.051 2512 2097 3093

6544 -0.86 -117.3 508.7 -7.8 311 6548 0.00 2.67 0.00 0.000 4 0.000 0.064 2512 3553 3093

6588 -0.86 -117.3 512.5 -8.9 313 6592 0.00 2.60 0.00 0.000 6 0.000 0.052 2512 2102 3093

6910 -0.86 -117.3 538.0 -7.5 329 6913 0.00 2.42 0.00 0.000 4 0.000 0.062 2511 746 3093

7016 -0.86 -117.3 546.1 -7.7 333 7022 0.00 2.42 0.00 0.000 6 0.000 0.052 2512 2097 3092

7332 -0.86 -117.3 563.3 -5.1 349 7337 0.00 2.62 0.00 0.000 4 0.000 0.065 2512 3554 3092

7463 -0.86 -117.3 572.0 -7.1 355 7468 0.00 2.55 0.00 0.000 6 0.000 0.051 2512 2121 3092

7791 -0.86 -117.3 589.6 -5.6 371 7795 0.00 2.47 0.00 0.000 4 0.000 0.064 2512 743 3092

7962 -0.86 -117.3 601.8 -7.1 378 7968 0.00 2.47 0.00 0.000 6 0.000 0.055 2512 2113 3092

8279 -0.86 -117.3 626.0 -7.8 394 8283 0.00 2.50 0.00 0.000 4 0.000 0.064 2512 741 3092

8536 -0.86 -117.3 642.2 -5.4 405 8543 0.00 2.42 0.00 0.000 6 0.000 0.056 2511 2083 3092

8853 -0.90 -117.3 660.1 -6.3 421 8858 0.00 2.67 0.00 0.000 4 0.000 0.068 2512 3556 3092

8944 -0.90 -117.3 665.8 -6.1 425 8948 0.00 2.62 0.00 0.000 6 0.000 0.056 2512 2099 3092

9266 -0.95 -117.3 681.8 -4.5 441 9270 0.00 2.45 0.00 0.000 4 0.000 0.070 2512 744 3091

9454 -0.95 -117.3 691.7 -6.6 449 9458 0.00 2.45 0.00 0.000 6 0.000 0.061 2512 2084 3091

9770 -1.36 -117.3 703.5 -0.1 464 9775 0.45 2.67 0.00 0.000 4 0.044 0.074 2397 3552 3090

10028 -1.74 -117.3 703.4 -0.0 475 10036 0.35 2.72 0.00 0.000 6 0.046 0.064 2311 2053 3090

10346 -2.03 -117.3 703.4 0.1 491 10351 0.22 2.30 0.00 0.000 3 0.051 0.075 2251 3278 3089

10352 end dive: NO_VERTICAL_VELOCITY

state 10352 begin apogee

10361 -0.33 0.0 703.5 0.0 491 10464 1.70 0.00 99.65 1.325 6 0.070 0.000 2622 2075 2620

10465 end apogee: CONTROL_FINISHED_OK

state 10465 begin climb

10468 1.30 117.3 702.8 0.0 496 10576 1.65 2.72 99.40 1.295 4 0.068 0.074 2979 3502 2141

10643 1.23 117.3 687.8 10.8 504 10648 0.00 2.62 0.00 0.000 6 0.000 0.064 2979 2099 2139

10959 1.23 117.3 660.7 9.1 519 10964 0.00 2.65 0.00 0.000 4 0.000 0.076 2979 3503 2138

10982 1.19 117.3 658.5 9.8 520 10986 0.00 2.60 0.00 0.000 6 0.000 0.064 2979 2105 2138

11303 1.15 117.3 627.9 9.2 536 11308 0.15 2.60 0.00 0.000 4 0.093 0.076 2947 691 2137

11325 1.15 117.3 625.8 9.0 537 11330 0.00 2.58 0.00 0.000 6 0.000 0.064 2947 2082 2137

11648 1.27 147.0 603.5 6.6 553 11679 0.12 2.70 25.52 1.232 4 0.058 0.072 2981 3508 2019

11696 1.27 147.0 599.3 9.4 555 11701 0.00 2.65 0.00 0.000 6 0.000 0.061 2981 2084 2019

12013 1.27 147.0 572.4 9.5 570 12017 0.00 2.65 0.00 0.000 4 0.000 0.070 2981 3508 2017

12045 1.27 147.0 568.8 10.3 571 12051 0.00 2.60 0.00 0.000 6 0.000 0.058 2981 2089 2017

12361 1.27 147.0 539.3 9.3 587 12365 0.00 2.62 0.00 0.000 4 0.000 0.067 2981 3509 2017

12427 1.27 147.0 532.5 10.1 590 12432 0.00 2.55 0.00 0.000 6 0.000 0.054 2981 2107 2017

12750 1.27 147.0 501.4 9.4 606 12754 0.00 2.60 0.00 0.000 4 0.000 0.065 2981 3509 2017

12783 1.27 147.0 497.9 10.3 607 12789 0.00 2.53 0.00 0.000 6 0.000 0.054 2981 2116 2017

13099 1.27 147.0 467.8 9.4 623 13104 0.00 2.55 0.00 0.000 4 0.000 0.063 2981 3510 2017

13144 1.27 147.0 463.4 9.9 625 13148 0.00 2.50 0.00 0.000 6 0.000 0.052 2981 2125 2017

13465 1.27 147.0 431.7 9.9 641 13469 0.00 2.55 0.00 0.000 4 0.000 0.063 2981 3510 2017

13515 1.27 147.0 426.5 9.6 643 13519 0.00 2.45 0.00 0.000 6 0.000 0.051 2981 2146 2017

13831 1.27 147.0 397.3 8.8 658 13835 0.00 2.53 0.00 0.000 4 0.000 0.063 2981 3516 2018

13876 1.27 147.0 393.3 8.7 660 13881 0.00 2.45 0.00 0.000 6 0.000 0.050 2981 2153 2018

14199 1.27 147.0 365.4 9.0 676 14203 0.00 2.50 0.00 0.000 4 0.000 0.061 2981 3512 2019

14254 1.27 147.0 359.8 9.6 678 14260 0.00 2.40 0.00 0.000 6 0.000 0.050 2981 2173 2019

14570 1.27 147.0 328.8 10.0 694 14574 0.00 2.45 0.00 0.000 4 0.000 0.061 2981 3517 2019

14593 1.27 147.0 326.2 11.8 695 14597 0.00 2.40 0.00 0.000 6 0.000 0.049 2981 2173 2020

14915 1.27 147.0 295.6 9.4 711 14919 0.00 2.45 0.00 0.000 4 0.000 0.061 2981 3517 2020

14936 1.27 147.0 293.3 9.7 712 14941 0.00 2.40 0.00 0.000 6 0.000 0.049 2981 2179 2020

15258 1.27 147.0 263.0 9.7 728 15262 0.00 2.42 0.00 0.000 4 0.000 0.060 2981 3511 2020

15285 1.27 147.0 260.1 10.6 729 15290 0.00 2.38 0.00 0.000 6 0.000 0.050 2981 2188 2020

15601 1.27 147.0 230.9 9.0 744 15605 0.00 2.42 0.00 0.000 4 0.000 0.060 2981 3517 2021

15641 1.27 147.0 227.1 9.2 746 15645 0.00 2.35 0.00 0.000 6 0.000 0.049 2981 2202 2021

15968 1.27 147.0 197.6 9.3 762 15969 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2201 2021

16276 1.27 147.0 169.5 9.2 777 16278 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2196 2022

16588 1.27 147.0 142.2 8.8 792 16592 0.00 2.40 0.00 0.000 4 0.000 0.059 2981 3514 2022

16616 1.27 147.0 139.2 11.2 793 16620 0.00 2.38 0.00 0.000 6 0.000 0.050 2981 2190 2022

16932 1.27 147.0 109.9 9.0 808 16936 0.00 2.40 0.00 0.000 4 0.000 0.059 2981 3514 2022

16950 1.27 147.0 108.3 8.8 809 16954 0.00 2.35 0.00 0.000 6 0.000 0.050 2981 2196 2022

17278 1.29 156.3 82.1 7.6 825 17293 0.00 2.42 9.85 0.775 4 0.000 0.058 2982 3514 1982

17317 1.29 160.0 78.9 7.8 826 17327 0.00 2.33 4.70 0.629 6 0.000 0.048 2981 2214 1967

17645 1.34 160.0 52.3 8.4 842 17646 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2212 1967

17954 1.41 164.9 28.0 7.8 857 17965 0.10 2.75 5.72 0.660 4 0.054 0.060 3015 686 1946

17999 1.36 164.9 23.3 9.6 859 18004 0.00 2.75 0.00 0.000 6 0.000 0.049 3015 2233 1946

18215 end climb: SURFACE_DEPTH_REACHED

state 18215 begin surface coast

18237 end surface coast: CONTROL_FINISHED_OK

state 18237 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	235	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-81014.398	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	0	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	060938,6224.769,-1052.568,28,1.8,28,-10.6	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.188,0.117
_SM_DEPTHo	0.80	KALMAN_X	-55001.3,745.9,1120.0,54134.4,-6120.1
_SM_ANGLEo	-55.7	KALMAN_Y	-1633.4,-669.0,20.4,31017.3,3872.2
GPS2	061735,6224.764,-1052.408,15,3.0,34,-10.6	MHEAD_RNG_PITCHd_Wd	68.7,77026,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.3,1.026772	ALTIM_TOP_PING	18.2,17.4
SM_CCo	18260,228.00,0.771,0,0,390,547.02	_24V_AH	23.7,45.594
SM_GC	0.56,0.00,0.00,228.00,0.000,0.000,0.771,424,2141,390,-10.47,-0.25,547.02	_10V_AH	10.1,22.163
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44281,871
TT8_MAMPS	0.029146	CAP_FILE_SIZE	151097,0
HUMID	1677	CFSIZE	254472192,236253184
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
XPDR_PINGS	554	GPS	290708,112755,6224.991,-1047.069,39,1.7,39,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	137	86.96	SBE_CT	597	24	339.82
Roll_motor	201	75	362.89	SBE_O2	642	19	289.47
VBD_pump_during_apogee	244	1324	7686.63	WL_BB2F	535	105	1331.43
VBD_pump_during_surface	228	770	4165.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.17	nil	0	0	0.00
Iridium_during_connect	26	160	102.09	nil	0	0	0.00
Iridium_during_xfer	259	223	1371.30
Transponder_ping	144	420	1438.35
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.96
TT8	1686	19	337.31
LPSleep	13765	2	304.48
TT8_Active	684	19	136.82
TT8_Sampling	2150	39	864.63
TT8_CF8	676	45	312.71
TT8_Kalman	33	81	27.56
Analog_circuits	1747	12	211.85
GPS_charging	0	0	0.00
Compass	2082	8	168.26
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-109.72	0.000	6	0.000	0.000	422	2128	3099
142	-1.30	-117.3	2.2	-1.6	5	158	10.30	2.50	0.00	0.000	4	0.137	0.054	2408	742	3098
227	-0.95	-117.3	16.8	-13.6	8	232	0.40	2.53	0.00	0.000	6	0.094	0.048	2490	2153	3097
556	-0.86	-117.3	47.6	-9.6	24	560	0.10	2.55	0.00	0.000	4	0.097	0.055	2512	743	3097
776	-0.86	-117.3	67.4	-7.2	34	780	0.00	2.45	0.00	0.000	6	0.000	0.048	2512	2126	3097
1104	-0.86	-117.3	90.1	-7.3	50	1108	0.00	2.53	0.00	0.000	4	0.000	0.059	2512	740	3097
1138	-0.86	-117.3	92.8	-7.8	51	1144	0.00	2.45	0.00	0.000	6	0.000	0.048	2512	2116	3098
1456	-0.86	-117.3	115.3	-7.4	67	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2116	3098
1764	-0.86	-117.3	139.8	-8.5	82	1768	0.00	2.50	0.00	0.000	4	0.000	0.058	2512	741	3098
1864	-0.86	-117.3	149.2	-9.4	86	1870	0.00	2.45	0.00	0.000	6	0.000	0.049	2512	2113	3098
2180	-0.86	-117.3	173.9	-7.3	102	2184	0.00	2.58	0.00	0.000	4	0.000	0.059	2512	3553	3097
2230	-0.86	-117.3	177.8	-8.0	104	2234	0.00	2.58	0.00	0.000	6	0.000	0.046	2512	2100	3097
2546	-0.86	-117.3	199.4	-6.4	119	2550	0.00	2.42	0.00	0.000	4	0.000	0.061	2512	744	3097
2624	-0.86	-117.3	205.6	-7.7	122	2631	0.00	2.45	0.00	0.000	6	0.000	0.051	2512	2107	3097
2940	-0.86	-117.3	231.6	-7.9	138	2942	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2108	3096
3250	-0.86	-117.3	256.6	-7.8	153	3254	0.00	2.60	0.00	0.000	4	0.000	0.061	2512	3559	3096
3300	-0.86	-117.3	260.8	-8.2	155	3304	0.00	2.60	0.00	0.000	6	0.000	0.048	2512	2097	3096
3616	-0.86	-117.3	284.7	-7.7	170	3617	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2097	3096
3925	-0.86	-117.3	307.1	-7.4	185	3926	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2097	3096
4235	-0.86	-117.3	328.8	-6.8	200	4240	0.00	2.65	0.00	0.000	4	0.000	0.061	2512	3556	3095
4303	-0.86	-117.3	333.7	-6.8	203	4307	0.00	2.60	0.00	0.000	6	0.000	0.048	2512	2093	3095
4625	-0.86	-117.3	355.2	-6.5	219	4629	0.00	2.40	0.00	0.000	4	0.000	0.061	2511	746	3095
4672	-0.86	-117.3	358.5	-7.6	221	4676	0.00	2.42	0.00	0.000	6	0.000	0.051	2511	2104	3095
4999	-0.86	-117.3	379.8	-6.2	237	5003	0.00	2.62	0.00	0.000	4	0.000	0.064	2512	3561	3095
5072	-0.86	-117.3	384.9	-7.4	240	5076	0.00	2.62	0.00	0.000	6	0.000	0.051	2512	2091	3094
5388	-0.86	-117.3	405.9	-7.4	255	5389	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2090	3094
5697	-0.86	-117.3	432.6	-9.1	270	5701	0.00	2.40	0.00	0.000	4	0.000	0.061	2511	746	3094
5759	-0.86	-117.3	438.7	-9.8	273	5763	0.00	2.40	0.00	0.000	6	0.000	0.051	2512	2087	3093
6086	-0.86	-117.3	470.1	-9.4	289	6091	0.00	2.65	0.00	0.000	4	0.000	0.063	2512	3563	3093
6217	-0.86	-117.3	482.5	-9.6	295	6221	0.00	2.60	0.00	0.000	6	0.000	0.051	2512	2097	3093
6544	-0.86	-117.3	508.7	-7.8	311	6548	0.00	2.67	0.00	0.000	4	0.000	0.064	2512	3553	3093
6588	-0.86	-117.3	512.5	-8.9	313	6592	0.00	2.60	0.00	0.000	6	0.000	0.052	2512	2102	3093
6910	-0.86	-117.3	538.0	-7.5	329	6913	0.00	2.42	0.00	0.000	4	0.000	0.062	2511	746	3093
7016	-0.86	-117.3	546.1	-7.7	333	7022	0.00	2.42	0.00	0.000	6	0.000	0.052	2512	2097	3092
7332	-0.86	-117.3	563.3	-5.1	349	7337	0.00	2.62	0.00	0.000	4	0.000	0.065	2512	3554	3092
7463	-0.86	-117.3	572.0	-7.1	355	7468	0.00	2.55	0.00	0.000	6	0.000	0.051	2512	2121	3092
7791	-0.86	-117.3	589.6	-5.6	371	7795	0.00	2.47	0.00	0.000	4	0.000	0.064	2512	743	3092
7962	-0.86	-117.3	601.8	-7.1	378	7968	0.00	2.47	0.00	0.000	6	0.000	0.055	2512	2113	3092
8279	-0.86	-117.3	626.0	-7.8	394	8283	0.00	2.50	0.00	0.000	4	0.000	0.064	2512	741	3092
8536	-0.86	-117.3	642.2	-5.4	405	8543	0.00	2.42	0.00	0.000	6	0.000	0.056	2511	2083	3092
8853	-0.90	-117.3	660.1	-6.3	421	8858	0.00	2.67	0.00	0.000	4	0.000	0.068	2512	3556	3092
8944	-0.90	-117.3	665.8	-6.1	425	8948	0.00	2.62	0.00	0.000	6	0.000	0.056	2512	2099	3092
9266	-0.95	-117.3	681.8	-4.5	441	9270	0.00	2.45	0.00	0.000	4	0.000	0.070	2512	744	3091
9454	-0.95	-117.3	691.7	-6.6	449	9458	0.00	2.45	0.00	0.000	6	0.000	0.061	2512	2084	3091
9770	-1.36	-117.3	703.5	-0.1	464	9775	0.45	2.67	0.00	0.000	4	0.044	0.074	2397	3552	3090
10028	-1.74	-117.3	703.4	-0.0	475	10036	0.35	2.72	0.00	0.000	6	0.046	0.064	2311	2053	3090
10346	-2.03	-117.3	703.4	0.1	491	10351	0.22	2.30	0.00	0.000	3	0.051	0.075	2251	3278	3089
10352	end dive: NO_VERTICAL_VELOCITY
state	10352	begin apogee
10361	-0.33	0.0	703.5	0.0	491	10464	1.70	0.00	99.65	1.325	6	0.070	0.000	2622	2075	2620
10465	end apogee: CONTROL_FINISHED_OK
state	10465	begin climb
10468	1.30	117.3	702.8	0.0	496	10576	1.65	2.72	99.40	1.295	4	0.068	0.074	2979	3502	2141
10643	1.23	117.3	687.8	10.8	504	10648	0.00	2.62	0.00	0.000	6	0.000	0.064	2979	2099	2139
10959	1.23	117.3	660.7	9.1	519	10964	0.00	2.65	0.00	0.000	4	0.000	0.076	2979	3503	2138
10982	1.19	117.3	658.5	9.8	520	10986	0.00	2.60	0.00	0.000	6	0.000	0.064	2979	2105	2138
11303	1.15	117.3	627.9	9.2	536	11308	0.15	2.60	0.00	0.000	4	0.093	0.076	2947	691	2137
11325	1.15	117.3	625.8	9.0	537	11330	0.00	2.58	0.00	0.000	6	0.000	0.064	2947	2082	2137
11648	1.27	147.0	603.5	6.6	553	11679	0.12	2.70	25.52	1.232	4	0.058	0.072	2981	3508	2019
11696	1.27	147.0	599.3	9.4	555	11701	0.00	2.65	0.00	0.000	6	0.000	0.061	2981	2084	2019
12013	1.27	147.0	572.4	9.5	570	12017	0.00	2.65	0.00	0.000	4	0.000	0.070	2981	3508	2017
12045	1.27	147.0	568.8	10.3	571	12051	0.00	2.60	0.00	0.000	6	0.000	0.058	2981	2089	2017
12361	1.27	147.0	539.3	9.3	587	12365	0.00	2.62	0.00	0.000	4	0.000	0.067	2981	3509	2017
12427	1.27	147.0	532.5	10.1	590	12432	0.00	2.55	0.00	0.000	6	0.000	0.054	2981	2107	2017
12750	1.27	147.0	501.4	9.4	606	12754	0.00	2.60	0.00	0.000	4	0.000	0.065	2981	3509	2017
12783	1.27	147.0	497.9	10.3	607	12789	0.00	2.53	0.00	0.000	6	0.000	0.054	2981	2116	2017
13099	1.27	147.0	467.8	9.4	623	13104	0.00	2.55	0.00	0.000	4	0.000	0.063	2981	3510	2017
13144	1.27	147.0	463.4	9.9	625	13148	0.00	2.50	0.00	0.000	6	0.000	0.052	2981	2125	2017
13465	1.27	147.0	431.7	9.9	641	13469	0.00	2.55	0.00	0.000	4	0.000	0.063	2981	3510	2017
13515	1.27	147.0	426.5	9.6	643	13519	0.00	2.45	0.00	0.000	6	0.000	0.051	2981	2146	2017
13831	1.27	147.0	397.3	8.8	658	13835	0.00	2.53	0.00	0.000	4	0.000	0.063	2981	3516	2018
13876	1.27	147.0	393.3	8.7	660	13881	0.00	2.45	0.00	0.000	6	0.000	0.050	2981	2153	2018
14199	1.27	147.0	365.4	9.0	676	14203	0.00	2.50	0.00	0.000	4	0.000	0.061	2981	3512	2019
14254	1.27	147.0	359.8	9.6	678	14260	0.00	2.40	0.00	0.000	6	0.000	0.050	2981	2173	2019
14570	1.27	147.0	328.8	10.0	694	14574	0.00	2.45	0.00	0.000	4	0.000	0.061	2981	3517	2019
14593	1.27	147.0	326.2	11.8	695	14597	0.00	2.40	0.00	0.000	6	0.000	0.049	2981	2173	2020
14915	1.27	147.0	295.6	9.4	711	14919	0.00	2.45	0.00	0.000	4	0.000	0.061	2981	3517	2020
14936	1.27	147.0	293.3	9.7	712	14941	0.00	2.40	0.00	0.000	6	0.000	0.049	2981	2179	2020
15258	1.27	147.0	263.0	9.7	728	15262	0.00	2.42	0.00	0.000	4	0.000	0.060	2981	3511	2020
15285	1.27	147.0	260.1	10.6	729	15290	0.00	2.38	0.00	0.000	6	0.000	0.050	2981	2188	2020
15601	1.27	147.0	230.9	9.0	744	15605	0.00	2.42	0.00	0.000	4	0.000	0.060	2981	3517	2021
15641	1.27	147.0	227.1	9.2	746	15645	0.00	2.35	0.00	0.000	6	0.000	0.049	2981	2202	2021
15968	1.27	147.0	197.6	9.3	762	15969	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2201	2021
16276	1.27	147.0	169.5	9.2	777	16278	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2196	2022
16588	1.27	147.0	142.2	8.8	792	16592	0.00	2.40	0.00	0.000	4	0.000	0.059	2981	3514	2022
16616	1.27	147.0	139.2	11.2	793	16620	0.00	2.38	0.00	0.000	6	0.000	0.050	2981	2190	2022
16932	1.27	147.0	109.9	9.0	808	16936	0.00	2.40	0.00	0.000	4	0.000	0.059	2981	3514	2022
16950	1.27	147.0	108.3	8.8	809	16954	0.00	2.35	0.00	0.000	6	0.000	0.050	2981	2196	2022
17278	1.29	156.3	82.1	7.6	825	17293	0.00	2.42	9.85	0.775	4	0.000	0.058	2982	3514	1982
17317	1.29	160.0	78.9	7.8	826	17327	0.00	2.33	4.70	0.629	6	0.000	0.048	2981	2214	1967
17645	1.34	160.0	52.3	8.4	842	17646	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2212	1967
17954	1.41	164.9	28.0	7.8	857	17965	0.10	2.75	5.72	0.660	4	0.054	0.060	3015	686	1946
17999	1.36	164.9	23.3	9.6	859	18004	0.00	2.75	0.00	0.000	6	0.000	0.049	3015	2233	1946
18215	end climb: SURFACE_DEPTH_REACHED
state	18215	begin surface coast
18237	end surface coast: CONTROL_FINISHED_OK
state	18237	begin surface