Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 239 * 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 239 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 52 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -81098.07 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 -81098.07

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 52 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 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 239 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 030237,6223.368,-1030.627,40,1.6,45,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.128,0.181

_SM_DEPTHo 0.69 KALMAN_X -51396.3,565.4,-279.3,70929.7,1281.1

_SM_ANGLEo -51.8 KALMAN_Y -18372.6,99.8,-388.7,44809.0,-6602.5

GPS2 030821,6223.365,-1030.667,15,1.6,15,-10.4 MHEAD_RNG_PITCHd_Wd 335.2,65336,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.026741 ALTIM_TOP_PING 19.0,18.2

SM_CCo 18598,254.65,0.769,0,0,389,547.02 _24V_AH 23.7,46.248

SM_GC 0.52,0.00,0.00,254.65,0.000,0.000,0.769,417,2180,389,-10.50,0.76,547.02 _10V_AH 10.1,22.508

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44322,889

TT8_MAMPS 0.028379 CAP_FILE_SIZE 144114,0

HUMID 1669 CFSIZE 254472192,235986944

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 475 GPS 300708,082438,6224.899,-1027.900,29,1.4,29,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 83.48 SBE_CT 610 24 347.23

Roll_motor 170 77 312.89 SBE_O2 655 19 295.16

VBD_pump_during_apogee 204 1335 6475.92 WL_BB2F 545 105 1358.64

VBD_pump_during_surface 254 769 4642.89 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 30 160 115.46 nil 0 0 0.00

Iridium_during_xfer 143 223 760.61

Transponder_ping 124 420 1241.76

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.04

TT8 1707 19 341.48

LPSleep 14159 2 313.18

TT8_Active 670 19 134.04

TT8_Sampling 2110 39 848.57

TT8_CF8 551 45 255.04

TT8_Kalman 33 81 27.56

Analog_circuits 1703 12 206.47

GPS_charging 0 0 0.00

Compass 2060 8 166.53

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 -109.60 0.000 6 0.000 0.000 421 2123 3099

140 -1.30 -117.3 2.2 -1.6 5 156 10.30 2.58 0.00 0.000 4 0.137 0.054 2409 3561 3098

408 -0.95 -117.3 39.3 -11.2 16 414 0.40 2.47 0.00 0.000 6 0.094 0.045 2491 2168 3097

733 -0.87 -117.3 65.2 -9.0 32 737 0.00 2.53 0.00 0.000 4 0.000 0.057 2491 750 3098

828 -0.79 -117.3 74.3 -9.2 36 833 0.17 2.47 0.00 0.000 6 0.091 0.047 2529 2141 3098

1146 -0.79 -117.3 95.5 -6.3 51 1150 0.00 2.53 0.00 0.000 4 0.000 0.057 2529 3561 3098

1300 -0.79 -117.3 106.4 -6.9 58 1304 0.00 2.50 0.00 0.000 6 0.000 0.045 2528 2143 3098

1629 -0.79 -117.3 126.7 -5.9 74 1633 0.00 2.47 0.00 0.000 4 0.000 0.059 2529 750 3099

1694 -0.79 -117.3 130.8 -6.8 77 1698 0.00 2.53 0.00 0.000 6 0.000 0.049 2528 2167 3099

2021 -0.83 -117.3 153.2 -7.1 93 2022 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2166 3098

2333 -0.89 -117.3 175.3 -7.1 108 2337 0.00 2.60 0.00 0.000 4 0.000 0.061 2529 741 3098

2413 -0.89 -117.3 181.6 -7.4 111 2419 0.00 2.53 0.00 0.000 6 0.000 0.051 2528 2151 3098

2730 -0.94 -117.3 204.9 -7.2 127 2732 0.15 0.00 0.00 0.000 6 0.050 0.000 2485 2151 3097

3039 -0.86 -117.3 232.5 -8.9 142 3044 0.12 2.58 0.00 0.000 4 0.094 0.061 2511 744 3097

3128 -0.86 -117.3 240.5 -8.9 146 3133 0.00 2.50 0.00 0.000 6 0.000 0.051 2511 2144 3097

3450 -0.86 -117.3 264.1 -6.9 162 3451 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2143 3097

3759 -0.86 -117.3 285.2 -6.9 177 3760 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2143 3097

4068 -0.86 -117.3 305.5 -6.6 192 4072 0.00 2.55 0.00 0.000 4 0.000 0.062 2511 750 3097

4186 -0.86 -117.3 313.9 -6.6 197 4190 0.00 2.50 0.00 0.000 6 0.000 0.051 2511 2141 3096

4502 -0.86 -117.3 335.2 -6.8 212 4503 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2141 3096

4812 -0.86 -117.3 357.2 -7.3 227 4813 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2141 3095

5120 -0.86 -117.3 379.3 -7.0 242 5125 0.00 2.55 0.00 0.000 4 0.000 0.061 2511 744 3095

5216 -0.86 -117.3 386.0 -6.8 246 5220 0.00 2.50 0.00 0.000 6 0.000 0.052 2511 2136 3095

5533 -0.86 -117.3 407.1 -6.8 261 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2135 3094

5842 -0.86 -117.3 428.2 -6.7 276 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2135 3094

6152 -0.86 -117.3 451.0 -7.6 291 6156 0.00 2.53 0.00 0.000 4 0.000 0.061 2511 750 3093

6309 -0.86 -117.3 463.9 -8.9 298 6313 0.00 2.47 0.00 0.000 6 0.000 0.051 2511 2128 3093

6630 -0.86 -117.3 489.5 -7.7 314 6635 0.00 2.58 0.00 0.000 4 0.000 0.065 2511 3557 3093

6721 -0.86 -117.3 496.6 -7.6 318 6725 0.00 2.55 0.00 0.000 6 0.000 0.051 2511 2127 3093

7042 -0.86 -117.3 518.2 -6.5 334 7046 0.00 2.45 0.00 0.000 4 0.000 0.061 2511 746 3093

7143 -0.86 -117.3 525.0 -6.6 338 7150 0.00 2.50 0.00 0.000 6 0.000 0.053 2511 2134 3092

7459 -0.86 -117.3 548.0 -8.0 354 7460 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2133 3092

7768 -0.86 -117.3 571.7 -6.9 369 7772 0.00 2.55 0.00 0.000 4 0.000 0.063 2511 742 3092

7886 -0.86 -117.3 579.3 -6.5 374 7890 0.00 2.50 0.00 0.000 6 0.000 0.055 2511 2124 3092

8202 -0.86 -117.3 594.2 -4.2 389 8203 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2124 3092

8512 -0.86 -117.3 609.3 -5.8 404 8516 0.00 2.55 0.00 0.000 4 0.000 0.068 2511 746 3091

8646 -0.86 -117.3 618.3 -7.0 410 8650 0.00 2.53 0.00 0.000 6 0.000 0.059 2512 2132 3091

8968 -0.86 -117.3 639.2 -6.0 426 8973 0.00 2.58 0.00 0.000 4 0.000 0.071 2511 740 3091

9140 -0.86 -117.3 650.4 -6.6 433 9146 0.00 2.53 0.00 0.000 6 0.000 0.062 2511 2119 3091

9456 -0.86 -117.3 669.5 -6.1 449 9457 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2118 3090

9766 -0.86 -117.3 688.6 -6.7 464 9767 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2118 3089

10075 -1.28 -117.3 697.1 -0.0 479 10081 0.38 2.67 0.00 0.000 4 0.048 0.077 2413 3562 3088

10334 -1.48 -117.3 697.0 0.0 490 10341 0.15 2.58 0.00 0.000 6 0.057 0.063 2375 2123 3087

10584 end dive: NO_VERTICAL_VELOCITY

state 10585 begin apogee

10591 -0.33 0.0 697.0 0.0 503 10694 1.17 0.00 99.18 1.335 6 0.076 0.000 2626 2123 2620

10695 end apogee: CONTROL_FINISHED_OK

state 10695 begin climb

10698 1.30 117.3 696.7 0.0 508 10806 1.65 2.72 99.88 1.306 4 0.074 0.077 2978 714 2140

10914 1.25 117.3 680.0 10.6 518 10918 0.00 2.60 0.00 0.000 6 0.000 0.066 2978 2103 2139

11235 1.25 117.3 652.3 8.5 534 11239 0.00 2.62 0.00 0.000 4 0.000 0.077 2978 3507 2138

11247 1.25 117.3 651.3 8.8 534 11253 0.00 2.58 0.00 0.000 6 0.000 0.065 2978 2125 2138

11563 1.25 117.3 626.1 8.2 550 11564 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2125 2137

11871 1.25 117.3 598.8 9.0 565 11876 0.00 2.60 0.00 0.000 4 0.000 0.076 2978 3507 2136

11882 1.25 117.3 597.7 8.8 565 11889 0.00 2.62 0.00 0.000 6 0.000 0.065 2978 2091 2136

12199 1.25 117.3 569.8 9.5 581 12203 0.00 2.65 0.00 0.000 4 0.000 0.074 2977 3507 2136

12277 1.25 117.3 561.8 10.5 584 12283 0.00 2.58 0.00 0.000 6 0.000 0.062 2979 2107 2135

12593 1.25 117.3 530.7 9.7 600 12594 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2108 2135

12902 1.25 117.3 501.7 9.8 615 12906 0.00 2.60 0.00 0.000 4 0.000 0.070 2978 3508 2134

12964 1.25 117.3 495.4 10.4 618 12969 0.00 2.55 0.00 0.000 6 0.000 0.057 2978 2102 2133

13291 1.25 117.3 463.5 9.8 634 13295 0.00 2.60 0.00 0.000 4 0.000 0.067 2978 3511 2133

13331 1.25 117.3 459.6 10.9 636 13335 0.00 2.53 0.00 0.000 6 0.000 0.054 2978 2112 2134

13657 1.25 117.3 427.0 10.2 652 13662 0.00 2.58 0.00 0.000 4 0.000 0.065 2978 3514 2134

13685 1.25 117.3 424.1 10.1 653 13689 0.00 2.53 0.00 0.000 6 0.000 0.054 2978 2118 2134

14001 1.25 117.3 393.6 9.5 668 14006 0.00 2.55 0.00 0.000 4 0.000 0.064 2978 3518 2134

14086 1.25 117.3 385.0 9.3 672 14091 0.00 2.47 0.00 0.000 6 0.000 0.052 2978 2131 2134

14413 1.25 117.3 356.4 8.3 688 14417 0.00 2.55 0.00 0.000 4 0.000 0.062 2978 3517 2135

14447 1.25 117.3 353.4 9.1 689 14453 0.00 2.47 0.00 0.000 6 0.000 0.051 2978 2137 2135

14763 1.25 117.3 327.2 8.1 705 14767 0.00 2.53 0.00 0.000 4 0.000 0.061 2978 3514 2136

14807 1.25 117.3 323.3 8.7 707 14811 0.00 2.45 0.00 0.000 6 0.000 0.051 2978 2142 2136

15128 1.25 117.3 296.2 8.7 723 15132 0.00 2.50 0.00 0.000 4 0.000 0.061 2978 3511 2137

15183 1.25 117.3 291.0 9.7 725 15190 0.00 2.42 0.00 0.000 6 0.000 0.050 2978 2153 2137

15499 1.25 117.3 263.7 8.5 741 15504 0.00 2.45 0.00 0.000 4 0.000 0.061 2977 3511 2137

15552 1.25 117.3 258.9 9.3 743 15556 0.00 2.40 0.00 0.000 6 0.000 0.050 2978 2171 2137

15868 1.26 122.2 233.2 7.8 758 15878 0.00 2.45 5.57 0.765 4 0.000 0.060 2977 3509 2120

15917 1.26 122.2 228.9 8.4 760 15921 0.00 2.40 0.00 0.000 6 0.000 0.049 2978 2178 2120

16234 1.26 122.2 202.6 8.4 775 16237 0.00 2.42 0.00 0.000 4 0.000 0.060 2978 3511 2120

16274 1.26 122.2 198.9 9.1 776 16280 0.00 2.38 0.00 0.000 6 0.000 0.049 2978 2183 2121

16590 1.26 122.2 171.6 8.6 792 16594 0.00 2.42 0.00 0.000 4 0.000 0.059 2978 3517 2121

16630 1.26 122.2 168.1 9.2 794 16634 0.00 2.35 0.00 0.000 6 0.000 0.049 2978 2197 2121

16957 1.26 122.2 140.2 8.4 810 16961 0.00 2.42 0.00 0.000 4 0.000 0.060 2978 3518 2121

16990 1.26 122.2 137.2 9.2 811 16996 0.00 2.35 0.00 0.000 6 0.000 0.048 2978 2200 2122

17308 1.26 122.2 111.0 8.3 827 17312 0.00 2.40 0.00 0.000 4 0.000 0.058 2978 3512 2122

17325 1.26 122.2 109.3 8.5 828 17329 0.00 2.33 0.00 0.000 6 0.000 0.049 2978 2208 2122

17658 1.26 122.2 81.9 8.8 844 17662 0.00 2.38 0.00 0.000 4 0.000 0.058 2978 3511 2122

17681 1.26 122.2 79.7 10.0 845 17685 0.00 2.35 0.00 0.000 6 0.000 0.048 2978 2200 2122

18003 1.31 122.2 48.8 9.1 861 18007 0.00 2.38 0.00 0.000 4 0.000 0.058 2978 3512 2123

18014 1.35 122.2 47.6 9.1 861 18020 0.00 2.33 0.00 0.000 6 0.000 0.049 2978 2208 2123

18332 1.41 122.2 21.0 8.8 877 18334 0.12 0.00 0.00 0.000 6 0.049 0.000 3018 2190 2123

18554 end climb: SURFACE_DEPTH_REACHED

state 18554 begin surface coast

18576 end surface coast: CONTROL_FINISHED_OK

state 18576 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	239	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	52	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-81098.07	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	030237,6223.368,-1030.627,40,1.6,45,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.128,0.181
_SM_DEPTHo	0.69	KALMAN_X	-51396.3,565.4,-279.3,70929.7,1281.1
_SM_ANGLEo	-51.8	KALMAN_Y	-18372.6,99.8,-388.7,44809.0,-6602.5
GPS2	030821,6223.365,-1030.667,15,1.6,15,-10.4	MHEAD_RNG_PITCHd_Wd	335.2,65336,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.1,1.026741	ALTIM_TOP_PING	19.0,18.2
SM_CCo	18598,254.65,0.769,0,0,389,547.02	_24V_AH	23.7,46.248
SM_GC	0.52,0.00,0.00,254.65,0.000,0.000,0.769,417,2180,389,-10.50,0.76,547.02	_10V_AH	10.1,22.508
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44322,889
TT8_MAMPS	0.028379	CAP_FILE_SIZE	144114,0
HUMID	1669	CFSIZE	254472192,235986944
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	475	GPS	300708,082438,6224.899,-1027.900,29,1.4,29,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	83.48	SBE_CT	610	24	347.23
Roll_motor	170	77	312.89	SBE_O2	655	19	295.16
VBD_pump_during_apogee	204	1335	6475.92	WL_BB2F	545	105	1358.64
VBD_pump_during_surface	254	769	4642.89	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	30	160	115.46	nil	0	0	0.00
Iridium_during_xfer	143	223	760.61
Transponder_ping	124	420	1241.76
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.04
TT8	1707	19	341.48
LPSleep	14159	2	313.18
TT8_Active	670	19	134.04
TT8_Sampling	2110	39	848.57
TT8_CF8	551	45	255.04
TT8_Kalman	33	81	27.56
Analog_circuits	1703	12	206.47
GPS_charging	0	0	0.00
Compass	2060	8	166.53
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	-109.60	0.000	6	0.000	0.000	421	2123	3099
140	-1.30	-117.3	2.2	-1.6	5	156	10.30	2.58	0.00	0.000	4	0.137	0.054	2409	3561	3098
408	-0.95	-117.3	39.3	-11.2	16	414	0.40	2.47	0.00	0.000	6	0.094	0.045	2491	2168	3097
733	-0.87	-117.3	65.2	-9.0	32	737	0.00	2.53	0.00	0.000	4	0.000	0.057	2491	750	3098
828	-0.79	-117.3	74.3	-9.2	36	833	0.17	2.47	0.00	0.000	6	0.091	0.047	2529	2141	3098
1146	-0.79	-117.3	95.5	-6.3	51	1150	0.00	2.53	0.00	0.000	4	0.000	0.057	2529	3561	3098
1300	-0.79	-117.3	106.4	-6.9	58	1304	0.00	2.50	0.00	0.000	6	0.000	0.045	2528	2143	3098
1629	-0.79	-117.3	126.7	-5.9	74	1633	0.00	2.47	0.00	0.000	4	0.000	0.059	2529	750	3099
1694	-0.79	-117.3	130.8	-6.8	77	1698	0.00	2.53	0.00	0.000	6	0.000	0.049	2528	2167	3099
2021	-0.83	-117.3	153.2	-7.1	93	2022	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2166	3098
2333	-0.89	-117.3	175.3	-7.1	108	2337	0.00	2.60	0.00	0.000	4	0.000	0.061	2529	741	3098
2413	-0.89	-117.3	181.6	-7.4	111	2419	0.00	2.53	0.00	0.000	6	0.000	0.051	2528	2151	3098
2730	-0.94	-117.3	204.9	-7.2	127	2732	0.15	0.00	0.00	0.000	6	0.050	0.000	2485	2151	3097
3039	-0.86	-117.3	232.5	-8.9	142	3044	0.12	2.58	0.00	0.000	4	0.094	0.061	2511	744	3097
3128	-0.86	-117.3	240.5	-8.9	146	3133	0.00	2.50	0.00	0.000	6	0.000	0.051	2511	2144	3097
3450	-0.86	-117.3	264.1	-6.9	162	3451	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2143	3097
3759	-0.86	-117.3	285.2	-6.9	177	3760	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2143	3097
4068	-0.86	-117.3	305.5	-6.6	192	4072	0.00	2.55	0.00	0.000	4	0.000	0.062	2511	750	3097
4186	-0.86	-117.3	313.9	-6.6	197	4190	0.00	2.50	0.00	0.000	6	0.000	0.051	2511	2141	3096
4502	-0.86	-117.3	335.2	-6.8	212	4503	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2141	3096
4812	-0.86	-117.3	357.2	-7.3	227	4813	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2141	3095
5120	-0.86	-117.3	379.3	-7.0	242	5125	0.00	2.55	0.00	0.000	4	0.000	0.061	2511	744	3095
5216	-0.86	-117.3	386.0	-6.8	246	5220	0.00	2.50	0.00	0.000	6	0.000	0.052	2511	2136	3095
5533	-0.86	-117.3	407.1	-6.8	261	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2135	3094
5842	-0.86	-117.3	428.2	-6.7	276	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2135	3094
6152	-0.86	-117.3	451.0	-7.6	291	6156	0.00	2.53	0.00	0.000	4	0.000	0.061	2511	750	3093
6309	-0.86	-117.3	463.9	-8.9	298	6313	0.00	2.47	0.00	0.000	6	0.000	0.051	2511	2128	3093
6630	-0.86	-117.3	489.5	-7.7	314	6635	0.00	2.58	0.00	0.000	4	0.000	0.065	2511	3557	3093
6721	-0.86	-117.3	496.6	-7.6	318	6725	0.00	2.55	0.00	0.000	6	0.000	0.051	2511	2127	3093
7042	-0.86	-117.3	518.2	-6.5	334	7046	0.00	2.45	0.00	0.000	4	0.000	0.061	2511	746	3093
7143	-0.86	-117.3	525.0	-6.6	338	7150	0.00	2.50	0.00	0.000	6	0.000	0.053	2511	2134	3092
7459	-0.86	-117.3	548.0	-8.0	354	7460	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2133	3092
7768	-0.86	-117.3	571.7	-6.9	369	7772	0.00	2.55	0.00	0.000	4	0.000	0.063	2511	742	3092
7886	-0.86	-117.3	579.3	-6.5	374	7890	0.00	2.50	0.00	0.000	6	0.000	0.055	2511	2124	3092
8202	-0.86	-117.3	594.2	-4.2	389	8203	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2124	3092
8512	-0.86	-117.3	609.3	-5.8	404	8516	0.00	2.55	0.00	0.000	4	0.000	0.068	2511	746	3091
8646	-0.86	-117.3	618.3	-7.0	410	8650	0.00	2.53	0.00	0.000	6	0.000	0.059	2512	2132	3091
8968	-0.86	-117.3	639.2	-6.0	426	8973	0.00	2.58	0.00	0.000	4	0.000	0.071	2511	740	3091
9140	-0.86	-117.3	650.4	-6.6	433	9146	0.00	2.53	0.00	0.000	6	0.000	0.062	2511	2119	3091
9456	-0.86	-117.3	669.5	-6.1	449	9457	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2118	3090
9766	-0.86	-117.3	688.6	-6.7	464	9767	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2118	3089
10075	-1.28	-117.3	697.1	-0.0	479	10081	0.38	2.67	0.00	0.000	4	0.048	0.077	2413	3562	3088
10334	-1.48	-117.3	697.0	0.0	490	10341	0.15	2.58	0.00	0.000	6	0.057	0.063	2375	2123	3087
10584	end dive: NO_VERTICAL_VELOCITY
state	10585	begin apogee
10591	-0.33	0.0	697.0	0.0	503	10694	1.17	0.00	99.18	1.335	6	0.076	0.000	2626	2123	2620
10695	end apogee: CONTROL_FINISHED_OK
state	10695	begin climb
10698	1.30	117.3	696.7	0.0	508	10806	1.65	2.72	99.88	1.306	4	0.074	0.077	2978	714	2140
10914	1.25	117.3	680.0	10.6	518	10918	0.00	2.60	0.00	0.000	6	0.000	0.066	2978	2103	2139
11235	1.25	117.3	652.3	8.5	534	11239	0.00	2.62	0.00	0.000	4	0.000	0.077	2978	3507	2138
11247	1.25	117.3	651.3	8.8	534	11253	0.00	2.58	0.00	0.000	6	0.000	0.065	2978	2125	2138
11563	1.25	117.3	626.1	8.2	550	11564	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2125	2137
11871	1.25	117.3	598.8	9.0	565	11876	0.00	2.60	0.00	0.000	4	0.000	0.076	2978	3507	2136
11882	1.25	117.3	597.7	8.8	565	11889	0.00	2.62	0.00	0.000	6	0.000	0.065	2978	2091	2136
12199	1.25	117.3	569.8	9.5	581	12203	0.00	2.65	0.00	0.000	4	0.000	0.074	2977	3507	2136
12277	1.25	117.3	561.8	10.5	584	12283	0.00	2.58	0.00	0.000	6	0.000	0.062	2979	2107	2135
12593	1.25	117.3	530.7	9.7	600	12594	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2108	2135
12902	1.25	117.3	501.7	9.8	615	12906	0.00	2.60	0.00	0.000	4	0.000	0.070	2978	3508	2134
12964	1.25	117.3	495.4	10.4	618	12969	0.00	2.55	0.00	0.000	6	0.000	0.057	2978	2102	2133
13291	1.25	117.3	463.5	9.8	634	13295	0.00	2.60	0.00	0.000	4	0.000	0.067	2978	3511	2133
13331	1.25	117.3	459.6	10.9	636	13335	0.00	2.53	0.00	0.000	6	0.000	0.054	2978	2112	2134
13657	1.25	117.3	427.0	10.2	652	13662	0.00	2.58	0.00	0.000	4	0.000	0.065	2978	3514	2134
13685	1.25	117.3	424.1	10.1	653	13689	0.00	2.53	0.00	0.000	6	0.000	0.054	2978	2118	2134
14001	1.25	117.3	393.6	9.5	668	14006	0.00	2.55	0.00	0.000	4	0.000	0.064	2978	3518	2134
14086	1.25	117.3	385.0	9.3	672	14091	0.00	2.47	0.00	0.000	6	0.000	0.052	2978	2131	2134
14413	1.25	117.3	356.4	8.3	688	14417	0.00	2.55	0.00	0.000	4	0.000	0.062	2978	3517	2135
14447	1.25	117.3	353.4	9.1	689	14453	0.00	2.47	0.00	0.000	6	0.000	0.051	2978	2137	2135
14763	1.25	117.3	327.2	8.1	705	14767	0.00	2.53	0.00	0.000	4	0.000	0.061	2978	3514	2136
14807	1.25	117.3	323.3	8.7	707	14811	0.00	2.45	0.00	0.000	6	0.000	0.051	2978	2142	2136
15128	1.25	117.3	296.2	8.7	723	15132	0.00	2.50	0.00	0.000	4	0.000	0.061	2978	3511	2137
15183	1.25	117.3	291.0	9.7	725	15190	0.00	2.42	0.00	0.000	6	0.000	0.050	2978	2153	2137
15499	1.25	117.3	263.7	8.5	741	15504	0.00	2.45	0.00	0.000	4	0.000	0.061	2977	3511	2137
15552	1.25	117.3	258.9	9.3	743	15556	0.00	2.40	0.00	0.000	6	0.000	0.050	2978	2171	2137
15868	1.26	122.2	233.2	7.8	758	15878	0.00	2.45	5.57	0.765	4	0.000	0.060	2977	3509	2120
15917	1.26	122.2	228.9	8.4	760	15921	0.00	2.40	0.00	0.000	6	0.000	0.049	2978	2178	2120
16234	1.26	122.2	202.6	8.4	775	16237	0.00	2.42	0.00	0.000	4	0.000	0.060	2978	3511	2120
16274	1.26	122.2	198.9	9.1	776	16280	0.00	2.38	0.00	0.000	6	0.000	0.049	2978	2183	2121
16590	1.26	122.2	171.6	8.6	792	16594	0.00	2.42	0.00	0.000	4	0.000	0.059	2978	3517	2121
16630	1.26	122.2	168.1	9.2	794	16634	0.00	2.35	0.00	0.000	6	0.000	0.049	2978	2197	2121
16957	1.26	122.2	140.2	8.4	810	16961	0.00	2.42	0.00	0.000	4	0.000	0.060	2978	3518	2121
16990	1.26	122.2	137.2	9.2	811	16996	0.00	2.35	0.00	0.000	6	0.000	0.048	2978	2200	2122
17308	1.26	122.2	111.0	8.3	827	17312	0.00	2.40	0.00	0.000	4	0.000	0.058	2978	3512	2122
17325	1.26	122.2	109.3	8.5	828	17329	0.00	2.33	0.00	0.000	6	0.000	0.049	2978	2208	2122
17658	1.26	122.2	81.9	8.8	844	17662	0.00	2.38	0.00	0.000	4	0.000	0.058	2978	3511	2122
17681	1.26	122.2	79.7	10.0	845	17685	0.00	2.35	0.00	0.000	6	0.000	0.048	2978	2200	2122
18003	1.31	122.2	48.8	9.1	861	18007	0.00	2.38	0.00	0.000	4	0.000	0.058	2978	3512	2123
18014	1.35	122.2	47.6	9.1	861	18020	0.00	2.33	0.00	0.000	6	0.000	0.049	2978	2208	2123
18332	1.41	122.2	21.0	8.8	877	18334	0.12	0.00	0.00	0.000	6	0.049	0.000	3018	2190	2123
18554	end climb: SURFACE_DEPTH_REACHED
state	18554	begin surface coast
18576	end surface coast: CONTROL_FINISHED_OK
state	18576	begin surface