Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 331 * 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 331 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 15 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 -82890.266 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 -82890.266

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 15 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 331 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 150107,6334.764,-814.252,35,0.8,35,-9.5 TGT_NAME IFRN1K

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.138,0.174

_SM_DEPTHo 0.38 KALMAN_X -116784.3,22.8,-590.8,255119.6,2462.9

_SM_ANGLEo -56.0 KALMAN_Y -117319.8,149.5,-401.4,275771.2,-5757.9

GPS2 151057,6334.688,-814.341,14,1.0,14,-9.5 MHEAD_RNG_PITCHd_Wd 331.2,22421,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.3,1.026879 ALTIM_BOTTOM_PING 725.0,56.8

SM_CCo 19337,208.48,0.828,0,0,390,547.02 _24V_AH 23.5,60.628

SM_GC 0.26,0.00,0.00,208.48,0.000,0.000,0.828,424,2107,390,-10.60,-0.90,547.02 _10V_AH 10.1,29.086

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47396,923

TT8_MAMPS 0.029913 CAP_FILE_SIZE 156654,0

HUMID 1707 CFSIZE 254472192,230883328

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 168 GPS 140808,203901,6335.543,-817.356,38,0.9,43,-9.6

ALTIM_TOP_PING 18.5,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 136 84.06 SBE_CT 653 24 368.66

Roll_motor 181 95 406.39 SBE_O2 673 19 300.61

VBD_pump_during_apogee 291 1498 10254.27 WL_BB2F 526 105 1299.58

VBD_pump_during_surface 208 828 4058.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 82 103 198.91 nil 0 0 0.00

Iridium_during_connect 53 160 201.79 nil 0 0 0.00

Iridium_during_xfer 245 223 1288.16

Transponder_ping 48 420 478.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.45

TT8 1781 19 356.22

LPSleep 14699 2 325.13

TT8_Active 704 19 140.79

TT8_Sampling 2189 39 880.00

TT8_CF8 758 45 350.92

TT8_Kalman 33 81 27.56

Analog_circuits 1801 12 218.32

GPS_charging 0 0 0.00

Compass 2137 8 172.70

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 -116.35 0.000 6 0.000 0.000 424 2127 3097

150 -1.30 -117.3 3.0 -3.1 6 166 10.45 2.50 0.00 0.000 4 0.137 0.052 2436 740 3097

419 -1.03 -117.3 41.1 -13.5 17 424 0.32 2.55 0.00 0.000 6 0.094 0.050 2505 2160 3096

743 -0.98 -117.3 72.0 -9.2 33 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2159 3096

1051 -0.92 -117.3 97.4 -8.3 48 1053 0.12 0.00 0.00 0.000 6 0.096 0.000 2530 2160 3096

1359 -0.92 -117.3 119.0 -7.1 63 1361 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2158 3097

1669 -0.92 -117.3 140.3 -6.8 78 1673 0.00 2.58 0.00 0.000 4 0.000 0.058 2530 742 3097

1742 -0.92 -117.3 146.0 -7.6 81 1747 0.00 2.58 0.00 0.000 6 0.000 0.052 2530 2173 3097

2059 -0.96 -117.3 168.6 -7.3 96 2063 0.00 2.50 0.00 0.000 4 0.000 0.064 2530 3556 3097

2149 -0.96 -117.3 175.8 -8.0 100 2153 0.00 2.50 0.00 0.000 6 0.000 0.048 2530 2157 3096

2471 -1.00 -117.3 204.0 -9.6 116 2475 0.00 2.53 0.00 0.000 4 0.000 0.060 2530 746 3096

2639 -1.00 -117.3 220.3 -8.4 123 2645 0.00 2.58 0.00 0.000 6 0.000 0.054 2530 2167 3096

2955 -1.00 -117.3 243.2 -6.7 139 2960 0.00 2.53 0.00 0.000 4 0.000 0.067 2530 3556 3096

3045 -1.00 -117.3 250.0 -7.1 143 3053 0.00 2.50 0.00 0.000 6 0.000 0.052 2530 2149 3096

3376 -1.05 -117.3 264.8 -3.7 159 3381 0.12 2.55 0.00 0.000 4 0.058 0.066 2494 762 3096

3466 -0.97 -117.3 270.9 -8.1 163 3471 0.10 2.58 0.00 0.000 6 0.106 0.059 2515 2173 3096

3787 -0.97 -117.3 293.6 -6.9 179 3791 0.00 2.55 0.00 0.000 4 0.000 0.073 2515 3560 3096

3984 -0.97 -117.3 308.4 -6.9 188 3989 0.00 2.47 0.00 0.000 6 0.000 0.058 2515 2196 3095

4312 -0.97 -117.3 330.5 -6.7 204 4317 0.00 2.65 0.00 0.000 4 0.000 0.074 2515 746 3094

4436 -0.97 -117.3 340.0 -7.4 209 4442 0.00 2.62 0.00 0.000 6 0.000 0.065 2515 2170 3094

4752 -0.97 -117.3 364.6 -7.9 225 4753 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2169 3093

5063 -0.97 -117.3 389.5 -8.5 240 5067 0.00 2.60 0.00 0.000 4 0.000 0.080 2515 3564 3092

5197 -0.97 -117.3 401.8 -9.2 246 5202 0.00 2.58 0.00 0.000 6 0.000 0.064 2515 2162 3091

5519 -0.97 -117.3 430.0 -8.4 262 5523 0.00 2.60 0.00 0.000 4 0.000 0.075 2515 743 3090

5652 -0.97 -117.3 441.5 -9.0 268 5657 0.00 2.65 0.00 0.000 6 0.000 0.069 2515 2164 3089

5974 -0.97 -117.3 467.4 -8.1 284 5976 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2164 3088

6283 -0.97 -117.3 491.5 -7.5 299 6288 0.00 2.60 0.00 0.000 4 0.000 0.082 2515 3563 3087

6373 -0.97 -117.3 499.0 -8.5 303 6377 0.00 2.60 0.00 0.000 6 0.000 0.069 2516 2154 3087

6695 -0.97 -117.3 521.7 -6.6 319 6699 0.00 2.62 0.00 0.000 4 0.000 0.083 2515 745 3086

6834 -0.97 -117.3 531.3 -6.6 325 6838 0.00 2.65 0.00 0.000 6 0.000 0.073 2515 2155 3086

7151 -0.97 -117.3 551.5 -6.5 340 7152 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2155 3085

7459 -0.97 -117.3 570.6 -6.0 355 7464 0.00 2.67 0.00 0.000 4 0.000 0.083 2515 744 3084

7554 -0.97 -117.3 577.0 -7.4 359 7559 0.00 2.65 0.00 0.000 6 0.000 0.075 2515 2152 3083

7871 -0.97 -117.3 596.9 -6.1 374 7872 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2152 3082

8179 -0.97 -117.3 618.2 -6.9 389 8181 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2152 3081

8490 -0.97 -117.3 638.5 -6.7 404 8491 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2152 3080

8798 -0.97 -117.3 659.5 -7.0 419 8802 0.00 2.70 0.00 0.000 4 0.000 0.087 2515 745 3079

8899 -0.97 -117.3 667.0 -7.2 423 8906 0.00 2.62 0.00 0.000 6 0.000 0.077 2515 2140 3079

9216 -0.97 -117.3 687.7 -6.4 439 9217 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2141 3078

9524 -0.97 -117.3 707.4 -6.2 454 9525 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2141 3078

9836 -1.01 -117.3 726.3 -6.2 469 9837 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2141 3077

10143 -1.06 -117.3 745.7 -5.8 484 10147 0.00 2.67 0.00 0.000 4 0.000 0.087 2515 745 3077

10227 -1.06 -117.3 750.9 -6.5 488 10231 0.00 2.62 0.00 0.000 6 0.000 0.076 2515 2135 3077

10551 end dive: BOTTOM_OBSTACLE_DETECTED

state 10551 begin apogee

10559 -0.33 0.0 772.2 6.5 504 10663 0.68 0.00 100.88 1.499 6 0.101 0.000 2651 2081 2620

10664 end apogee: CONTROL_FINISHED_OK

state 10664 begin climb

10667 1.30 117.3 774.5 0.0 509 10778 1.73 2.72 102.88 1.450 4 0.083 0.087 3009 712 2141

10794 1.18 117.3 766.3 9.6 515 10798 0.00 2.67 0.00 0.000 6 0.000 0.074 3009 2103 2141

11121 1.11 117.3 733.4 10.1 531 11126 0.17 2.70 0.00 0.000 4 0.105 0.086 2975 3515 2140

11165 1.11 117.3 729.2 8.8 533 11170 0.00 2.62 0.00 0.000 6 0.000 0.074 2975 2135 2140

11487 1.11 118.9 703.4 7.9 549 11492 0.00 2.65 0.00 0.000 4 0.000 0.086 2975 3508 2139

11550 1.13 127.2 698.2 7.6 552 11565 0.00 2.62 9.98 1.279 6 0.000 0.073 2975 2120 2102

11877 1.14 138.0 673.0 7.5 567 11897 0.00 2.75 11.18 1.296 4 0.000 0.084 2975 3508 2056

11954 1.16 147.6 666.6 7.6 570 11969 0.00 2.62 10.10 1.273 6 0.000 0.073 2975 2130 2018

12294 1.21 147.6 640.3 8.2 587 12299 0.00 2.67 0.00 0.000 4 0.000 0.087 2975 3508 2017

12379 1.21 147.6 632.6 9.1 591 12383 0.00 2.58 0.00 0.000 6 0.000 0.071 2975 2143 2016

12707 1.26 147.6 605.2 8.3 607 12712 0.12 2.65 0.00 0.000 4 0.065 0.085 3005 3508 2016

12798 1.20 147.6 595.9 10.4 611 12802 0.00 2.53 0.00 0.000 6 0.000 0.071 3005 2167 2016

13119 1.20 147.6 565.1 9.6 627 13123 0.00 2.60 0.00 0.000 4 0.000 0.087 3005 3511 2016

13205 1.14 147.6 557.2 9.4 631 13210 0.15 2.50 0.00 0.000 6 0.106 0.071 2977 2182 2016

13534 1.20 153.1 532.5 7.8 647 13547 0.00 2.65 6.47 1.139 4 0.000 0.084 2977 3514 1995

13601 1.20 153.6 527.0 8.0 650 13606 0.00 2.50 0.00 0.000 6 0.000 0.069 2977 2190 1995

13930 1.28 169.3 502.1 7.3 666 13952 0.15 2.62 15.27 1.279 4 0.065 0.084 3017 3511 1928

13986 1.21 169.3 496.9 9.4 668 13991 0.12 2.47 0.00 0.000 6 0.112 0.070 2995 2206 1928

14303 1.21 169.3 471.4 8.3 683 14307 0.00 2.53 0.00 0.000 4 0.000 0.084 2995 3511 1927

14348 1.21 169.3 467.3 9.0 685 14352 0.00 2.42 0.00 0.000 6 0.000 0.068 2995 2216 1927

14670 1.21 169.3 440.2 8.1 701 14674 0.00 2.50 0.00 0.000 4 0.000 0.084 2995 3508 1927

14737 1.21 169.3 434.3 8.4 704 14741 0.00 2.40 0.00 0.000 6 0.000 0.067 2995 2227 1927

15060 1.21 169.3 408.3 8.5 720 15064 0.00 2.47 0.00 0.000 4 0.000 0.082 2995 3512 1927

15117 1.21 169.3 402.7 9.7 722 15123 0.00 2.38 0.00 0.000 6 0.000 0.066 2995 2238 1927

15432 1.21 169.3 373.4 9.9 738 15436 0.00 2.42 0.00 0.000 4 0.000 0.083 2995 3511 1926

15488 1.21 169.3 367.5 10.0 740 15492 0.00 2.35 0.00 0.000 6 0.000 0.065 2995 2245 1927

15805 1.21 169.3 337.0 9.3 755 15809 0.00 2.42 0.00 0.000 4 0.000 0.081 2995 3509 1927

15838 1.21 169.3 333.7 9.1 756 15843 0.00 2.33 0.00 0.000 6 0.000 0.064 2995 2254 1927

16154 1.25 169.3 306.3 8.9 772 16157 0.00 2.38 0.00 0.000 4 0.000 0.079 2995 3511 1927

16164 1.25 169.3 305.2 9.0 772 16169 0.00 2.33 0.00 0.000 6 0.000 0.063 2995 2256 1927

16481 1.25 169.3 276.6 9.1 787 16485 0.00 2.40 0.00 0.000 4 0.000 0.078 2995 3514 1927

16519 1.25 169.3 272.9 10.0 788 16525 0.00 2.30 0.00 0.000 6 0.000 0.062 2995 2267 1927

16836 1.31 181.7 247.7 7.4 804 16857 0.00 2.45 11.98 1.068 4 0.000 0.076 2995 3510 1879

16863 1.31 181.7 245.6 8.6 805 16867 0.00 2.33 0.00 0.000 6 0.000 0.061 2995 2267 1879

17185 1.40 207.0 222.3 6.8 821 17215 0.15 2.42 22.42 1.075 4 0.058 0.072 3037 3506 1776

17239 1.32 207.0 217.4 9.2 823 17243 0.00 2.30 0.00 0.000 6 0.000 0.058 3036 2271 1776

17555 1.25 207.0 185.6 10.8 838 17560 0.15 2.35 0.00 0.000 4 0.103 0.071 3005 3511 1774

17582 1.25 207.0 182.5 10.7 839 17586 0.00 2.25 0.00 0.000 6 0.000 0.056 3005 2283 1775

17898 1.25 207.0 151.9 9.8 854 17900 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2269 1775

18207 1.25 207.0 120.1 10.4 869 18211 0.00 2.30 0.00 0.000 4 0.000 0.067 3005 3514 1776

18218 1.25 207.0 118.7 10.7 869 18225 0.00 2.22 0.00 0.000 6 0.000 0.053 3005 2285 1776

18536 1.30 207.0 83.6 11.2 885 18537 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2284 1777

18844 1.36 207.0 50.6 10.1 900 18848 0.00 2.28 0.00 0.000 4 0.000 0.064 3005 3520 1778

18855 1.43 207.0 49.5 9.6 900 18862 0.17 2.22 0.00 0.000 6 0.051 0.051 3049 2279 1778

19172 1.36 207.0 13.9 11.3 916 19174 0.12 0.00 0.00 0.000 6 0.094 0.000 3027 2277 1779

19293 end climb: SURFACE_DEPTH_REACHED

state 19293 begin surface coast

19314 end surface coast: CONTROL_FINISHED_OK

state 19314 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	331	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	15	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	-82890.266	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	150107,6334.764,-814.252,35,0.8,35,-9.5	TGT_NAME	IFRN1K
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.138,0.174
_SM_DEPTHo	0.38	KALMAN_X	-116784.3,22.8,-590.8,255119.6,2462.9
_SM_ANGLEo	-56.0	KALMAN_Y	-117319.8,149.5,-401.4,275771.2,-5757.9
GPS2	151057,6334.688,-814.341,14,1.0,14,-9.5	MHEAD_RNG_PITCHd_Wd	331.2,22421,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.3,1.026879	ALTIM_BOTTOM_PING	725.0,56.8
SM_CCo	19337,208.48,0.828,0,0,390,547.02	_24V_AH	23.5,60.628
SM_GC	0.26,0.00,0.00,208.48,0.000,0.000,0.828,424,2107,390,-10.60,-0.90,547.02	_10V_AH	10.1,29.086
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47396,923
TT8_MAMPS	0.029913	CAP_FILE_SIZE	156654,0
HUMID	1707	CFSIZE	254472192,230883328
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	168	GPS	140808,203901,6335.543,-817.356,38,0.9,43,-9.6
ALTIM_TOP_PING	18.5,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	136	84.06	SBE_CT	653	24	368.66
Roll_motor	181	95	406.39	SBE_O2	673	19	300.61
VBD_pump_during_apogee	291	1498	10254.27	WL_BB2F	526	105	1299.58
VBD_pump_during_surface	208	828	4058.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	82	103	198.91	nil	0	0	0.00
Iridium_during_connect	53	160	201.79	nil	0	0	0.00
Iridium_during_xfer	245	223	1288.16
Transponder_ping	48	420	478.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.45
TT8	1781	19	356.22
LPSleep	14699	2	325.13
TT8_Active	704	19	140.79
TT8_Sampling	2189	39	880.00
TT8_CF8	758	45	350.92
TT8_Kalman	33	81	27.56
Analog_circuits	1801	12	218.32
GPS_charging	0	0	0.00
Compass	2137	8	172.70
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	-116.35	0.000	6	0.000	0.000	424	2127	3097
150	-1.30	-117.3	3.0	-3.1	6	166	10.45	2.50	0.00	0.000	4	0.137	0.052	2436	740	3097
419	-1.03	-117.3	41.1	-13.5	17	424	0.32	2.55	0.00	0.000	6	0.094	0.050	2505	2160	3096
743	-0.98	-117.3	72.0	-9.2	33	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2159	3096
1051	-0.92	-117.3	97.4	-8.3	48	1053	0.12	0.00	0.00	0.000	6	0.096	0.000	2530	2160	3096
1359	-0.92	-117.3	119.0	-7.1	63	1361	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2158	3097
1669	-0.92	-117.3	140.3	-6.8	78	1673	0.00	2.58	0.00	0.000	4	0.000	0.058	2530	742	3097
1742	-0.92	-117.3	146.0	-7.6	81	1747	0.00	2.58	0.00	0.000	6	0.000	0.052	2530	2173	3097
2059	-0.96	-117.3	168.6	-7.3	96	2063	0.00	2.50	0.00	0.000	4	0.000	0.064	2530	3556	3097
2149	-0.96	-117.3	175.8	-8.0	100	2153	0.00	2.50	0.00	0.000	6	0.000	0.048	2530	2157	3096
2471	-1.00	-117.3	204.0	-9.6	116	2475	0.00	2.53	0.00	0.000	4	0.000	0.060	2530	746	3096
2639	-1.00	-117.3	220.3	-8.4	123	2645	0.00	2.58	0.00	0.000	6	0.000	0.054	2530	2167	3096
2955	-1.00	-117.3	243.2	-6.7	139	2960	0.00	2.53	0.00	0.000	4	0.000	0.067	2530	3556	3096
3045	-1.00	-117.3	250.0	-7.1	143	3053	0.00	2.50	0.00	0.000	6	0.000	0.052	2530	2149	3096
3376	-1.05	-117.3	264.8	-3.7	159	3381	0.12	2.55	0.00	0.000	4	0.058	0.066	2494	762	3096
3466	-0.97	-117.3	270.9	-8.1	163	3471	0.10	2.58	0.00	0.000	6	0.106	0.059	2515	2173	3096
3787	-0.97	-117.3	293.6	-6.9	179	3791	0.00	2.55	0.00	0.000	4	0.000	0.073	2515	3560	3096
3984	-0.97	-117.3	308.4	-6.9	188	3989	0.00	2.47	0.00	0.000	6	0.000	0.058	2515	2196	3095
4312	-0.97	-117.3	330.5	-6.7	204	4317	0.00	2.65	0.00	0.000	4	0.000	0.074	2515	746	3094
4436	-0.97	-117.3	340.0	-7.4	209	4442	0.00	2.62	0.00	0.000	6	0.000	0.065	2515	2170	3094
4752	-0.97	-117.3	364.6	-7.9	225	4753	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2169	3093
5063	-0.97	-117.3	389.5	-8.5	240	5067	0.00	2.60	0.00	0.000	4	0.000	0.080	2515	3564	3092
5197	-0.97	-117.3	401.8	-9.2	246	5202	0.00	2.58	0.00	0.000	6	0.000	0.064	2515	2162	3091
5519	-0.97	-117.3	430.0	-8.4	262	5523	0.00	2.60	0.00	0.000	4	0.000	0.075	2515	743	3090
5652	-0.97	-117.3	441.5	-9.0	268	5657	0.00	2.65	0.00	0.000	6	0.000	0.069	2515	2164	3089
5974	-0.97	-117.3	467.4	-8.1	284	5976	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2164	3088
6283	-0.97	-117.3	491.5	-7.5	299	6288	0.00	2.60	0.00	0.000	4	0.000	0.082	2515	3563	3087
6373	-0.97	-117.3	499.0	-8.5	303	6377	0.00	2.60	0.00	0.000	6	0.000	0.069	2516	2154	3087
6695	-0.97	-117.3	521.7	-6.6	319	6699	0.00	2.62	0.00	0.000	4	0.000	0.083	2515	745	3086
6834	-0.97	-117.3	531.3	-6.6	325	6838	0.00	2.65	0.00	0.000	6	0.000	0.073	2515	2155	3086
7151	-0.97	-117.3	551.5	-6.5	340	7152	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2155	3085
7459	-0.97	-117.3	570.6	-6.0	355	7464	0.00	2.67	0.00	0.000	4	0.000	0.083	2515	744	3084
7554	-0.97	-117.3	577.0	-7.4	359	7559	0.00	2.65	0.00	0.000	6	0.000	0.075	2515	2152	3083
7871	-0.97	-117.3	596.9	-6.1	374	7872	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2152	3082
8179	-0.97	-117.3	618.2	-6.9	389	8181	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2152	3081
8490	-0.97	-117.3	638.5	-6.7	404	8491	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2152	3080
8798	-0.97	-117.3	659.5	-7.0	419	8802	0.00	2.70	0.00	0.000	4	0.000	0.087	2515	745	3079
8899	-0.97	-117.3	667.0	-7.2	423	8906	0.00	2.62	0.00	0.000	6	0.000	0.077	2515	2140	3079
9216	-0.97	-117.3	687.7	-6.4	439	9217	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2141	3078
9524	-0.97	-117.3	707.4	-6.2	454	9525	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2141	3078
9836	-1.01	-117.3	726.3	-6.2	469	9837	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2141	3077
10143	-1.06	-117.3	745.7	-5.8	484	10147	0.00	2.67	0.00	0.000	4	0.000	0.087	2515	745	3077
10227	-1.06	-117.3	750.9	-6.5	488	10231	0.00	2.62	0.00	0.000	6	0.000	0.076	2515	2135	3077
10551	end dive: BOTTOM_OBSTACLE_DETECTED
state	10551	begin apogee
10559	-0.33	0.0	772.2	6.5	504	10663	0.68	0.00	100.88	1.499	6	0.101	0.000	2651	2081	2620
10664	end apogee: CONTROL_FINISHED_OK
state	10664	begin climb
10667	1.30	117.3	774.5	0.0	509	10778	1.73	2.72	102.88	1.450	4	0.083	0.087	3009	712	2141
10794	1.18	117.3	766.3	9.6	515	10798	0.00	2.67	0.00	0.000	6	0.000	0.074	3009	2103	2141
11121	1.11	117.3	733.4	10.1	531	11126	0.17	2.70	0.00	0.000	4	0.105	0.086	2975	3515	2140
11165	1.11	117.3	729.2	8.8	533	11170	0.00	2.62	0.00	0.000	6	0.000	0.074	2975	2135	2140
11487	1.11	118.9	703.4	7.9	549	11492	0.00	2.65	0.00	0.000	4	0.000	0.086	2975	3508	2139
11550	1.13	127.2	698.2	7.6	552	11565	0.00	2.62	9.98	1.279	6	0.000	0.073	2975	2120	2102
11877	1.14	138.0	673.0	7.5	567	11897	0.00	2.75	11.18	1.296	4	0.000	0.084	2975	3508	2056
11954	1.16	147.6	666.6	7.6	570	11969	0.00	2.62	10.10	1.273	6	0.000	0.073	2975	2130	2018
12294	1.21	147.6	640.3	8.2	587	12299	0.00	2.67	0.00	0.000	4	0.000	0.087	2975	3508	2017
12379	1.21	147.6	632.6	9.1	591	12383	0.00	2.58	0.00	0.000	6	0.000	0.071	2975	2143	2016
12707	1.26	147.6	605.2	8.3	607	12712	0.12	2.65	0.00	0.000	4	0.065	0.085	3005	3508	2016
12798	1.20	147.6	595.9	10.4	611	12802	0.00	2.53	0.00	0.000	6	0.000	0.071	3005	2167	2016
13119	1.20	147.6	565.1	9.6	627	13123	0.00	2.60	0.00	0.000	4	0.000	0.087	3005	3511	2016
13205	1.14	147.6	557.2	9.4	631	13210	0.15	2.50	0.00	0.000	6	0.106	0.071	2977	2182	2016
13534	1.20	153.1	532.5	7.8	647	13547	0.00	2.65	6.47	1.139	4	0.000	0.084	2977	3514	1995
13601	1.20	153.6	527.0	8.0	650	13606	0.00	2.50	0.00	0.000	6	0.000	0.069	2977	2190	1995
13930	1.28	169.3	502.1	7.3	666	13952	0.15	2.62	15.27	1.279	4	0.065	0.084	3017	3511	1928
13986	1.21	169.3	496.9	9.4	668	13991	0.12	2.47	0.00	0.000	6	0.112	0.070	2995	2206	1928
14303	1.21	169.3	471.4	8.3	683	14307	0.00	2.53	0.00	0.000	4	0.000	0.084	2995	3511	1927
14348	1.21	169.3	467.3	9.0	685	14352	0.00	2.42	0.00	0.000	6	0.000	0.068	2995	2216	1927
14670	1.21	169.3	440.2	8.1	701	14674	0.00	2.50	0.00	0.000	4	0.000	0.084	2995	3508	1927
14737	1.21	169.3	434.3	8.4	704	14741	0.00	2.40	0.00	0.000	6	0.000	0.067	2995	2227	1927
15060	1.21	169.3	408.3	8.5	720	15064	0.00	2.47	0.00	0.000	4	0.000	0.082	2995	3512	1927
15117	1.21	169.3	402.7	9.7	722	15123	0.00	2.38	0.00	0.000	6	0.000	0.066	2995	2238	1927
15432	1.21	169.3	373.4	9.9	738	15436	0.00	2.42	0.00	0.000	4	0.000	0.083	2995	3511	1926
15488	1.21	169.3	367.5	10.0	740	15492	0.00	2.35	0.00	0.000	6	0.000	0.065	2995	2245	1927
15805	1.21	169.3	337.0	9.3	755	15809	0.00	2.42	0.00	0.000	4	0.000	0.081	2995	3509	1927
15838	1.21	169.3	333.7	9.1	756	15843	0.00	2.33	0.00	0.000	6	0.000	0.064	2995	2254	1927
16154	1.25	169.3	306.3	8.9	772	16157	0.00	2.38	0.00	0.000	4	0.000	0.079	2995	3511	1927
16164	1.25	169.3	305.2	9.0	772	16169	0.00	2.33	0.00	0.000	6	0.000	0.063	2995	2256	1927
16481	1.25	169.3	276.6	9.1	787	16485	0.00	2.40	0.00	0.000	4	0.000	0.078	2995	3514	1927
16519	1.25	169.3	272.9	10.0	788	16525	0.00	2.30	0.00	0.000	6	0.000	0.062	2995	2267	1927
16836	1.31	181.7	247.7	7.4	804	16857	0.00	2.45	11.98	1.068	4	0.000	0.076	2995	3510	1879
16863	1.31	181.7	245.6	8.6	805	16867	0.00	2.33	0.00	0.000	6	0.000	0.061	2995	2267	1879
17185	1.40	207.0	222.3	6.8	821	17215	0.15	2.42	22.42	1.075	4	0.058	0.072	3037	3506	1776
17239	1.32	207.0	217.4	9.2	823	17243	0.00	2.30	0.00	0.000	6	0.000	0.058	3036	2271	1776
17555	1.25	207.0	185.6	10.8	838	17560	0.15	2.35	0.00	0.000	4	0.103	0.071	3005	3511	1774
17582	1.25	207.0	182.5	10.7	839	17586	0.00	2.25	0.00	0.000	6	0.000	0.056	3005	2283	1775
17898	1.25	207.0	151.9	9.8	854	17900	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2269	1775
18207	1.25	207.0	120.1	10.4	869	18211	0.00	2.30	0.00	0.000	4	0.000	0.067	3005	3514	1776
18218	1.25	207.0	118.7	10.7	869	18225	0.00	2.22	0.00	0.000	6	0.000	0.053	3005	2285	1776
18536	1.30	207.0	83.6	11.2	885	18537	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2284	1777
18844	1.36	207.0	50.6	10.1	900	18848	0.00	2.28	0.00	0.000	4	0.000	0.064	3005	3520	1778
18855	1.43	207.0	49.5	9.6	900	18862	0.17	2.22	0.00	0.000	6	0.051	0.051	3049	2279	1778
19172	1.36	207.0	13.9	11.3	916	19174	0.12	0.00	0.00	0.000	6	0.094	0.000	3027	2277	1779
19293	end climb: SURFACE_DEPTH_REACHED
state	19293	begin surface coast
19314	end surface coast: CONTROL_FINISHED_OK
state	19314	begin surface