Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 238 * 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 238 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 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 -81081.523 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 -81081.523

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 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 238 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 215438,6224.397,-1035.394,29,1.3,29,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.132,0.178

_SM_DEPTHo 0.76 KALMAN_X -52753.2,102.3,638.1,67765.4,-835.4

_SM_ANGLEo -54.1 KALMAN_Y -11408.5,-284.2,-511.2,40114.6,-1979.4

GPS2 220033,6224.320,-1035.345,17,1.3,17,-10.4 MHEAD_RNG_PITCHd_Wd 47.1,66724,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,1.026792 ALTIM_BOTTOM_PING 650.2,54.0

SM_CCo 17758,226.85,0.774,0,0,390,547.02 _24V_AH 23.8,46.090

SM_GC 0.58,0.00,0.00,226.85,0.000,0.000,0.774,420,2113,390,-10.48,-0.82,547.02 _10V_AH 10.1,22.419

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44292,850

TT8_MAMPS 0.029146 CAP_FILE_SIZE 138454,0

HUMID 1697 CFSIZE 254472192,236060672

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

XPDR_PINGS 483 GPS 300708,030237,6223.368,-1030.627,40,1.6,45,-10.4

ALTIM_TOP_PING 19.2,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 134 78.71 SBE_CT 583 24 333.02

Roll_motor 179 75 324.30 SBE_O2 631 19 285.62

VBD_pump_during_apogee 242 1308 7562.14 WL_BB2F 520 105 1299.49

VBD_pump_during_surface 226 773 4178.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 27 160 105.98 nil 0 0 0.00

Iridium_during_xfer 156 223 831.75

Transponder_ping 126 420 1264.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.03

TT8 1612 19 322.46

LPSleep 13546 2 299.64

TT8_Active 673 19 134.71

TT8_Sampling 1946 39 782.65

TT8_CF8 562 45 260.11

TT8_Kalman 33 81 27.56

Analog_circuits 1650 12 200.00

GPS_charging 0 0 0.00

Compass 1899 8 153.47

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 21 begin dive

24 -1.30 -117.3 0.0 0.0 0 136 0.00 0.00 -109.07 0.000 6 0.000 0.000 416 2119 3100

140 -1.30 -117.3 2.3 -1.7 5 156 10.30 2.55 0.00 0.000 4 0.135 0.054 2410 3557 3099

218 -0.95 -117.3 16.2 -12.9 7 226 0.40 2.50 0.00 0.000 6 0.093 0.045 2491 2148 3098

537 -0.86 -117.3 44.1 -7.7 23 542 0.10 2.50 0.00 0.000 4 0.103 0.057 2513 747 3098

721 -0.86 -117.3 58.4 -7.8 31 726 0.00 2.47 0.00 0.000 6 0.000 0.048 2513 2149 3099

1037 -0.86 -117.3 82.8 -8.4 46 1041 0.00 2.50 0.00 0.000 4 0.000 0.058 2512 3555 3099

1110 -0.86 -117.3 89.2 -9.0 49 1115 0.00 2.58 0.00 0.000 6 0.000 0.047 2513 2104 3099

1427 -0.86 -117.3 115.1 -7.8 64 1431 0.00 2.42 0.00 0.000 4 0.000 0.061 2512 749 3099

1521 -0.86 -117.3 123.0 -8.2 68 1526 0.00 2.42 0.00 0.000 6 0.000 0.049 2513 2109 3099

1838 -0.86 -117.3 147.1 -7.5 83 1843 0.00 2.58 0.00 0.000 4 0.000 0.058 2513 3555 3099

1902 -0.86 -117.3 152.2 -7.8 86 1906 0.00 2.60 0.00 0.000 6 0.000 0.048 2512 2089 3099

2228 -0.86 -117.3 178.0 -8.2 102 2232 0.00 2.40 0.00 0.000 4 0.000 0.061 2513 747 3099

2314 -0.86 -117.3 185.0 -8.6 106 2318 0.00 2.42 0.00 0.000 6 0.000 0.050 2513 2104 3099

2640 -0.86 -117.3 211.3 -7.8 122 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2104 3098

2950 -0.86 -117.3 236.4 -8.0 137 2951 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2104 3097

3258 -0.86 -117.3 261.6 -8.7 152 3263 0.00 2.50 0.00 0.000 4 0.000 0.063 2512 741 3098

3354 -0.86 -117.3 270.4 -9.0 156 3358 0.00 2.42 0.00 0.000 6 0.000 0.051 2512 2090 3097

3671 -0.86 -117.3 297.3 -8.4 171 3672 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2089 3097

3979 -0.86 -117.3 321.9 -7.8 186 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2090 3097

4288 -0.86 -117.3 344.5 -7.3 201 4290 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2090 3096

4599 -0.86 -117.3 366.9 -7.2 216 4600 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2090 3096

4907 -0.86 -117.3 391.1 -8.0 231 4908 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2090 3096

5217 -0.86 -117.3 415.3 -7.7 246 5221 0.00 2.45 0.00 0.000 4 0.000 0.062 2512 742 3095

5308 -0.86 -117.3 422.6 -7.8 250 5312 0.00 2.40 0.00 0.000 6 0.000 0.052 2512 2082 3095

5635 -0.86 -117.3 447.4 -7.9 266 5640 0.00 2.65 0.00 0.000 4 0.000 0.064 2512 3552 3094

5748 -0.86 -117.3 457.0 -8.6 271 5752 0.00 2.65 0.00 0.000 6 0.000 0.051 2512 2070 3094

6069 -0.86 -117.3 481.0 -6.9 287 6073 0.00 2.35 0.00 0.000 4 0.000 0.061 2512 744 3094

6154 -0.86 -117.3 487.6 -8.2 291 6158 0.00 2.38 0.00 0.000 6 0.000 0.052 2513 2070 3094

6482 -0.86 -117.3 511.0 -6.9 307 6486 0.00 2.67 0.00 0.000 4 0.000 0.064 2513 3554 3094

6652 -0.86 -117.3 523.1 -7.4 314 6658 0.00 2.60 0.00 0.000 6 0.000 0.052 2513 2098 3093

6968 -0.86 -117.3 543.3 -6.9 330 6973 0.00 2.42 0.00 0.000 4 0.000 0.064 2513 749 3093

7047 -0.86 -117.3 548.9 -6.5 333 7053 0.00 2.45 0.00 0.000 6 0.000 0.054 2512 2109 3093

7364 -0.86 -117.3 565.3 -4.4 349 7365 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2109 3093

7672 -0.86 -117.3 577.6 -4.0 364 7677 0.00 2.50 0.00 0.000 4 0.000 0.063 2512 744 3093

7869 -0.86 -117.3 587.8 -5.8 373 7874 0.00 2.45 0.00 0.000 6 0.000 0.056 2513 2102 3092

8197 -0.86 -117.3 608.8 -6.5 389 8201 0.00 2.65 0.00 0.000 4 0.000 0.068 2512 3559 3092

8297 -0.86 -117.3 616.1 -7.3 393 8303 0.00 2.67 0.00 0.000 6 0.000 0.055 2513 2070 3092

8614 -0.91 -117.3 634.4 -5.3 409 8619 0.00 2.75 0.00 0.000 4 0.000 0.067 2512 3559 3092

8722 -0.91 -117.3 641.0 -6.5 414 8727 0.00 2.62 0.00 0.000 6 0.000 0.055 2512 2094 3091

9052 -0.95 -117.3 656.6 -4.4 430 9053 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2076 3091

9358 -1.00 -117.3 672.8 -5.9 445 9360 0.15 0.00 0.00 0.000 6 0.058 0.000 2472 2076 3091

9644 end dive: BOTTOM_OBSTACLE_DETECTED

state 9644 begin apogee

9651 -0.33 0.0 694.3 8.0 459 9754 0.73 0.00 99.78 1.309 6 0.087 0.000 2624 2075 2620

9754 end apogee: CONTROL_FINISHED_OK

state 9755 begin climb

9758 1.30 117.3 697.0 0.0 464 9865 1.65 2.65 99.25 1.282 4 0.074 0.072 2977 691 2140

9893 1.26 117.3 688.7 9.1 470 9900 0.00 2.62 0.00 0.000 6 0.000 0.063 2977 2104 2140

10210 1.26 117.3 662.7 8.3 486 10214 0.00 2.62 0.00 0.000 4 0.000 0.076 2977 3510 2138

10282 1.26 117.3 656.1 9.2 489 10286 0.00 2.58 0.00 0.000 6 0.000 0.063 2977 2123 2138

10599 1.29 138.0 630.7 7.1 504 10619 0.00 0.00 18.25 1.206 6 0.000 0.000 2976 2110 2057

10927 1.29 138.0 604.5 8.0 520 10931 0.00 2.62 0.00 0.000 4 0.000 0.076 2977 3512 2055

10999 1.29 138.0 598.3 8.7 523 11003 0.00 2.60 0.00 0.000 6 0.000 0.061 2977 2098 2054

11315 1.29 140.3 574.0 7.9 538 11320 0.00 2.65 0.00 0.000 4 0.000 0.073 2977 3512 2054

11361 1.29 140.3 570.1 8.4 540 11365 0.00 2.58 0.00 0.000 6 0.000 0.060 2977 2107 2053

11682 1.29 140.3 540.0 10.0 556 11687 0.00 2.60 0.00 0.000 4 0.000 0.069 2976 3508 2053

11705 1.29 140.3 537.3 11.3 557 11709 0.00 2.53 0.00 0.000 6 0.000 0.058 2977 2125 2053

12026 1.29 140.3 504.7 9.7 573 12030 0.00 2.60 0.00 0.000 4 0.000 0.067 2977 3517 2052

12070 1.29 140.3 499.9 10.6 575 12074 0.00 2.53 0.00 0.000 6 0.000 0.056 2977 2130 2052

12391 1.29 140.3 471.2 8.4 591 12396 0.00 2.58 0.00 0.000 4 0.000 0.066 2977 3515 2052

12431 1.29 140.3 467.6 8.7 593 12436 0.00 2.47 0.00 0.000 6 0.000 0.054 2977 2145 2052

12758 1.29 140.3 439.5 8.5 609 12763 0.00 2.53 0.00 0.000 4 0.000 0.065 2977 3517 2052

12787 1.29 140.3 436.8 9.6 610 12791 0.00 2.47 0.00 0.000 6 0.000 0.052 2977 2146 2052

13102 1.29 140.3 409.3 8.6 625 13107 0.00 2.50 0.00 0.000 4 0.000 0.064 2977 3518 2052

13136 1.29 140.3 406.3 8.4 626 13141 0.00 2.45 0.00 0.000 6 0.000 0.051 2977 2155 2052

13452 1.29 140.3 380.1 8.6 642 13456 0.00 2.50 0.00 0.000 4 0.000 0.061 2977 3515 2053

13475 1.29 140.3 378.0 9.1 643 13479 0.00 2.42 0.00 0.000 6 0.000 0.051 2977 2166 2053

13797 1.29 140.3 348.4 9.3 659 13801 0.00 2.47 0.00 0.000 4 0.000 0.061 2976 3512 2054

13819 1.29 140.3 346.1 9.8 660 13823 0.00 2.40 0.00 0.000 6 0.000 0.051 2977 2176 2054

14140 1.29 140.3 316.1 9.3 676 14144 0.00 2.45 0.00 0.000 4 0.000 0.061 2977 3518 2054

14150 1.29 140.3 314.9 9.2 676 14156 0.00 2.42 0.00 0.000 6 0.000 0.051 2977 2169 2054

14466 1.29 140.3 286.2 9.0 692 14470 0.00 2.45 0.00 0.000 4 0.000 0.060 2977 3515 2055

14494 1.29 140.3 283.4 9.9 693 14498 0.00 2.40 0.00 0.000 6 0.000 0.049 2977 2176 2055

14809 1.29 140.3 255.5 8.5 708 14813 0.00 2.45 0.00 0.000 4 0.000 0.061 2977 3511 2055

14837 1.29 140.3 253.1 8.8 709 14841 0.00 2.38 0.00 0.000 6 0.000 0.049 2977 2186 2055

15153 1.29 140.3 227.2 8.0 724 15157 0.00 2.40 0.00 0.000 4 0.000 0.059 2976 3511 2055

15175 1.29 140.3 225.2 8.6 725 15179 0.00 2.38 0.00 0.000 6 0.000 0.050 2977 2187 2055

15497 1.30 146.3 200.5 7.7 741 15511 0.00 2.47 8.45 0.829 4 0.000 0.058 2977 3512 2024

15520 1.30 146.3 198.6 8.3 742 15524 0.00 2.38 0.00 0.000 6 0.000 0.050 2977 2195 2023

15847 1.38 166.0 174.6 7.1 758 15869 0.10 2.50 17.10 0.887 4 0.056 0.058 3008 3511 1943

15887 1.34 166.0 171.1 9.4 759 15893 0.00 2.38 0.00 0.000 6 0.000 0.049 3008 2206 1943

16204 1.34 166.0 142.1 9.5 775 16208 0.00 2.38 0.00 0.000 4 0.000 0.059 3008 3510 1943

16214 1.34 166.0 140.7 9.6 775 16221 0.00 2.33 0.00 0.000 6 0.000 0.049 3008 2213 1942

16530 1.34 166.0 110.2 9.8 791 16534 0.00 2.38 0.00 0.000 4 0.000 0.058 3007 3517 1943

16542 1.34 166.0 109.0 10.0 791 16548 0.00 2.33 0.00 0.000 6 0.000 0.049 3007 2213 1942

16858 1.34 166.0 80.6 8.7 807 16859 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2210 1942

17169 1.34 166.0 54.0 8.8 822 17173 0.00 2.38 0.00 0.000 4 0.000 0.058 3007 3511 1942

17210 1.34 166.0 50.2 9.4 824 17214 0.00 2.33 0.00 0.000 6 0.000 0.048 3008 2208 1943

17537 1.34 166.0 17.0 11.1 840 17541 0.00 2.38 0.00 0.000 4 0.000 0.057 3008 3511 1943

17558 1.34 166.0 14.5 11.7 841 17562 0.00 2.28 0.00 0.000 6 0.000 0.048 3008 2234 1943

17712 end climb: SURFACE_DEPTH_REACHED

state 17713 begin surface coast

17734 end surface coast: CONTROL_FINISHED_OK

state 17734 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	238	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	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	-81081.523	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	215438,6224.397,-1035.394,29,1.3,29,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.132,0.178
_SM_DEPTHo	0.76	KALMAN_X	-52753.2,102.3,638.1,67765.4,-835.4
_SM_ANGLEo	-54.1	KALMAN_Y	-11408.5,-284.2,-511.2,40114.6,-1979.4
GPS2	220033,6224.320,-1035.345,17,1.3,17,-10.4	MHEAD_RNG_PITCHd_Wd	47.1,66724,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.3,1.026792	ALTIM_BOTTOM_PING	650.2,54.0
SM_CCo	17758,226.85,0.774,0,0,390,547.02	_24V_AH	23.8,46.090
SM_GC	0.58,0.00,0.00,226.85,0.000,0.000,0.774,420,2113,390,-10.48,-0.82,547.02	_10V_AH	10.1,22.419
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44292,850
TT8_MAMPS	0.029146	CAP_FILE_SIZE	138454,0
HUMID	1697	CFSIZE	254472192,236060672
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
XPDR_PINGS	483	GPS	300708,030237,6223.368,-1030.627,40,1.6,45,-10.4
ALTIM_TOP_PING	19.2,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	134	78.71	SBE_CT	583	24	333.02
Roll_motor	179	75	324.30	SBE_O2	631	19	285.62
VBD_pump_during_apogee	242	1308	7562.14	WL_BB2F	520	105	1299.49
VBD_pump_during_surface	226	773	4178.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	27	160	105.98	nil	0	0	0.00
Iridium_during_xfer	156	223	831.75
Transponder_ping	126	420	1264.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.03
TT8	1612	19	322.46
LPSleep	13546	2	299.64
TT8_Active	673	19	134.71
TT8_Sampling	1946	39	782.65
TT8_CF8	562	45	260.11
TT8_Kalman	33	81	27.56
Analog_circuits	1650	12	200.00
GPS_charging	0	0	0.00
Compass	1899	8	153.47
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	21	begin dive
24	-1.30	-117.3	0.0	0.0	0	136	0.00	0.00	-109.07	0.000	6	0.000	0.000	416	2119	3100
140	-1.30	-117.3	2.3	-1.7	5	156	10.30	2.55	0.00	0.000	4	0.135	0.054	2410	3557	3099
218	-0.95	-117.3	16.2	-12.9	7	226	0.40	2.50	0.00	0.000	6	0.093	0.045	2491	2148	3098
537	-0.86	-117.3	44.1	-7.7	23	542	0.10	2.50	0.00	0.000	4	0.103	0.057	2513	747	3098
721	-0.86	-117.3	58.4	-7.8	31	726	0.00	2.47	0.00	0.000	6	0.000	0.048	2513	2149	3099
1037	-0.86	-117.3	82.8	-8.4	46	1041	0.00	2.50	0.00	0.000	4	0.000	0.058	2512	3555	3099
1110	-0.86	-117.3	89.2	-9.0	49	1115	0.00	2.58	0.00	0.000	6	0.000	0.047	2513	2104	3099
1427	-0.86	-117.3	115.1	-7.8	64	1431	0.00	2.42	0.00	0.000	4	0.000	0.061	2512	749	3099
1521	-0.86	-117.3	123.0	-8.2	68	1526	0.00	2.42	0.00	0.000	6	0.000	0.049	2513	2109	3099
1838	-0.86	-117.3	147.1	-7.5	83	1843	0.00	2.58	0.00	0.000	4	0.000	0.058	2513	3555	3099
1902	-0.86	-117.3	152.2	-7.8	86	1906	0.00	2.60	0.00	0.000	6	0.000	0.048	2512	2089	3099
2228	-0.86	-117.3	178.0	-8.2	102	2232	0.00	2.40	0.00	0.000	4	0.000	0.061	2513	747	3099
2314	-0.86	-117.3	185.0	-8.6	106	2318	0.00	2.42	0.00	0.000	6	0.000	0.050	2513	2104	3099
2640	-0.86	-117.3	211.3	-7.8	122	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2104	3098
2950	-0.86	-117.3	236.4	-8.0	137	2951	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2104	3097
3258	-0.86	-117.3	261.6	-8.7	152	3263	0.00	2.50	0.00	0.000	4	0.000	0.063	2512	741	3098
3354	-0.86	-117.3	270.4	-9.0	156	3358	0.00	2.42	0.00	0.000	6	0.000	0.051	2512	2090	3097
3671	-0.86	-117.3	297.3	-8.4	171	3672	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2089	3097
3979	-0.86	-117.3	321.9	-7.8	186	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2090	3097
4288	-0.86	-117.3	344.5	-7.3	201	4290	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2090	3096
4599	-0.86	-117.3	366.9	-7.2	216	4600	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2090	3096
4907	-0.86	-117.3	391.1	-8.0	231	4908	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2090	3096
5217	-0.86	-117.3	415.3	-7.7	246	5221	0.00	2.45	0.00	0.000	4	0.000	0.062	2512	742	3095
5308	-0.86	-117.3	422.6	-7.8	250	5312	0.00	2.40	0.00	0.000	6	0.000	0.052	2512	2082	3095
5635	-0.86	-117.3	447.4	-7.9	266	5640	0.00	2.65	0.00	0.000	4	0.000	0.064	2512	3552	3094
5748	-0.86	-117.3	457.0	-8.6	271	5752	0.00	2.65	0.00	0.000	6	0.000	0.051	2512	2070	3094
6069	-0.86	-117.3	481.0	-6.9	287	6073	0.00	2.35	0.00	0.000	4	0.000	0.061	2512	744	3094
6154	-0.86	-117.3	487.6	-8.2	291	6158	0.00	2.38	0.00	0.000	6	0.000	0.052	2513	2070	3094
6482	-0.86	-117.3	511.0	-6.9	307	6486	0.00	2.67	0.00	0.000	4	0.000	0.064	2513	3554	3094
6652	-0.86	-117.3	523.1	-7.4	314	6658	0.00	2.60	0.00	0.000	6	0.000	0.052	2513	2098	3093
6968	-0.86	-117.3	543.3	-6.9	330	6973	0.00	2.42	0.00	0.000	4	0.000	0.064	2513	749	3093
7047	-0.86	-117.3	548.9	-6.5	333	7053	0.00	2.45	0.00	0.000	6	0.000	0.054	2512	2109	3093
7364	-0.86	-117.3	565.3	-4.4	349	7365	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2109	3093
7672	-0.86	-117.3	577.6	-4.0	364	7677	0.00	2.50	0.00	0.000	4	0.000	0.063	2512	744	3093
7869	-0.86	-117.3	587.8	-5.8	373	7874	0.00	2.45	0.00	0.000	6	0.000	0.056	2513	2102	3092
8197	-0.86	-117.3	608.8	-6.5	389	8201	0.00	2.65	0.00	0.000	4	0.000	0.068	2512	3559	3092
8297	-0.86	-117.3	616.1	-7.3	393	8303	0.00	2.67	0.00	0.000	6	0.000	0.055	2513	2070	3092
8614	-0.91	-117.3	634.4	-5.3	409	8619	0.00	2.75	0.00	0.000	4	0.000	0.067	2512	3559	3092
8722	-0.91	-117.3	641.0	-6.5	414	8727	0.00	2.62	0.00	0.000	6	0.000	0.055	2512	2094	3091
9052	-0.95	-117.3	656.6	-4.4	430	9053	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2076	3091
9358	-1.00	-117.3	672.8	-5.9	445	9360	0.15	0.00	0.00	0.000	6	0.058	0.000	2472	2076	3091
9644	end dive: BOTTOM_OBSTACLE_DETECTED
state	9644	begin apogee
9651	-0.33	0.0	694.3	8.0	459	9754	0.73	0.00	99.78	1.309	6	0.087	0.000	2624	2075	2620
9754	end apogee: CONTROL_FINISHED_OK
state	9755	begin climb
9758	1.30	117.3	697.0	0.0	464	9865	1.65	2.65	99.25	1.282	4	0.074	0.072	2977	691	2140
9893	1.26	117.3	688.7	9.1	470	9900	0.00	2.62	0.00	0.000	6	0.000	0.063	2977	2104	2140
10210	1.26	117.3	662.7	8.3	486	10214	0.00	2.62	0.00	0.000	4	0.000	0.076	2977	3510	2138
10282	1.26	117.3	656.1	9.2	489	10286	0.00	2.58	0.00	0.000	6	0.000	0.063	2977	2123	2138
10599	1.29	138.0	630.7	7.1	504	10619	0.00	0.00	18.25	1.206	6	0.000	0.000	2976	2110	2057
10927	1.29	138.0	604.5	8.0	520	10931	0.00	2.62	0.00	0.000	4	0.000	0.076	2977	3512	2055
10999	1.29	138.0	598.3	8.7	523	11003	0.00	2.60	0.00	0.000	6	0.000	0.061	2977	2098	2054
11315	1.29	140.3	574.0	7.9	538	11320	0.00	2.65	0.00	0.000	4	0.000	0.073	2977	3512	2054
11361	1.29	140.3	570.1	8.4	540	11365	0.00	2.58	0.00	0.000	6	0.000	0.060	2977	2107	2053
11682	1.29	140.3	540.0	10.0	556	11687	0.00	2.60	0.00	0.000	4	0.000	0.069	2976	3508	2053
11705	1.29	140.3	537.3	11.3	557	11709	0.00	2.53	0.00	0.000	6	0.000	0.058	2977	2125	2053
12026	1.29	140.3	504.7	9.7	573	12030	0.00	2.60	0.00	0.000	4	0.000	0.067	2977	3517	2052
12070	1.29	140.3	499.9	10.6	575	12074	0.00	2.53	0.00	0.000	6	0.000	0.056	2977	2130	2052
12391	1.29	140.3	471.2	8.4	591	12396	0.00	2.58	0.00	0.000	4	0.000	0.066	2977	3515	2052
12431	1.29	140.3	467.6	8.7	593	12436	0.00	2.47	0.00	0.000	6	0.000	0.054	2977	2145	2052
12758	1.29	140.3	439.5	8.5	609	12763	0.00	2.53	0.00	0.000	4	0.000	0.065	2977	3517	2052
12787	1.29	140.3	436.8	9.6	610	12791	0.00	2.47	0.00	0.000	6	0.000	0.052	2977	2146	2052
13102	1.29	140.3	409.3	8.6	625	13107	0.00	2.50	0.00	0.000	4	0.000	0.064	2977	3518	2052
13136	1.29	140.3	406.3	8.4	626	13141	0.00	2.45	0.00	0.000	6	0.000	0.051	2977	2155	2052
13452	1.29	140.3	380.1	8.6	642	13456	0.00	2.50	0.00	0.000	4	0.000	0.061	2977	3515	2053
13475	1.29	140.3	378.0	9.1	643	13479	0.00	2.42	0.00	0.000	6	0.000	0.051	2977	2166	2053
13797	1.29	140.3	348.4	9.3	659	13801	0.00	2.47	0.00	0.000	4	0.000	0.061	2976	3512	2054
13819	1.29	140.3	346.1	9.8	660	13823	0.00	2.40	0.00	0.000	6	0.000	0.051	2977	2176	2054
14140	1.29	140.3	316.1	9.3	676	14144	0.00	2.45	0.00	0.000	4	0.000	0.061	2977	3518	2054
14150	1.29	140.3	314.9	9.2	676	14156	0.00	2.42	0.00	0.000	6	0.000	0.051	2977	2169	2054
14466	1.29	140.3	286.2	9.0	692	14470	0.00	2.45	0.00	0.000	4	0.000	0.060	2977	3515	2055
14494	1.29	140.3	283.4	9.9	693	14498	0.00	2.40	0.00	0.000	6	0.000	0.049	2977	2176	2055
14809	1.29	140.3	255.5	8.5	708	14813	0.00	2.45	0.00	0.000	4	0.000	0.061	2977	3511	2055
14837	1.29	140.3	253.1	8.8	709	14841	0.00	2.38	0.00	0.000	6	0.000	0.049	2977	2186	2055
15153	1.29	140.3	227.2	8.0	724	15157	0.00	2.40	0.00	0.000	4	0.000	0.059	2976	3511	2055
15175	1.29	140.3	225.2	8.6	725	15179	0.00	2.38	0.00	0.000	6	0.000	0.050	2977	2187	2055
15497	1.30	146.3	200.5	7.7	741	15511	0.00	2.47	8.45	0.829	4	0.000	0.058	2977	3512	2024
15520	1.30	146.3	198.6	8.3	742	15524	0.00	2.38	0.00	0.000	6	0.000	0.050	2977	2195	2023
15847	1.38	166.0	174.6	7.1	758	15869	0.10	2.50	17.10	0.887	4	0.056	0.058	3008	3511	1943
15887	1.34	166.0	171.1	9.4	759	15893	0.00	2.38	0.00	0.000	6	0.000	0.049	3008	2206	1943
16204	1.34	166.0	142.1	9.5	775	16208	0.00	2.38	0.00	0.000	4	0.000	0.059	3008	3510	1943
16214	1.34	166.0	140.7	9.6	775	16221	0.00	2.33	0.00	0.000	6	0.000	0.049	3008	2213	1942
16530	1.34	166.0	110.2	9.8	791	16534	0.00	2.38	0.00	0.000	4	0.000	0.058	3007	3517	1943
16542	1.34	166.0	109.0	10.0	791	16548	0.00	2.33	0.00	0.000	6	0.000	0.049	3007	2213	1942
16858	1.34	166.0	80.6	8.7	807	16859	0.00	0.00	0.00	0.000	6	0.000	0.000	3008	2210	1942
17169	1.34	166.0	54.0	8.8	822	17173	0.00	2.38	0.00	0.000	4	0.000	0.058	3007	3511	1942
17210	1.34	166.0	50.2	9.4	824	17214	0.00	2.33	0.00	0.000	6	0.000	0.048	3008	2208	1943
17537	1.34	166.0	17.0	11.1	840	17541	0.00	2.38	0.00	0.000	4	0.000	0.057	3008	3511	1943
17558	1.34	166.0	14.5	11.7	841	17562	0.00	2.28	0.00	0.000	6	0.000	0.048	3008	2234	1943
17712	end climb: SURFACE_DEPTH_REACHED
state	17713	begin surface coast
17734	end surface coast: CONTROL_FINISHED_OK
state	17734	begin surface