Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 320 * 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 320 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -82724.844 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 2730 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 -82724.844

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 2730 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 34 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 17 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 320 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 022555,6324.455,-820.521,41,1.2,41,-9.5 TGT_NAME IFRN1K

_CALLS 3 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.067,0.211

_SM_DEPTHo 0.28 KALMAN_X -126683.6,-299.4,-610.6,260000.4,2793.4

_SM_ANGLEo -50.6 KALMAN_Y -84688.6,1420.1,744.8,221819.6,-9031.8

GPS2 023726,6324.492,-820.564,13,1.7,13,-9.5 MHEAD_RNG_PITCHd_Wd 27.1,41548,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.1,1.026901 ALTIM_BOTTOM_PING 600.5,63.8

SM_CCo 16731,223.30,0.805,0,0,389,547.02 _24V_AH 23.6,58.659

SM_GC 0.03,0.00,0.00,223.30,0.000,0.000,0.805,418,2129,389,-10.63,-1.07,547.02 _10V_AH 10.1,28.062

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41124,801

TT8_MAMPS 0.029146 CAP_FILE_SIZE 140028,0

HUMID 1700 CFSIZE 254472192,231690240

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

XPDR_PINGS 256 GPS 120808,072208,6327.332,-817.348,33,1.2,33,-9.5

ALTIM_TOP_PING 19.7,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 82.74 SBE_CT 556 24 315.28

Roll_motor 169 88 351.80 SBE_O2 591 19 265.39

VBD_pump_during_apogee 252 1400 8332.61 WL_BB2F 513 105 1272.20

VBD_pump_during_surface 223 805 4244.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 275.38 nil 0 0 0.00

Iridium_during_connect 143 160 542.02 nil 0 0 0.00

Iridium_during_xfer 184 223 970.82

Transponder_ping 69 420 686.41

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.55

TT8 1560 19 312.10

LPSleep 12668 2 280.22

TT8_Active 675 19 135.14

TT8_Sampling 1962 39 788.70

TT8_CF8 781 45 361.51

TT8_Kalman 33 81 27.56

Analog_circuits 1652 12 200.34

GPS_charging 0 0 0.00

Compass 1918 8 155.02

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 0 146 0.00 0.00 -115.95 0.000 6 0.000 0.000 422 2193 3098

150 -1.30 -117.3 2.7 -2.8 6 166 10.45 2.47 0.00 0.000 4 0.136 0.057 2440 3567 3097

258 -1.01 -117.3 21.0 -15.9 10 264 0.32 2.50 0.00 0.000 6 0.094 0.044 2507 2155 3096

588 -0.94 -117.3 49.6 -8.0 26 589 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2137 3096

896 -0.89 -117.3 72.7 -7.7 41 897 0.15 0.00 0.00 0.000 6 0.094 0.000 2538 2137 3097

1206 -0.94 -117.3 94.2 -7.2 56 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2137 3097

1514 -0.98 -117.3 115.9 -7.0 71 1516 0.10 0.00 0.00 0.000 6 0.058 0.000 2508 2137 3097

1823 -0.98 -117.3 140.5 -7.7 86 1827 0.00 2.50 0.00 0.000 4 0.000 0.057 2508 750 3097

1902 -0.93 -117.3 147.1 -8.7 89 1908 0.00 2.55 0.00 0.000 6 0.000 0.051 2507 2172 3097

2218 -0.93 -117.3 172.1 -8.1 105 2222 0.00 2.50 0.00 0.000 4 0.000 0.062 2507 3560 3096

2375 -0.86 -117.3 185.7 -9.4 112 2380 0.15 2.47 0.00 0.000 6 0.094 0.047 2539 2166 3096

2704 -0.93 -117.3 212.2 -7.6 128 2709 0.00 2.53 0.00 0.000 4 0.000 0.058 2539 741 3096

2829 -0.98 -117.3 221.5 -6.9 133 2835 0.00 2.58 0.00 0.000 6 0.000 0.051 2539 2171 3096

3146 -1.05 -117.3 239.7 -5.4 149 3151 0.15 2.60 0.00 0.000 4 0.051 0.059 2490 744 3096

3236 -0.96 -117.3 246.5 -7.8 153 3241 0.12 2.55 0.00 0.000 6 0.098 0.052 2517 2161 3096

3558 -0.96 -117.3 269.5 -7.2 169 3559 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2161 3095

3867 -0.96 -117.3 292.1 -7.3 184 3871 0.00 2.58 0.00 0.000 4 0.000 0.061 2517 742 3095

4058 -0.96 -117.3 306.1 -6.8 192 4064 0.00 2.53 0.00 0.000 6 0.000 0.054 2517 2139 3095

4374 -0.96 -117.3 328.4 -7.7 208 4375 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2138 3095

4684 -0.96 -117.3 351.3 -7.2 223 4686 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2139 3095

4992 -0.96 -117.3 370.9 -6.4 238 4997 0.00 2.58 0.00 0.000 4 0.000 0.067 2517 746 3094

5191 -0.96 -117.3 385.6 -7.6 247 5195 0.00 2.50 0.00 0.000 6 0.000 0.060 2518 2117 3094

5518 -0.96 -117.3 409.9 -7.3 263 5522 0.00 2.65 0.00 0.000 4 0.000 0.074 2517 3555 3093

5658 -0.96 -117.3 420.5 -7.9 269 5663 0.00 2.62 0.00 0.000 6 0.000 0.061 2517 2117 3092

5975 -0.96 -117.3 442.6 -7.0 284 5979 0.00 2.53 0.00 0.000 4 0.000 0.072 2517 737 3091

6123 -0.96 -117.3 452.4 -5.8 290 6129 0.00 2.53 0.00 0.000 6 0.000 0.066 2517 2108 3091

6440 -0.96 -117.3 471.3 -5.9 306 6444 0.00 2.70 0.00 0.000 4 0.000 0.080 2517 3558 3090

6548 -0.96 -117.3 478.4 -7.0 311 6553 0.00 2.67 0.00 0.000 6 0.000 0.066 2517 2103 3089

6877 -0.96 -117.3 499.0 -6.7 327 6881 0.00 2.53 0.00 0.000 4 0.000 0.080 2517 742 3088

6963 -0.96 -117.3 505.2 -7.0 331 6967 0.00 2.55 0.00 0.000 6 0.000 0.071 2517 2108 3088

7291 -1.00 -117.3 527.2 -6.6 347 7295 0.00 2.72 0.00 0.000 4 0.000 0.084 2517 3558 3086

7461 -1.00 -117.3 539.5 -7.9 354 7467 0.00 2.67 0.00 0.000 6 0.000 0.073 2517 2118 3085

7777 -1.00 -117.3 560.6 -6.8 370 7782 0.00 2.55 0.00 0.000 4 0.000 0.081 2517 736 3084

7845 -1.00 -117.3 565.5 -7.6 373 7849 0.00 2.60 0.00 0.000 6 0.000 0.074 2517 2121 3084

8166 -1.05 -117.3 586.8 -6.5 389 8171 0.00 2.72 0.00 0.000 4 0.000 0.087 2517 3563 3082

8279 -1.05 -117.3 594.6 -6.8 394 8283 0.00 2.72 0.00 0.000 6 0.000 0.074 2517 2106 3082

8600 -1.09 -117.3 615.2 -6.5 410 8605 0.12 2.58 0.00 0.000 4 0.071 0.087 2486 741 3081

8674 -1.02 -117.3 620.9 -8.0 413 8679 0.10 2.60 0.00 0.000 6 0.119 0.077 2504 2117 3080

8990 -1.02 -117.3 643.0 -7.1 428 8995 0.00 2.72 0.00 0.000 4 0.000 0.088 2504 3560 3078

9092 -1.02 -117.3 650.6 -7.5 432 9098 0.00 2.72 0.00 0.000 6 0.000 0.074 2504 2105 3077

9158 end dive: BOTTOM_OBSTACLE_DETECTED

state 9158 begin apogee

9164 -0.33 0.0 655.4 7.1 436 9266 0.73 0.00 98.72 1.401 6 0.100 0.000 2651 2088 2620

9267 end apogee: CONTROL_FINISHED_OK

state 9267 begin climb

9270 1.30 117.3 658.0 0.0 441 9381 1.70 2.83 100.32 1.355 4 0.081 0.084 3009 3507 2140

9412 1.20 117.3 649.4 9.3 447 9418 0.00 2.70 0.00 0.000 6 0.000 0.077 3009 2100 2139

9728 1.14 117.3 620.7 8.7 463 9733 0.15 2.72 0.00 0.000 4 0.107 0.086 2978 3514 2139

9792 1.15 119.7 615.4 7.9 466 9797 0.00 2.65 0.00 0.000 6 0.000 0.074 2978 2111 2138

10120 1.15 122.9 589.3 7.9 482 10131 0.00 2.75 5.95 1.064 4 0.000 0.084 2978 3512 2119

10176 1.16 126.7 584.3 7.8 484 10186 0.00 2.65 5.03 0.987 6 0.000 0.072 2978 2117 2103

10509 1.17 132.6 558.0 7.7 501 10523 0.00 2.75 6.70 1.108 4 0.000 0.084 2978 3514 2079

10575 1.17 135.8 552.6 7.9 504 10585 0.00 2.60 4.55 0.943 6 0.000 0.071 2978 2131 2066

10902 1.21 157.5 529.2 7.0 520 10928 0.00 2.72 20.15 1.288 4 0.000 0.085 2978 3508 1977

10963 1.21 157.5 524.5 8.6 523 10968 0.00 2.62 0.00 0.000 6 0.000 0.073 2978 2131 1977

11291 1.27 157.5 499.3 8.1 539 11296 0.12 2.67 0.00 0.000 4 0.065 0.086 3009 3513 1976

11354 1.22 157.5 493.1 10.6 542 11359 0.00 2.58 0.00 0.000 6 0.000 0.071 3008 2148 1976

11681 1.22 157.5 463.5 8.7 558 11685 0.00 2.65 0.00 0.000 4 0.000 0.086 3009 3514 1975

11771 1.17 157.5 454.8 10.0 562 11776 0.12 2.55 0.00 0.000 6 0.111 0.071 2986 2164 1975

12092 1.22 157.5 428.2 8.4 578 12097 0.00 2.60 0.00 0.000 4 0.000 0.084 2986 3509 1975

12155 1.22 157.5 422.6 8.5 581 12159 0.00 2.50 0.00 0.000 6 0.000 0.069 2986 2175 1975

12483 1.28 169.3 396.9 7.5 597 12500 0.10 2.62 10.68 1.177 4 0.071 0.083 3011 3508 1928

12539 1.28 169.3 391.5 9.8 598 12545 0.00 2.50 0.00 0.000 6 0.000 0.069 3011 2186 1928

12855 1.28 169.3 360.9 10.1 614 12860 0.00 2.55 0.00 0.000 4 0.000 0.081 3011 3512 1928

12918 1.24 169.3 353.9 11.9 617 12923 0.00 2.45 0.00 0.000 6 0.000 0.066 3010 2197 1927

13245 1.24 169.3 319.7 10.1 633 13250 0.00 2.53 0.00 0.000 4 0.000 0.080 3011 3515 1927

13280 1.24 169.3 316.1 10.4 634 13286 0.00 2.45 0.00 0.000 6 0.000 0.065 3011 2201 1927

13596 1.24 169.3 285.7 8.9 650 13600 0.00 2.50 0.00 0.000 4 0.000 0.076 3011 3515 1927

13623 1.24 169.3 283.0 10.4 651 13627 0.00 2.40 0.00 0.000 6 0.000 0.062 3010 2216 1927

13940 1.24 169.3 254.5 9.6 666 13941 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2199 1927

14249 1.24 169.3 224.3 9.5 681 14250 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2199 1927

14558 1.24 169.3 197.4 8.9 696 14559 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2199 1928

14869 1.24 169.3 168.4 9.4 711 14874 0.00 2.42 0.00 0.000 4 0.000 0.066 3011 3519 1929

14897 1.24 169.3 165.3 10.1 712 14901 0.00 2.35 0.00 0.000 6 0.000 0.053 3011 2212 1929

15218 1.24 169.3 137.4 8.3 728 15222 0.00 2.40 0.00 0.000 4 0.000 0.064 3011 3518 1931

15236 1.24 169.3 135.8 8.5 729 15241 0.00 2.33 0.00 0.000 6 0.000 0.050 3011 2219 1931

15565 1.24 169.3 106.1 9.2 745 15569 0.00 2.38 0.00 0.000 4 0.000 0.064 3011 3514 1932

15587 1.24 169.3 103.7 9.3 746 15591 0.00 2.33 0.00 0.000 6 0.000 0.050 3011 2221 1932

15909 1.24 169.3 73.6 9.5 762 15910 0.00 0.00 0.00 0.000 6 0.000 0.000 3011 2220 1933

16218 1.24 169.3 42.9 9.6 777 16222 0.00 2.38 0.00 0.000 4 0.000 0.061 3011 3519 1934

16236 1.24 169.3 41.2 8.3 778 16241 0.00 2.30 0.00 0.000 6 0.000 0.048 3011 2223 1935

16565 1.24 169.3 11.9 9.5 794 16569 0.00 2.35 0.00 0.000 4 0.000 0.061 3011 3513 1936

16599 1.24 169.3 8.7 9.7 795 16605 0.00 2.30 0.00 0.000 6 0.000 0.047 3011 2217 1936

16686 end climb: SURFACE_DEPTH_REACHED

state 16686 begin surface coast

16708 end surface coast: CONTROL_FINISHED_OK

state 16708 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	320	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-82724.844	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	2730	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	022555,6324.455,-820.521,41,1.2,41,-9.5	TGT_NAME	IFRN1K
_CALLS	3	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.067,0.211
_SM_DEPTHo	0.28	KALMAN_X	-126683.6,-299.4,-610.6,260000.4,2793.4
_SM_ANGLEo	-50.6	KALMAN_Y	-84688.6,1420.1,744.8,221819.6,-9031.8
GPS2	023726,6324.492,-820.564,13,1.7,13,-9.5	MHEAD_RNG_PITCHd_Wd	27.1,41548,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.1,1.026901	ALTIM_BOTTOM_PING	600.5,63.8
SM_CCo	16731,223.30,0.805,0,0,389,547.02	_24V_AH	23.6,58.659
SM_GC	0.03,0.00,0.00,223.30,0.000,0.000,0.805,418,2129,389,-10.63,-1.07,547.02	_10V_AH	10.1,28.062
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41124,801
TT8_MAMPS	0.029146	CAP_FILE_SIZE	140028,0
HUMID	1700	CFSIZE	254472192,231690240
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
XPDR_PINGS	256	GPS	120808,072208,6327.332,-817.348,33,1.2,33,-9.5
ALTIM_TOP_PING	19.7,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	82.74	SBE_CT	556	24	315.28
Roll_motor	169	88	351.80	SBE_O2	591	19	265.39
VBD_pump_during_apogee	252	1400	8332.61	WL_BB2F	513	105	1272.20
VBD_pump_during_surface	223	805	4244.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	275.38	nil	0	0	0.00
Iridium_during_connect	143	160	542.02	nil	0	0	0.00
Iridium_during_xfer	184	223	970.82
Transponder_ping	69	420	686.41
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.55
TT8	1560	19	312.10
LPSleep	12668	2	280.22
TT8_Active	675	19	135.14
TT8_Sampling	1962	39	788.70
TT8_CF8	781	45	361.51
TT8_Kalman	33	81	27.56
Analog_circuits	1652	12	200.34
GPS_charging	0	0	0.00
Compass	1918	8	155.02
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	146	0.00	0.00	-115.95	0.000	6	0.000	0.000	422	2193	3098
150	-1.30	-117.3	2.7	-2.8	6	166	10.45	2.47	0.00	0.000	4	0.136	0.057	2440	3567	3097
258	-1.01	-117.3	21.0	-15.9	10	264	0.32	2.50	0.00	0.000	6	0.094	0.044	2507	2155	3096
588	-0.94	-117.3	49.6	-8.0	26	589	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2137	3096
896	-0.89	-117.3	72.7	-7.7	41	897	0.15	0.00	0.00	0.000	6	0.094	0.000	2538	2137	3097
1206	-0.94	-117.3	94.2	-7.2	56	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2137	3097
1514	-0.98	-117.3	115.9	-7.0	71	1516	0.10	0.00	0.00	0.000	6	0.058	0.000	2508	2137	3097
1823	-0.98	-117.3	140.5	-7.7	86	1827	0.00	2.50	0.00	0.000	4	0.000	0.057	2508	750	3097
1902	-0.93	-117.3	147.1	-8.7	89	1908	0.00	2.55	0.00	0.000	6	0.000	0.051	2507	2172	3097
2218	-0.93	-117.3	172.1	-8.1	105	2222	0.00	2.50	0.00	0.000	4	0.000	0.062	2507	3560	3096
2375	-0.86	-117.3	185.7	-9.4	112	2380	0.15	2.47	0.00	0.000	6	0.094	0.047	2539	2166	3096
2704	-0.93	-117.3	212.2	-7.6	128	2709	0.00	2.53	0.00	0.000	4	0.000	0.058	2539	741	3096
2829	-0.98	-117.3	221.5	-6.9	133	2835	0.00	2.58	0.00	0.000	6	0.000	0.051	2539	2171	3096
3146	-1.05	-117.3	239.7	-5.4	149	3151	0.15	2.60	0.00	0.000	4	0.051	0.059	2490	744	3096
3236	-0.96	-117.3	246.5	-7.8	153	3241	0.12	2.55	0.00	0.000	6	0.098	0.052	2517	2161	3096
3558	-0.96	-117.3	269.5	-7.2	169	3559	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2161	3095
3867	-0.96	-117.3	292.1	-7.3	184	3871	0.00	2.58	0.00	0.000	4	0.000	0.061	2517	742	3095
4058	-0.96	-117.3	306.1	-6.8	192	4064	0.00	2.53	0.00	0.000	6	0.000	0.054	2517	2139	3095
4374	-0.96	-117.3	328.4	-7.7	208	4375	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2138	3095
4684	-0.96	-117.3	351.3	-7.2	223	4686	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2139	3095
4992	-0.96	-117.3	370.9	-6.4	238	4997	0.00	2.58	0.00	0.000	4	0.000	0.067	2517	746	3094
5191	-0.96	-117.3	385.6	-7.6	247	5195	0.00	2.50	0.00	0.000	6	0.000	0.060	2518	2117	3094
5518	-0.96	-117.3	409.9	-7.3	263	5522	0.00	2.65	0.00	0.000	4	0.000	0.074	2517	3555	3093
5658	-0.96	-117.3	420.5	-7.9	269	5663	0.00	2.62	0.00	0.000	6	0.000	0.061	2517	2117	3092
5975	-0.96	-117.3	442.6	-7.0	284	5979	0.00	2.53	0.00	0.000	4	0.000	0.072	2517	737	3091
6123	-0.96	-117.3	452.4	-5.8	290	6129	0.00	2.53	0.00	0.000	6	0.000	0.066	2517	2108	3091
6440	-0.96	-117.3	471.3	-5.9	306	6444	0.00	2.70	0.00	0.000	4	0.000	0.080	2517	3558	3090
6548	-0.96	-117.3	478.4	-7.0	311	6553	0.00	2.67	0.00	0.000	6	0.000	0.066	2517	2103	3089
6877	-0.96	-117.3	499.0	-6.7	327	6881	0.00	2.53	0.00	0.000	4	0.000	0.080	2517	742	3088
6963	-0.96	-117.3	505.2	-7.0	331	6967	0.00	2.55	0.00	0.000	6	0.000	0.071	2517	2108	3088
7291	-1.00	-117.3	527.2	-6.6	347	7295	0.00	2.72	0.00	0.000	4	0.000	0.084	2517	3558	3086
7461	-1.00	-117.3	539.5	-7.9	354	7467	0.00	2.67	0.00	0.000	6	0.000	0.073	2517	2118	3085
7777	-1.00	-117.3	560.6	-6.8	370	7782	0.00	2.55	0.00	0.000	4	0.000	0.081	2517	736	3084
7845	-1.00	-117.3	565.5	-7.6	373	7849	0.00	2.60	0.00	0.000	6	0.000	0.074	2517	2121	3084
8166	-1.05	-117.3	586.8	-6.5	389	8171	0.00	2.72	0.00	0.000	4	0.000	0.087	2517	3563	3082
8279	-1.05	-117.3	594.6	-6.8	394	8283	0.00	2.72	0.00	0.000	6	0.000	0.074	2517	2106	3082
8600	-1.09	-117.3	615.2	-6.5	410	8605	0.12	2.58	0.00	0.000	4	0.071	0.087	2486	741	3081
8674	-1.02	-117.3	620.9	-8.0	413	8679	0.10	2.60	0.00	0.000	6	0.119	0.077	2504	2117	3080
8990	-1.02	-117.3	643.0	-7.1	428	8995	0.00	2.72	0.00	0.000	4	0.000	0.088	2504	3560	3078
9092	-1.02	-117.3	650.6	-7.5	432	9098	0.00	2.72	0.00	0.000	6	0.000	0.074	2504	2105	3077
9158	end dive: BOTTOM_OBSTACLE_DETECTED
state	9158	begin apogee
9164	-0.33	0.0	655.4	7.1	436	9266	0.73	0.00	98.72	1.401	6	0.100	0.000	2651	2088	2620
9267	end apogee: CONTROL_FINISHED_OK
state	9267	begin climb
9270	1.30	117.3	658.0	0.0	441	9381	1.70	2.83	100.32	1.355	4	0.081	0.084	3009	3507	2140
9412	1.20	117.3	649.4	9.3	447	9418	0.00	2.70	0.00	0.000	6	0.000	0.077	3009	2100	2139
9728	1.14	117.3	620.7	8.7	463	9733	0.15	2.72	0.00	0.000	4	0.107	0.086	2978	3514	2139
9792	1.15	119.7	615.4	7.9	466	9797	0.00	2.65	0.00	0.000	6	0.000	0.074	2978	2111	2138
10120	1.15	122.9	589.3	7.9	482	10131	0.00	2.75	5.95	1.064	4	0.000	0.084	2978	3512	2119
10176	1.16	126.7	584.3	7.8	484	10186	0.00	2.65	5.03	0.987	6	0.000	0.072	2978	2117	2103
10509	1.17	132.6	558.0	7.7	501	10523	0.00	2.75	6.70	1.108	4	0.000	0.084	2978	3514	2079
10575	1.17	135.8	552.6	7.9	504	10585	0.00	2.60	4.55	0.943	6	0.000	0.071	2978	2131	2066
10902	1.21	157.5	529.2	7.0	520	10928	0.00	2.72	20.15	1.288	4	0.000	0.085	2978	3508	1977
10963	1.21	157.5	524.5	8.6	523	10968	0.00	2.62	0.00	0.000	6	0.000	0.073	2978	2131	1977
11291	1.27	157.5	499.3	8.1	539	11296	0.12	2.67	0.00	0.000	4	0.065	0.086	3009	3513	1976
11354	1.22	157.5	493.1	10.6	542	11359	0.00	2.58	0.00	0.000	6	0.000	0.071	3008	2148	1976
11681	1.22	157.5	463.5	8.7	558	11685	0.00	2.65	0.00	0.000	4	0.000	0.086	3009	3514	1975
11771	1.17	157.5	454.8	10.0	562	11776	0.12	2.55	0.00	0.000	6	0.111	0.071	2986	2164	1975
12092	1.22	157.5	428.2	8.4	578	12097	0.00	2.60	0.00	0.000	4	0.000	0.084	2986	3509	1975
12155	1.22	157.5	422.6	8.5	581	12159	0.00	2.50	0.00	0.000	6	0.000	0.069	2986	2175	1975
12483	1.28	169.3	396.9	7.5	597	12500	0.10	2.62	10.68	1.177	4	0.071	0.083	3011	3508	1928
12539	1.28	169.3	391.5	9.8	598	12545	0.00	2.50	0.00	0.000	6	0.000	0.069	3011	2186	1928
12855	1.28	169.3	360.9	10.1	614	12860	0.00	2.55	0.00	0.000	4	0.000	0.081	3011	3512	1928
12918	1.24	169.3	353.9	11.9	617	12923	0.00	2.45	0.00	0.000	6	0.000	0.066	3010	2197	1927
13245	1.24	169.3	319.7	10.1	633	13250	0.00	2.53	0.00	0.000	4	0.000	0.080	3011	3515	1927
13280	1.24	169.3	316.1	10.4	634	13286	0.00	2.45	0.00	0.000	6	0.000	0.065	3011	2201	1927
13596	1.24	169.3	285.7	8.9	650	13600	0.00	2.50	0.00	0.000	4	0.000	0.076	3011	3515	1927
13623	1.24	169.3	283.0	10.4	651	13627	0.00	2.40	0.00	0.000	6	0.000	0.062	3010	2216	1927
13940	1.24	169.3	254.5	9.6	666	13941	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2199	1927
14249	1.24	169.3	224.3	9.5	681	14250	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2199	1927
14558	1.24	169.3	197.4	8.9	696	14559	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2199	1928
14869	1.24	169.3	168.4	9.4	711	14874	0.00	2.42	0.00	0.000	4	0.000	0.066	3011	3519	1929
14897	1.24	169.3	165.3	10.1	712	14901	0.00	2.35	0.00	0.000	6	0.000	0.053	3011	2212	1929
15218	1.24	169.3	137.4	8.3	728	15222	0.00	2.40	0.00	0.000	4	0.000	0.064	3011	3518	1931
15236	1.24	169.3	135.8	8.5	729	15241	0.00	2.33	0.00	0.000	6	0.000	0.050	3011	2219	1931
15565	1.24	169.3	106.1	9.2	745	15569	0.00	2.38	0.00	0.000	4	0.000	0.064	3011	3514	1932
15587	1.24	169.3	103.7	9.3	746	15591	0.00	2.33	0.00	0.000	6	0.000	0.050	3011	2221	1932
15909	1.24	169.3	73.6	9.5	762	15910	0.00	0.00	0.00	0.000	6	0.000	0.000	3011	2220	1933
16218	1.24	169.3	42.9	9.6	777	16222	0.00	2.38	0.00	0.000	4	0.000	0.061	3011	3519	1934
16236	1.24	169.3	41.2	8.3	778	16241	0.00	2.30	0.00	0.000	6	0.000	0.048	3011	2223	1935
16565	1.24	169.3	11.9	9.5	794	16569	0.00	2.35	0.00	0.000	4	0.000	0.061	3011	3513	1936
16599	1.24	169.3	8.7	9.7	795	16605	0.00	2.30	0.00	0.000	6	0.000	0.047	3011	2217	1936
16686	end climb: SURFACE_DEPTH_REACHED
state	16686	begin surface coast
16708	end surface coast: CONTROL_FINISHED_OK
state	16708	begin surface