Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 323 * 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 323 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 -82772.578 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 -82772.578

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 31 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 16 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 323 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 175502,6330.214,-820.392,40,1.2,40,-9.6 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.011,0.221

_SM_DEPTHo 0.27 KALMAN_X -125699.4,80.4,18.2,258139.4,583.1

_SM_ANGLEo -50.9 KALMAN_Y -86063.5,-239.2,504.5,235744.7,-4134.9

GPS2 180057,6330.229,-820.392,14,1.4,14,-9.6 MHEAD_RNG_PITCHd_Wd 12.6,32051,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.3,1.026912 ALTIM_BOTTOM_PING 675.7,46.8

SM_CCo 18343,228.27,0.827,0,0,389,547.02 _24V_AH 23.5,59.190

SM_GC 0.15,0.00,0.00,228.27,0.000,0.000,0.827,420,2113,389,-10.62,-1.10,547.02 _10V_AH 10.1,28.331

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44310,871

TT8_MAMPS 0.028379 CAP_FILE_SIZE 144572,0

HUMID 1704 CFSIZE 254472192,231477248

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,0,0

XPDR_PINGS 203 GPS 120808,231237,6331.628,-819.145,32,1.0,32,-9.6

ALTIM_TOP_PING 18.5,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.73 SBE_CT 612 24 345.19

Roll_motor 173 88 362.34 SBE_O2 636 19 284.35

VBD_pump_during_apogee 249 1457 8547.94 WL_BB2F 528 105 1304.37

VBD_pump_during_surface 228 826 4435.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.40 nil 0 0 0.00

Iridium_during_connect 27 160 101.66 nil 0 0 0.00

Iridium_during_xfer 153 223 805.36

Transponder_ping 56 420 560.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.54

TT8 1685 19 337.01

LPSleep 13872 2 306.85

TT8_Active 697 19 139.50

TT8_Sampling 2101 39 844.93

TT8_CF8 569 45 263.33

TT8_Kalman 33 81 27.58

Analog_circuits 1726 12 209.24

GPS_charging 0 0 0.00

Compass 2052 8 165.85

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 0 146 0.00 0.00 -117.22 0.000 6 0.000 0.000 424 2111 3098

150 -1.30 -117.3 2.7 -2.7 6 166 10.45 2.65 0.00 0.000 4 0.137 0.058 2440 3571 3098

328 -1.03 -117.3 29.4 -14.3 13 334 0.32 2.50 0.00 0.000 6 0.094 0.043 2507 2153 3097

656 -0.97 -117.3 61.1 -9.5 29 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2150 3097

967 -0.92 -117.3 87.3 -8.0 44 971 0.10 2.50 0.00 0.000 4 0.107 0.054 2525 748 3098

1084 -0.92 -117.3 96.8 -7.9 49 1089 0.00 2.50 0.00 0.000 6 0.000 0.049 2524 2157 3098

1401 -0.92 -117.3 120.5 -7.8 64 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2155 3099

1710 -0.92 -117.3 144.0 -7.7 79 1711 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2155 3099

2018 -0.92 -117.3 168.9 -8.0 94 2022 0.00 2.55 0.00 0.000 4 0.000 0.059 2525 750 3099

2130 -0.92 -117.3 178.5 -8.2 99 2135 0.00 2.50 0.00 0.000 6 0.000 0.051 2525 2137 3099

2453 -0.92 -117.3 200.7 -6.6 115 2457 0.00 2.58 0.00 0.000 4 0.000 0.063 2525 3563 3099

2570 -0.92 -117.3 209.3 -7.1 120 2575 0.00 2.53 0.00 0.000 6 0.000 0.049 2525 2138 3099

2886 -0.92 -117.3 228.3 -5.7 135 2890 0.00 2.50 0.00 0.000 4 0.000 0.061 2525 745 3098

3133 -0.92 -117.3 242.9 -5.1 146 3137 0.00 2.50 0.00 0.000 6 0.000 0.054 2525 2128 3098

3454 -0.92 -117.3 260.7 -6.0 162 3458 0.00 2.62 0.00 0.000 4 0.000 0.068 2525 3566 3098

3544 -0.92 -117.3 267.1 -7.1 166 3548 0.00 2.62 0.00 0.000 6 0.000 0.054 2525 2114 3098

3867 -0.92 -117.3 290.9 -7.9 182 3871 0.00 2.47 0.00 0.000 4 0.000 0.066 2525 746 3098

4125 -0.92 -117.3 315.0 -9.6 193 4131 0.00 2.50 0.00 0.000 6 0.000 0.060 2525 2109 3097

4441 -0.97 -117.3 340.1 -7.6 209 4446 0.00 2.67 0.00 0.000 4 0.000 0.074 2525 3557 3096

4560 -0.97 -117.3 349.1 -7.4 214 4565 0.00 2.62 0.00 0.000 6 0.000 0.059 2525 2120 3096

4877 -1.02 -117.3 369.6 -6.6 229 4881 0.00 2.53 0.00 0.000 4 0.000 0.073 2525 742 3095

5000 -1.02 -117.3 378.2 -6.6 234 5006 0.00 2.55 0.00 0.000 6 0.000 0.065 2525 2120 3095

5316 -1.07 -117.3 399.5 -6.8 250 5322 0.15 2.65 0.00 0.000 4 0.061 0.080 2487 3546 3093

5491 -0.99 -117.3 414.5 -8.5 257 5498 0.12 2.65 0.00 0.000 6 0.109 0.069 2511 2117 3092

5807 -0.99 -117.3 437.2 -6.8 273 5811 0.00 2.53 0.00 0.000 4 0.000 0.076 2511 738 3092

5931 -0.99 -117.3 446.3 -7.2 278 5937 0.00 2.58 0.00 0.000 6 0.000 0.070 2511 2120 3090

6248 -0.99 -117.3 467.3 -6.5 294 6252 0.00 2.70 0.00 0.000 4 0.000 0.083 2511 3558 3090

6343 -0.99 -117.3 474.1 -7.2 298 6347 0.00 2.67 0.00 0.000 6 0.000 0.069 2511 2119 3089

6659 -0.99 -117.3 493.9 -6.2 313 6664 0.00 2.55 0.00 0.000 4 0.000 0.080 2511 741 3088

6752 -0.99 -117.3 500.2 -6.9 317 6756 0.00 2.60 0.00 0.000 6 0.000 0.072 2511 2126 3088

7074 -0.99 -117.3 521.3 -6.5 333 7078 0.00 2.70 0.00 0.000 4 0.000 0.086 2511 3560 3086

7181 -0.99 -117.3 528.9 -7.1 338 7185 0.00 2.67 0.00 0.000 6 0.000 0.071 2511 2123 3086

7508 -0.99 -117.3 550.2 -6.5 354 7510 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3085

7817 -0.99 -117.3 570.8 -7.0 369 7819 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3083

8126 -0.99 -117.3 592.8 -7.3 384 8127 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3082

8435 -0.99 -117.3 615.2 -7.1 399 8436 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3081

8745 -0.99 -117.3 636.9 -7.1 414 8746 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3081

9054 -0.99 -117.3 657.8 -6.8 429 9055 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3080

9364 -0.99 -117.3 678.5 -6.7 444 9365 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3079

9672 -0.99 -117.3 699.3 -6.9 459 9673 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2104 3078

9875 end dive: BOTTOM_OBSTACLE_DETECTED

state 9876 begin apogee

9882 -0.33 0.0 713.1 6.9 469 9985 0.70 0.00 99.68 1.457 6 0.104 0.000 2651 2104 2620

9986 end apogee: CONTROL_FINISHED_OK

state 9986 begin climb

9990 1.30 117.3 715.5 0.0 474 10099 1.75 0.00 101.47 1.411 6 0.084 0.000 3013 2104 2141

10412 1.24 117.3 679.9 9.5 495 10417 0.00 2.72 0.00 0.000 4 0.000 0.089 3013 3514 2139

10456 1.13 117.3 674.9 11.0 497 10462 0.20 2.70 0.00 0.000 6 0.105 0.076 2977 2100 2139

10779 1.14 124.9 649.2 7.7 513 10793 0.00 2.80 8.02 1.192 4 0.000 0.087 2976 3507 2109

10833 1.14 124.9 644.4 9.1 515 10838 0.00 2.67 0.00 0.000 6 0.000 0.074 2977 2106 2109

11150 1.16 135.2 620.1 7.5 530 11166 0.00 2.78 10.55 1.269 4 0.000 0.086 2977 3511 2068

11222 1.16 135.2 613.8 8.6 532 11226 0.00 2.67 0.00 0.000 6 0.000 0.074 2977 2112 2067

11538 1.16 136.6 589.1 7.9 547 11542 0.00 2.70 0.00 0.000 4 0.000 0.086 2977 3509 2066

11605 1.16 136.6 583.3 8.8 550 11610 0.00 2.62 0.00 0.000 6 0.000 0.073 2977 2124 2066

11928 1.17 145.3 558.3 7.6 566 11943 0.00 2.75 9.80 1.255 4 0.000 0.085 2977 3517 2027

11990 1.17 145.3 552.8 9.5 568 11994 0.00 2.62 0.00 0.000 6 0.000 0.073 2977 2135 2027

12317 1.22 145.3 526.9 8.0 584 12321 0.00 2.67 0.00 0.000 4 0.000 0.085 2977 3515 2027

12372 1.22 145.3 522.0 9.5 586 12378 0.00 2.58 0.00 0.000 6 0.000 0.071 2977 2144 2026

12689 1.28 145.3 496.2 8.5 602 12694 0.15 2.65 0.00 0.000 4 0.065 0.085 3012 3515 2026

12745 1.20 145.3 490.3 10.1 604 12751 0.00 2.58 0.00 0.000 6 0.000 0.072 3012 2152 2026

13061 1.16 145.3 459.1 10.0 620 13066 0.15 2.62 0.00 0.000 4 0.109 0.085 2980 3514 2026

13135 1.16 145.3 452.3 8.8 623 13139 0.00 2.53 0.00 0.000 6 0.000 0.071 2980 2172 2026

13451 1.20 145.3 425.6 8.3 638 13455 0.00 2.60 0.00 0.000 4 0.000 0.086 2980 3514 2026

13501 1.20 145.3 421.2 9.3 640 13505 0.00 2.50 0.00 0.000 6 0.000 0.070 2980 2181 2025

13817 1.26 145.3 395.5 8.4 655 13822 0.10 2.55 0.00 0.000 4 0.071 0.084 3004 3510 2025

13873 1.21 145.3 389.9 9.8 657 13879 0.00 2.47 0.00 0.000 6 0.000 0.069 3004 2190 2025

14190 1.21 145.3 359.7 9.6 673 14194 0.00 2.55 0.00 0.000 4 0.000 0.083 3004 3515 2025

14274 1.21 145.3 351.1 10.8 677 14278 0.00 2.42 0.00 0.000 6 0.000 0.067 3004 2203 2025

14600 1.21 145.3 320.2 9.3 693 14605 0.00 2.50 0.00 0.000 4 0.000 0.081 3004 3510 2025

14686 1.21 145.3 312.3 9.6 697 14690 0.00 2.40 0.00 0.000 6 0.000 0.064 3004 2214 2025

15013 1.23 155.7 286.8 7.5 713 15028 0.00 2.53 10.23 1.095 4 0.000 0.079 3004 3510 1985

15040 1.23 155.7 284.4 8.3 713 15045 0.00 2.45 0.00 0.000 6 0.000 0.064 3004 2208 1984

15356 1.23 155.7 256.6 9.5 728 15360 0.00 2.47 0.00 0.000 4 0.000 0.077 3004 3510 1984

15396 1.23 155.7 252.7 9.5 730 15400 0.00 2.38 0.00 0.000 6 0.000 0.061 3004 2222 1984

15724 1.23 155.7 224.8 8.3 746 15729 0.00 2.45 0.00 0.000 4 0.000 0.076 3004 3515 1984

15735 1.23 155.7 223.5 8.4 746 15741 0.00 2.40 0.00 0.000 6 0.000 0.062 3004 2218 1984

16051 1.24 165.6 198.6 7.5 762 16066 0.00 2.47 9.85 1.001 4 0.000 0.073 3004 3512 1944

16117 1.24 165.6 192.5 9.0 764 16121 0.00 2.38 0.00 0.000 6 0.000 0.059 3004 2227 1944

16444 1.24 165.6 163.7 9.0 780 16449 0.00 2.40 0.00 0.000 4 0.000 0.070 3004 3512 1944

16462 1.24 165.6 162.0 9.5 781 16466 0.00 2.33 0.00 0.000 6 0.000 0.055 3004 2235 1944

16791 1.24 165.6 132.9 9.2 797 16795 0.00 2.38 0.00 0.000 4 0.000 0.067 3004 3512 1945

16818 1.24 165.6 130.2 8.7 798 16822 0.00 2.33 0.00 0.000 6 0.000 0.054 3004 2234 1945

17134 1.24 165.6 102.8 8.5 813 17138 0.00 2.38 0.00 0.000 4 0.000 0.065 3004 3519 1946

17151 1.24 165.6 101.3 8.5 814 17155 0.00 2.30 0.00 0.000 6 0.000 0.051 3004 2238 1946

17480 1.24 165.6 71.5 9.4 830 17484 0.00 2.35 0.00 0.000 4 0.000 0.065 3004 3514 1947

17490 1.24 165.6 70.3 9.4 830 17496 0.00 2.30 0.00 0.000 6 0.000 0.051 3004 2253 1947

17806 1.24 165.6 42.2 8.8 846 17807 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2253 1949

18117 1.29 165.6 17.0 8.6 861 18118 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2235 1950

18298 end climb: SURFACE_DEPTH_REACHED

state 18298 begin surface coast

18320 end surface coast: CONTROL_FINISHED_OK

state 18320 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	323	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	-82772.578	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	175502,6330.214,-820.392,40,1.2,40,-9.6	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.011,0.221
_SM_DEPTHo	0.27	KALMAN_X	-125699.4,80.4,18.2,258139.4,583.1
_SM_ANGLEo	-50.9	KALMAN_Y	-86063.5,-239.2,504.5,235744.7,-4134.9
GPS2	180057,6330.229,-820.392,14,1.4,14,-9.6	MHEAD_RNG_PITCHd_Wd	12.6,32051,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.3,1.026912	ALTIM_BOTTOM_PING	675.7,46.8
SM_CCo	18343,228.27,0.827,0,0,389,547.02	_24V_AH	23.5,59.190
SM_GC	0.15,0.00,0.00,228.27,0.000,0.000,0.827,420,2113,389,-10.62,-1.10,547.02	_10V_AH	10.1,28.331
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44310,871
TT8_MAMPS	0.028379	CAP_FILE_SIZE	144572,0
HUMID	1704	CFSIZE	254472192,231477248
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,0,0
XPDR_PINGS	203	GPS	120808,231237,6331.628,-819.145,32,1.0,32,-9.6
ALTIM_TOP_PING	18.5,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.73	SBE_CT	612	24	345.19
Roll_motor	173	88	362.34	SBE_O2	636	19	284.35
VBD_pump_during_apogee	249	1457	8547.94	WL_BB2F	528	105	1304.37
VBD_pump_during_surface	228	826	4435.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.40	nil	0	0	0.00
Iridium_during_connect	27	160	101.66	nil	0	0	0.00
Iridium_during_xfer	153	223	805.36
Transponder_ping	56	420	560.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.54
TT8	1685	19	337.01
LPSleep	13872	2	306.85
TT8_Active	697	19	139.50
TT8_Sampling	2101	39	844.93
TT8_CF8	569	45	263.33
TT8_Kalman	33	81	27.58
Analog_circuits	1726	12	209.24
GPS_charging	0	0	0.00
Compass	2052	8	165.85
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	146	0.00	0.00	-117.22	0.000	6	0.000	0.000	424	2111	3098
150	-1.30	-117.3	2.7	-2.7	6	166	10.45	2.65	0.00	0.000	4	0.137	0.058	2440	3571	3098
328	-1.03	-117.3	29.4	-14.3	13	334	0.32	2.50	0.00	0.000	6	0.094	0.043	2507	2153	3097
656	-0.97	-117.3	61.1	-9.5	29	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2150	3097
967	-0.92	-117.3	87.3	-8.0	44	971	0.10	2.50	0.00	0.000	4	0.107	0.054	2525	748	3098
1084	-0.92	-117.3	96.8	-7.9	49	1089	0.00	2.50	0.00	0.000	6	0.000	0.049	2524	2157	3098
1401	-0.92	-117.3	120.5	-7.8	64	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2155	3099
1710	-0.92	-117.3	144.0	-7.7	79	1711	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2155	3099
2018	-0.92	-117.3	168.9	-8.0	94	2022	0.00	2.55	0.00	0.000	4	0.000	0.059	2525	750	3099
2130	-0.92	-117.3	178.5	-8.2	99	2135	0.00	2.50	0.00	0.000	6	0.000	0.051	2525	2137	3099
2453	-0.92	-117.3	200.7	-6.6	115	2457	0.00	2.58	0.00	0.000	4	0.000	0.063	2525	3563	3099
2570	-0.92	-117.3	209.3	-7.1	120	2575	0.00	2.53	0.00	0.000	6	0.000	0.049	2525	2138	3099
2886	-0.92	-117.3	228.3	-5.7	135	2890	0.00	2.50	0.00	0.000	4	0.000	0.061	2525	745	3098
3133	-0.92	-117.3	242.9	-5.1	146	3137	0.00	2.50	0.00	0.000	6	0.000	0.054	2525	2128	3098
3454	-0.92	-117.3	260.7	-6.0	162	3458	0.00	2.62	0.00	0.000	4	0.000	0.068	2525	3566	3098
3544	-0.92	-117.3	267.1	-7.1	166	3548	0.00	2.62	0.00	0.000	6	0.000	0.054	2525	2114	3098
3867	-0.92	-117.3	290.9	-7.9	182	3871	0.00	2.47	0.00	0.000	4	0.000	0.066	2525	746	3098
4125	-0.92	-117.3	315.0	-9.6	193	4131	0.00	2.50	0.00	0.000	6	0.000	0.060	2525	2109	3097
4441	-0.97	-117.3	340.1	-7.6	209	4446	0.00	2.67	0.00	0.000	4	0.000	0.074	2525	3557	3096
4560	-0.97	-117.3	349.1	-7.4	214	4565	0.00	2.62	0.00	0.000	6	0.000	0.059	2525	2120	3096
4877	-1.02	-117.3	369.6	-6.6	229	4881	0.00	2.53	0.00	0.000	4	0.000	0.073	2525	742	3095
5000	-1.02	-117.3	378.2	-6.6	234	5006	0.00	2.55	0.00	0.000	6	0.000	0.065	2525	2120	3095
5316	-1.07	-117.3	399.5	-6.8	250	5322	0.15	2.65	0.00	0.000	4	0.061	0.080	2487	3546	3093
5491	-0.99	-117.3	414.5	-8.5	257	5498	0.12	2.65	0.00	0.000	6	0.109	0.069	2511	2117	3092
5807	-0.99	-117.3	437.2	-6.8	273	5811	0.00	2.53	0.00	0.000	4	0.000	0.076	2511	738	3092
5931	-0.99	-117.3	446.3	-7.2	278	5937	0.00	2.58	0.00	0.000	6	0.000	0.070	2511	2120	3090
6248	-0.99	-117.3	467.3	-6.5	294	6252	0.00	2.70	0.00	0.000	4	0.000	0.083	2511	3558	3090
6343	-0.99	-117.3	474.1	-7.2	298	6347	0.00	2.67	0.00	0.000	6	0.000	0.069	2511	2119	3089
6659	-0.99	-117.3	493.9	-6.2	313	6664	0.00	2.55	0.00	0.000	4	0.000	0.080	2511	741	3088
6752	-0.99	-117.3	500.2	-6.9	317	6756	0.00	2.60	0.00	0.000	6	0.000	0.072	2511	2126	3088
7074	-0.99	-117.3	521.3	-6.5	333	7078	0.00	2.70	0.00	0.000	4	0.000	0.086	2511	3560	3086
7181	-0.99	-117.3	528.9	-7.1	338	7185	0.00	2.67	0.00	0.000	6	0.000	0.071	2511	2123	3086
7508	-0.99	-117.3	550.2	-6.5	354	7510	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3085
7817	-0.99	-117.3	570.8	-7.0	369	7819	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3083
8126	-0.99	-117.3	592.8	-7.3	384	8127	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3082
8435	-0.99	-117.3	615.2	-7.1	399	8436	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3081
8745	-0.99	-117.3	636.9	-7.1	414	8746	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3081
9054	-0.99	-117.3	657.8	-6.8	429	9055	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3080
9364	-0.99	-117.3	678.5	-6.7	444	9365	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3079
9672	-0.99	-117.3	699.3	-6.9	459	9673	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2104	3078
9875	end dive: BOTTOM_OBSTACLE_DETECTED
state	9876	begin apogee
9882	-0.33	0.0	713.1	6.9	469	9985	0.70	0.00	99.68	1.457	6	0.104	0.000	2651	2104	2620
9986	end apogee: CONTROL_FINISHED_OK
state	9986	begin climb
9990	1.30	117.3	715.5	0.0	474	10099	1.75	0.00	101.47	1.411	6	0.084	0.000	3013	2104	2141
10412	1.24	117.3	679.9	9.5	495	10417	0.00	2.72	0.00	0.000	4	0.000	0.089	3013	3514	2139
10456	1.13	117.3	674.9	11.0	497	10462	0.20	2.70	0.00	0.000	6	0.105	0.076	2977	2100	2139
10779	1.14	124.9	649.2	7.7	513	10793	0.00	2.80	8.02	1.192	4	0.000	0.087	2976	3507	2109
10833	1.14	124.9	644.4	9.1	515	10838	0.00	2.67	0.00	0.000	6	0.000	0.074	2977	2106	2109
11150	1.16	135.2	620.1	7.5	530	11166	0.00	2.78	10.55	1.269	4	0.000	0.086	2977	3511	2068
11222	1.16	135.2	613.8	8.6	532	11226	0.00	2.67	0.00	0.000	6	0.000	0.074	2977	2112	2067
11538	1.16	136.6	589.1	7.9	547	11542	0.00	2.70	0.00	0.000	4	0.000	0.086	2977	3509	2066
11605	1.16	136.6	583.3	8.8	550	11610	0.00	2.62	0.00	0.000	6	0.000	0.073	2977	2124	2066
11928	1.17	145.3	558.3	7.6	566	11943	0.00	2.75	9.80	1.255	4	0.000	0.085	2977	3517	2027
11990	1.17	145.3	552.8	9.5	568	11994	0.00	2.62	0.00	0.000	6	0.000	0.073	2977	2135	2027
12317	1.22	145.3	526.9	8.0	584	12321	0.00	2.67	0.00	0.000	4	0.000	0.085	2977	3515	2027
12372	1.22	145.3	522.0	9.5	586	12378	0.00	2.58	0.00	0.000	6	0.000	0.071	2977	2144	2026
12689	1.28	145.3	496.2	8.5	602	12694	0.15	2.65	0.00	0.000	4	0.065	0.085	3012	3515	2026
12745	1.20	145.3	490.3	10.1	604	12751	0.00	2.58	0.00	0.000	6	0.000	0.072	3012	2152	2026
13061	1.16	145.3	459.1	10.0	620	13066	0.15	2.62	0.00	0.000	4	0.109	0.085	2980	3514	2026
13135	1.16	145.3	452.3	8.8	623	13139	0.00	2.53	0.00	0.000	6	0.000	0.071	2980	2172	2026
13451	1.20	145.3	425.6	8.3	638	13455	0.00	2.60	0.00	0.000	4	0.000	0.086	2980	3514	2026
13501	1.20	145.3	421.2	9.3	640	13505	0.00	2.50	0.00	0.000	6	0.000	0.070	2980	2181	2025
13817	1.26	145.3	395.5	8.4	655	13822	0.10	2.55	0.00	0.000	4	0.071	0.084	3004	3510	2025
13873	1.21	145.3	389.9	9.8	657	13879	0.00	2.47	0.00	0.000	6	0.000	0.069	3004	2190	2025
14190	1.21	145.3	359.7	9.6	673	14194	0.00	2.55	0.00	0.000	4	0.000	0.083	3004	3515	2025
14274	1.21	145.3	351.1	10.8	677	14278	0.00	2.42	0.00	0.000	6	0.000	0.067	3004	2203	2025
14600	1.21	145.3	320.2	9.3	693	14605	0.00	2.50	0.00	0.000	4	0.000	0.081	3004	3510	2025
14686	1.21	145.3	312.3	9.6	697	14690	0.00	2.40	0.00	0.000	6	0.000	0.064	3004	2214	2025
15013	1.23	155.7	286.8	7.5	713	15028	0.00	2.53	10.23	1.095	4	0.000	0.079	3004	3510	1985
15040	1.23	155.7	284.4	8.3	713	15045	0.00	2.45	0.00	0.000	6	0.000	0.064	3004	2208	1984
15356	1.23	155.7	256.6	9.5	728	15360	0.00	2.47	0.00	0.000	4	0.000	0.077	3004	3510	1984
15396	1.23	155.7	252.7	9.5	730	15400	0.00	2.38	0.00	0.000	6	0.000	0.061	3004	2222	1984
15724	1.23	155.7	224.8	8.3	746	15729	0.00	2.45	0.00	0.000	4	0.000	0.076	3004	3515	1984
15735	1.23	155.7	223.5	8.4	746	15741	0.00	2.40	0.00	0.000	6	0.000	0.062	3004	2218	1984
16051	1.24	165.6	198.6	7.5	762	16066	0.00	2.47	9.85	1.001	4	0.000	0.073	3004	3512	1944
16117	1.24	165.6	192.5	9.0	764	16121	0.00	2.38	0.00	0.000	6	0.000	0.059	3004	2227	1944
16444	1.24	165.6	163.7	9.0	780	16449	0.00	2.40	0.00	0.000	4	0.000	0.070	3004	3512	1944
16462	1.24	165.6	162.0	9.5	781	16466	0.00	2.33	0.00	0.000	6	0.000	0.055	3004	2235	1944
16791	1.24	165.6	132.9	9.2	797	16795	0.00	2.38	0.00	0.000	4	0.000	0.067	3004	3512	1945
16818	1.24	165.6	130.2	8.7	798	16822	0.00	2.33	0.00	0.000	6	0.000	0.054	3004	2234	1945
17134	1.24	165.6	102.8	8.5	813	17138	0.00	2.38	0.00	0.000	4	0.000	0.065	3004	3519	1946
17151	1.24	165.6	101.3	8.5	814	17155	0.00	2.30	0.00	0.000	6	0.000	0.051	3004	2238	1946
17480	1.24	165.6	71.5	9.4	830	17484	0.00	2.35	0.00	0.000	4	0.000	0.065	3004	3514	1947
17490	1.24	165.6	70.3	9.4	830	17496	0.00	2.30	0.00	0.000	6	0.000	0.051	3004	2253	1947
17806	1.24	165.6	42.2	8.8	846	17807	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2253	1949
18117	1.29	165.6	17.0	8.6	861	18118	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2235	1950
18298	end climb: SURFACE_DEPTH_REACHED
state	18298	begin surface coast
18320	end surface coast: CONTROL_FINISHED_OK
state	18320	begin surface