Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 240 * 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 240 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 27 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 -81114.219 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 -81114.219

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 27 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 240 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 082438,6224.899,-1027.900,29,1.4,29,-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 0.132,0.178

_SM_DEPTHo 0.66 KALMAN_X -47079.0,831.6,1103.5,67448.2,166.6

_SM_ANGLEo -48.2 KALMAN_Y -21665.8,565.2,1095.8,48937.5,-9087.5

GPS2 083057,6224.897,-1027.777,15,1.7,15,-10.4 MHEAD_RNG_PITCHd_Wd 46.9,61591,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.013130 ALTIM_BOTTOM_PING 575.9,95.9

SM_CCo 16264,230.15,0.771,0,0,390,547.02 _24V_AH 23.8,46.409

SM_GC 0.52,0.00,0.00,230.15,0.000,0.000,0.771,420,2126,390,-10.48,-0.74,547.02 _10V_AH 10.1,22.586

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41131,781

TT8_MAMPS 0.029146 CAP_FILE_SIZE 127787,0

HUMID 1671 CFSIZE 254472192,235937792

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,0,0

XPDR_PINGS 404 GPS 300708,130808,6225.167,-1023.723,43,1.0,43,-10.3

ALTIM_TOP_PING 18.8,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 84.39 SBE_CT 535 24 306.14

Roll_motor 156 76 285.55 SBE_O2 573 19 259.49

VBD_pump_during_apogee 236 1297 7302.41 WL_BB2F 485 105 1213.96

VBD_pump_during_surface 230 770 4222.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 55 160 209.47 nil 0 0 0.00

Iridium_during_xfer 152 223 810.02

Transponder_ping 106 420 1059.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.84

TT8 1488 19 297.72

LPSleep 12369 2 273.59

TT8_Active 651 19 130.25

TT8_Sampling 1801 39 724.36

TT8_CF8 562 45 260.08

TT8_Kalman 33 81 27.58

Analog_circuits 1551 12 188.09

GPS_charging 0 0 0.00

Compass 1759 8 142.20

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 -108.97 0.000 6 0.000 0.000 418 2182 3099

140 -1.30 -117.3 2.4 -1.9 5 154 10.40 0.00 0.00 0.000 6 0.141 0.000 2410 2183 3098

479 -0.99 -117.3 58.3 -15.9 22 484 0.32 2.60 0.00 0.000 4 0.096 0.055 2481 750 3097

574 -0.87 -117.3 71.3 -12.8 26 579 0.12 2.53 0.00 0.000 6 0.095 0.048 2507 2163 3097

891 -0.87 -117.3 103.6 -8.4 41 895 0.00 2.47 0.00 0.000 4 0.000 0.057 2507 3556 3097

954 -0.83 -117.3 108.6 -7.6 44 958 0.00 2.53 0.00 0.000 6 0.000 0.046 2506 2127 3097

1281 -0.83 -117.3 127.8 -5.3 60 1282 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2107 3098

1591 -0.83 -117.3 147.0 -6.9 75 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2107 3098

1899 -0.83 -117.3 171.5 -8.1 90 1903 0.00 2.60 0.00 0.000 4 0.000 0.059 2507 3553 3098

2007 -0.79 -117.3 180.5 -8.0 95 2012 0.10 2.55 0.00 0.000 6 0.100 0.049 2526 2118 3098

2336 -0.83 -117.3 203.6 -6.8 111 2341 0.00 2.45 0.00 0.000 4 0.000 0.060 2526 748 3098

2422 -0.83 -117.3 210.0 -7.4 115 2426 0.00 2.45 0.00 0.000 6 0.000 0.051 2526 2118 3098

2750 -0.87 -117.3 232.7 -6.8 131 2754 0.00 2.58 0.00 0.000 4 0.000 0.061 2526 3553 3097

2834 -0.87 -117.3 239.1 -7.1 135 2839 0.00 2.55 0.00 0.000 6 0.000 0.051 2526 2121 3097

3163 -0.92 -117.3 262.2 -7.3 151 3168 0.12 2.47 0.00 0.000 4 0.052 0.061 2488 738 3097

3263 -0.84 -117.3 271.5 -9.6 155 3270 0.12 2.47 0.00 0.000 6 0.096 0.051 2514 2118 3097

3581 -0.84 -117.3 296.5 -7.8 171 3585 0.00 2.58 0.00 0.000 4 0.000 0.062 2514 3554 3097

3647 -0.84 -117.3 302.4 -8.4 174 3651 0.00 2.58 0.00 0.000 6 0.000 0.051 2514 2114 3096

3969 -0.84 -117.3 326.6 -7.8 190 3973 0.00 2.45 0.00 0.000 4 0.000 0.062 2514 742 3096

4064 -0.84 -117.3 334.7 -8.8 194 4068 0.00 2.45 0.00 0.000 6 0.000 0.051 2514 2114 3096

4380 -0.84 -117.3 359.8 -7.7 209 4381 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2114 3096

4690 -0.84 -117.3 382.2 -6.9 224 4691 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2113 3095

4999 -0.84 -117.3 403.5 -7.3 239 5003 0.00 2.50 0.00 0.000 4 0.000 0.061 2514 735 3095

5129 -0.84 -117.3 413.4 -7.9 245 5133 0.00 2.45 0.00 0.000 6 0.000 0.051 2514 2108 3095

5458 -0.84 -117.3 436.6 -6.8 261 5462 0.00 2.60 0.00 0.000 4 0.000 0.064 2514 3553 3095

5558 -0.84 -117.3 443.7 -6.8 265 5565 0.00 2.58 0.00 0.000 6 0.000 0.051 2514 2114 3094

5876 -0.84 -117.3 465.0 -7.0 281 5880 0.00 2.45 0.00 0.000 4 0.000 0.061 2514 743 3094

6021 -0.84 -117.3 476.3 -8.1 287 6027 0.00 2.47 0.00 0.000 6 0.000 0.054 2514 2116 3094

6337 -0.84 -117.3 496.5 -5.3 303 6341 0.00 2.50 0.00 0.000 4 0.000 0.063 2514 750 3093

6483 -0.84 -117.3 504.6 -5.7 309 6489 0.00 2.40 0.00 0.000 6 0.000 0.054 2514 2078 3093

6799 -0.84 -117.3 521.0 -5.7 325 6800 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2079 3093

7109 -0.88 -117.3 539.3 -6.1 340 7110 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2079 3093

7418 -0.88 -117.3 559.4 -6.5 355 7422 0.00 2.70 0.00 0.000 4 0.000 0.070 2514 3560 3092

7548 -0.88 -117.3 568.9 -6.9 361 7553 0.00 2.60 0.00 0.000 6 0.000 0.056 2514 2109 3091

7878 -0.93 -117.3 590.9 -6.5 377 7882 0.00 2.47 0.00 0.000 4 0.000 0.067 2514 741 3091

8062 -0.93 -117.3 603.1 -6.8 385 8066 0.00 2.45 0.00 0.000 6 0.000 0.060 2514 2080 3091

8384 -0.98 -117.3 621.5 -5.2 401 8386 0.12 0.00 0.00 0.000 6 0.058 0.000 2478 2080 3091

8693 -0.91 -117.3 641.1 -6.6 416 8695 0.10 0.00 0.00 0.000 6 0.103 0.000 2498 2081 3090

9003 -0.91 -117.3 660.6 -6.2 431 9007 0.00 2.50 0.00 0.000 4 0.000 0.077 2497 741 3089

9017 end dive: BOTTOM_OBSTACLE_DETECTED

state 9017 begin apogee

9027 -0.33 0.0 661.8 6.5 432 9129 0.60 0.00 99.18 1.298 6 0.087 0.000 2623 2095 2620

9130 end apogee: CONTROL_FINISHED_OK

state 9130 begin climb

9133 1.30 117.3 664.7 0.0 437 9241 1.67 2.70 99.57 1.267 4 0.072 0.074 2980 3507 2140

9269 1.25 117.3 655.4 9.8 443 9275 0.00 2.62 0.00 0.000 6 0.000 0.064 2980 2105 2140

9586 1.25 117.3 626.9 8.9 459 9590 0.00 2.65 0.00 0.000 4 0.000 0.075 2980 3508 2138

9619 1.20 117.3 623.8 8.6 460 9625 0.00 2.60 0.00 0.000 6 0.000 0.064 2980 2107 2138

9935 1.20 117.3 595.8 8.5 476 9939 0.00 2.62 0.00 0.000 4 0.000 0.076 2980 3508 2138

9979 1.16 117.3 591.7 9.8 478 9984 0.15 2.60 0.00 0.000 6 0.097 0.064 2952 2107 2137

10302 1.25 139.3 569.0 7.0 494 10326 0.00 2.70 19.02 1.195 4 0.000 0.072 2952 3507 2052

10390 1.34 159.2 562.5 7.1 498 10415 0.17 2.55 18.65 1.191 6 0.054 0.061 2998 2131 1970

10745 1.34 159.2 528.3 9.4 515 10749 0.00 2.60 0.00 0.000 4 0.000 0.074 2998 3508 1967

10772 1.29 159.2 525.1 10.4 516 10777 0.00 2.55 0.00 0.000 6 0.000 0.061 2998 2128 1967

11089 1.29 159.2 493.2 9.6 531 11093 0.00 2.60 0.00 0.000 4 0.000 0.071 2997 3514 1966

11156 1.29 159.2 486.4 9.9 534 11160 0.00 2.53 0.00 0.000 6 0.000 0.058 2998 2136 1966

11477 1.29 159.2 456.2 9.8 550 11481 0.00 2.55 0.00 0.000 4 0.000 0.069 2998 3508 1967

11495 1.29 159.2 454.4 9.8 551 11499 0.00 2.47 0.00 0.000 6 0.000 0.057 2998 2150 1966

11821 1.29 159.2 421.3 10.5 567 11822 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2138 1966

12131 1.29 159.2 391.5 9.3 582 12135 0.00 2.53 0.00 0.000 4 0.000 0.066 2998 3515 1966

12171 1.29 159.2 387.7 9.5 584 12175 0.00 2.45 0.00 0.000 6 0.000 0.054 2998 2164 1966

12497 1.29 159.2 356.2 9.7 600 12501 0.00 2.47 0.00 0.000 4 0.000 0.064 2998 3509 1967

12507 1.29 159.2 355.1 10.0 600 12511 0.00 2.40 0.00 0.000 6 0.000 0.053 2998 2173 1966

12824 1.29 159.2 322.4 10.6 615 12828 0.00 2.45 0.00 0.000 4 0.000 0.064 2998 3509 1967

12873 1.29 159.2 316.7 11.1 617 12877 0.00 2.38 0.00 0.000 6 0.000 0.051 2998 2190 1967

13194 1.29 159.2 283.0 10.5 633 13198 0.00 2.42 0.00 0.000 4 0.000 0.062 2998 3517 1968

13221 1.29 159.2 280.0 10.5 634 13225 0.00 2.38 0.00 0.000 6 0.000 0.050 2998 2191 1968

13538 1.29 159.2 246.6 10.2 649 13542 0.00 2.40 0.00 0.000 4 0.000 0.061 2998 3510 1967

13559 1.29 159.2 244.1 11.1 650 13563 0.00 2.35 0.00 0.000 6 0.000 0.049 2998 2199 1968

13880 1.29 159.2 213.7 9.1 666 13884 0.00 2.40 0.00 0.000 4 0.000 0.060 2998 3514 1968

13897 1.29 159.2 212.1 9.2 666 13902 0.00 2.35 0.00 0.000 6 0.000 0.050 2998 2205 1968

14212 1.29 159.2 184.6 8.2 682 14213 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2205 1969

14521 1.29 159.2 157.8 9.4 697 14525 0.00 2.35 0.00 0.000 4 0.000 0.060 2998 3510 1969

14545 1.29 159.2 155.6 9.2 698 14549 0.00 2.33 0.00 0.000 6 0.000 0.049 2998 2205 1969

14872 1.29 159.2 127.3 8.6 714 14873 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2205 1969

15182 1.29 159.2 96.6 10.3 729 15184 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2203 1970

15491 1.29 159.2 65.8 10.2 744 15492 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2201 1970

15800 1.29 159.2 37.1 8.7 759 15804 0.00 2.70 0.00 0.000 4 0.000 0.061 2998 690 1971

15810 1.29 159.2 36.1 8.7 759 15816 0.00 2.67 0.00 0.000 6 0.000 0.050 2998 2200 1971

16126 1.29 159.2 10.3 8.3 775 16130 0.00 2.75 0.00 0.000 4 0.000 0.059 2998 683 1971

16148 1.29 159.2 8.0 10.5 776 16152 0.00 2.67 0.00 0.000 6 0.000 0.048 2998 2192 1971

16219 end climb: SURFACE_DEPTH_REACHED

state 16219 begin surface coast

16241 end surface coast: CONTROL_FINISHED_OK

state 16241 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	240	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	27	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	-81114.219	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	082438,6224.899,-1027.900,29,1.4,29,-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	0.132,0.178
_SM_DEPTHo	0.66	KALMAN_X	-47079.0,831.6,1103.5,67448.2,166.6
_SM_ANGLEo	-48.2	KALMAN_Y	-21665.8,565.2,1095.8,48937.5,-9087.5
GPS2	083057,6224.897,-1027.777,15,1.7,15,-10.4	MHEAD_RNG_PITCHd_Wd	46.9,61591,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.0,1.013130	ALTIM_BOTTOM_PING	575.9,95.9
SM_CCo	16264,230.15,0.771,0,0,390,547.02	_24V_AH	23.8,46.409
SM_GC	0.52,0.00,0.00,230.15,0.000,0.000,0.771,420,2126,390,-10.48,-0.74,547.02	_10V_AH	10.1,22.586
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41131,781
TT8_MAMPS	0.029146	CAP_FILE_SIZE	127787,0
HUMID	1671	CFSIZE	254472192,235937792
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
XPDR_PINGS	404	GPS	300708,130808,6225.167,-1023.723,43,1.0,43,-10.3
ALTIM_TOP_PING	18.8,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	84.39	SBE_CT	535	24	306.14
Roll_motor	156	76	285.55	SBE_O2	573	19	259.49
VBD_pump_during_apogee	236	1297	7302.41	WL_BB2F	485	105	1213.96
VBD_pump_during_surface	230	770	4222.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	55	160	209.47	nil	0	0	0.00
Iridium_during_xfer	152	223	810.02
Transponder_ping	106	420	1059.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.84
TT8	1488	19	297.72
LPSleep	12369	2	273.59
TT8_Active	651	19	130.25
TT8_Sampling	1801	39	724.36
TT8_CF8	562	45	260.08
TT8_Kalman	33	81	27.58
Analog_circuits	1551	12	188.09
GPS_charging	0	0	0.00
Compass	1759	8	142.20
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	-108.97	0.000	6	0.000	0.000	418	2182	3099
140	-1.30	-117.3	2.4	-1.9	5	154	10.40	0.00	0.00	0.000	6	0.141	0.000	2410	2183	3098
479	-0.99	-117.3	58.3	-15.9	22	484	0.32	2.60	0.00	0.000	4	0.096	0.055	2481	750	3097
574	-0.87	-117.3	71.3	-12.8	26	579	0.12	2.53	0.00	0.000	6	0.095	0.048	2507	2163	3097
891	-0.87	-117.3	103.6	-8.4	41	895	0.00	2.47	0.00	0.000	4	0.000	0.057	2507	3556	3097
954	-0.83	-117.3	108.6	-7.6	44	958	0.00	2.53	0.00	0.000	6	0.000	0.046	2506	2127	3097
1281	-0.83	-117.3	127.8	-5.3	60	1282	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2107	3098
1591	-0.83	-117.3	147.0	-6.9	75	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2107	3098
1899	-0.83	-117.3	171.5	-8.1	90	1903	0.00	2.60	0.00	0.000	4	0.000	0.059	2507	3553	3098
2007	-0.79	-117.3	180.5	-8.0	95	2012	0.10	2.55	0.00	0.000	6	0.100	0.049	2526	2118	3098
2336	-0.83	-117.3	203.6	-6.8	111	2341	0.00	2.45	0.00	0.000	4	0.000	0.060	2526	748	3098
2422	-0.83	-117.3	210.0	-7.4	115	2426	0.00	2.45	0.00	0.000	6	0.000	0.051	2526	2118	3098
2750	-0.87	-117.3	232.7	-6.8	131	2754	0.00	2.58	0.00	0.000	4	0.000	0.061	2526	3553	3097
2834	-0.87	-117.3	239.1	-7.1	135	2839	0.00	2.55	0.00	0.000	6	0.000	0.051	2526	2121	3097
3163	-0.92	-117.3	262.2	-7.3	151	3168	0.12	2.47	0.00	0.000	4	0.052	0.061	2488	738	3097
3263	-0.84	-117.3	271.5	-9.6	155	3270	0.12	2.47	0.00	0.000	6	0.096	0.051	2514	2118	3097
3581	-0.84	-117.3	296.5	-7.8	171	3585	0.00	2.58	0.00	0.000	4	0.000	0.062	2514	3554	3097
3647	-0.84	-117.3	302.4	-8.4	174	3651	0.00	2.58	0.00	0.000	6	0.000	0.051	2514	2114	3096
3969	-0.84	-117.3	326.6	-7.8	190	3973	0.00	2.45	0.00	0.000	4	0.000	0.062	2514	742	3096
4064	-0.84	-117.3	334.7	-8.8	194	4068	0.00	2.45	0.00	0.000	6	0.000	0.051	2514	2114	3096
4380	-0.84	-117.3	359.8	-7.7	209	4381	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2114	3096
4690	-0.84	-117.3	382.2	-6.9	224	4691	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2113	3095
4999	-0.84	-117.3	403.5	-7.3	239	5003	0.00	2.50	0.00	0.000	4	0.000	0.061	2514	735	3095
5129	-0.84	-117.3	413.4	-7.9	245	5133	0.00	2.45	0.00	0.000	6	0.000	0.051	2514	2108	3095
5458	-0.84	-117.3	436.6	-6.8	261	5462	0.00	2.60	0.00	0.000	4	0.000	0.064	2514	3553	3095
5558	-0.84	-117.3	443.7	-6.8	265	5565	0.00	2.58	0.00	0.000	6	0.000	0.051	2514	2114	3094
5876	-0.84	-117.3	465.0	-7.0	281	5880	0.00	2.45	0.00	0.000	4	0.000	0.061	2514	743	3094
6021	-0.84	-117.3	476.3	-8.1	287	6027	0.00	2.47	0.00	0.000	6	0.000	0.054	2514	2116	3094
6337	-0.84	-117.3	496.5	-5.3	303	6341	0.00	2.50	0.00	0.000	4	0.000	0.063	2514	750	3093
6483	-0.84	-117.3	504.6	-5.7	309	6489	0.00	2.40	0.00	0.000	6	0.000	0.054	2514	2078	3093
6799	-0.84	-117.3	521.0	-5.7	325	6800	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2079	3093
7109	-0.88	-117.3	539.3	-6.1	340	7110	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2079	3093
7418	-0.88	-117.3	559.4	-6.5	355	7422	0.00	2.70	0.00	0.000	4	0.000	0.070	2514	3560	3092
7548	-0.88	-117.3	568.9	-6.9	361	7553	0.00	2.60	0.00	0.000	6	0.000	0.056	2514	2109	3091
7878	-0.93	-117.3	590.9	-6.5	377	7882	0.00	2.47	0.00	0.000	4	0.000	0.067	2514	741	3091
8062	-0.93	-117.3	603.1	-6.8	385	8066	0.00	2.45	0.00	0.000	6	0.000	0.060	2514	2080	3091
8384	-0.98	-117.3	621.5	-5.2	401	8386	0.12	0.00	0.00	0.000	6	0.058	0.000	2478	2080	3091
8693	-0.91	-117.3	641.1	-6.6	416	8695	0.10	0.00	0.00	0.000	6	0.103	0.000	2498	2081	3090
9003	-0.91	-117.3	660.6	-6.2	431	9007	0.00	2.50	0.00	0.000	4	0.000	0.077	2497	741	3089
9017	end dive: BOTTOM_OBSTACLE_DETECTED
state	9017	begin apogee
9027	-0.33	0.0	661.8	6.5	432	9129	0.60	0.00	99.18	1.298	6	0.087	0.000	2623	2095	2620
9130	end apogee: CONTROL_FINISHED_OK
state	9130	begin climb
9133	1.30	117.3	664.7	0.0	437	9241	1.67	2.70	99.57	1.267	4	0.072	0.074	2980	3507	2140
9269	1.25	117.3	655.4	9.8	443	9275	0.00	2.62	0.00	0.000	6	0.000	0.064	2980	2105	2140
9586	1.25	117.3	626.9	8.9	459	9590	0.00	2.65	0.00	0.000	4	0.000	0.075	2980	3508	2138
9619	1.20	117.3	623.8	8.6	460	9625	0.00	2.60	0.00	0.000	6	0.000	0.064	2980	2107	2138
9935	1.20	117.3	595.8	8.5	476	9939	0.00	2.62	0.00	0.000	4	0.000	0.076	2980	3508	2138
9979	1.16	117.3	591.7	9.8	478	9984	0.15	2.60	0.00	0.000	6	0.097	0.064	2952	2107	2137
10302	1.25	139.3	569.0	7.0	494	10326	0.00	2.70	19.02	1.195	4	0.000	0.072	2952	3507	2052
10390	1.34	159.2	562.5	7.1	498	10415	0.17	2.55	18.65	1.191	6	0.054	0.061	2998	2131	1970
10745	1.34	159.2	528.3	9.4	515	10749	0.00	2.60	0.00	0.000	4	0.000	0.074	2998	3508	1967
10772	1.29	159.2	525.1	10.4	516	10777	0.00	2.55	0.00	0.000	6	0.000	0.061	2998	2128	1967
11089	1.29	159.2	493.2	9.6	531	11093	0.00	2.60	0.00	0.000	4	0.000	0.071	2997	3514	1966
11156	1.29	159.2	486.4	9.9	534	11160	0.00	2.53	0.00	0.000	6	0.000	0.058	2998	2136	1966
11477	1.29	159.2	456.2	9.8	550	11481	0.00	2.55	0.00	0.000	4	0.000	0.069	2998	3508	1967
11495	1.29	159.2	454.4	9.8	551	11499	0.00	2.47	0.00	0.000	6	0.000	0.057	2998	2150	1966
11821	1.29	159.2	421.3	10.5	567	11822	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2138	1966
12131	1.29	159.2	391.5	9.3	582	12135	0.00	2.53	0.00	0.000	4	0.000	0.066	2998	3515	1966
12171	1.29	159.2	387.7	9.5	584	12175	0.00	2.45	0.00	0.000	6	0.000	0.054	2998	2164	1966
12497	1.29	159.2	356.2	9.7	600	12501	0.00	2.47	0.00	0.000	4	0.000	0.064	2998	3509	1967
12507	1.29	159.2	355.1	10.0	600	12511	0.00	2.40	0.00	0.000	6	0.000	0.053	2998	2173	1966
12824	1.29	159.2	322.4	10.6	615	12828	0.00	2.45	0.00	0.000	4	0.000	0.064	2998	3509	1967
12873	1.29	159.2	316.7	11.1	617	12877	0.00	2.38	0.00	0.000	6	0.000	0.051	2998	2190	1967
13194	1.29	159.2	283.0	10.5	633	13198	0.00	2.42	0.00	0.000	4	0.000	0.062	2998	3517	1968
13221	1.29	159.2	280.0	10.5	634	13225	0.00	2.38	0.00	0.000	6	0.000	0.050	2998	2191	1968
13538	1.29	159.2	246.6	10.2	649	13542	0.00	2.40	0.00	0.000	4	0.000	0.061	2998	3510	1967
13559	1.29	159.2	244.1	11.1	650	13563	0.00	2.35	0.00	0.000	6	0.000	0.049	2998	2199	1968
13880	1.29	159.2	213.7	9.1	666	13884	0.00	2.40	0.00	0.000	4	0.000	0.060	2998	3514	1968
13897	1.29	159.2	212.1	9.2	666	13902	0.00	2.35	0.00	0.000	6	0.000	0.050	2998	2205	1968
14212	1.29	159.2	184.6	8.2	682	14213	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2205	1969
14521	1.29	159.2	157.8	9.4	697	14525	0.00	2.35	0.00	0.000	4	0.000	0.060	2998	3510	1969
14545	1.29	159.2	155.6	9.2	698	14549	0.00	2.33	0.00	0.000	6	0.000	0.049	2998	2205	1969
14872	1.29	159.2	127.3	8.6	714	14873	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2205	1969
15182	1.29	159.2	96.6	10.3	729	15184	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2203	1970
15491	1.29	159.2	65.8	10.2	744	15492	0.00	0.00	0.00	0.000	6	0.000	0.000	2998	2201	1970
15800	1.29	159.2	37.1	8.7	759	15804	0.00	2.70	0.00	0.000	4	0.000	0.061	2998	690	1971
15810	1.29	159.2	36.1	8.7	759	15816	0.00	2.67	0.00	0.000	6	0.000	0.050	2998	2200	1971
16126	1.29	159.2	10.3	8.3	775	16130	0.00	2.75	0.00	0.000	4	0.000	0.059	2998	683	1971
16148	1.29	159.2	8.0	10.5	776	16152	0.00	2.67	0.00	0.000	6	0.000	0.048	2998	2192	1971
16219	end climb: SURFACE_DEPTH_REACHED
state	16219	begin surface coast
16241	end surface coast: CONTROL_FINISHED_OK
state	16241	begin surface