Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 207 * 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 207 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 18 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 -80460.133 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 3 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 -80460.133

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 3 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 34 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 18 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 207 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 173201,6157.027,-1006.593,37,2.0,37,-10.0 TGT_NAME IFRS1K

_CALLS 1 TGT_LATLONG 6210.000,-1055.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,-0.041

_SM_DEPTHo 0.52 KALMAN_X -32424.8,-260.9,1421.3,-22921.5,4976.6

_SM_ANGLEo -47.6 KALMAN_Y 2265.5,-2.7,-191.1,-21237.6,1252.8

GPS2 173829,6157.028,-1006.557,16,2.3,35,-10.0 MHEAD_RNG_PITCHd_Wd 269.4,48289,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.013943 ALTIM_BOTTOM_PING 775.8,49.8

SM_CCo 19782,222.75,0.770,0,0,389,547.02 _24V_AH 23.7,40.387

SM_GC 0.47,0.00,0.00,222.75,0.000,0.000,0.770,420,2177,389,-10.49,1.07,547.02 _10V_AH 10.1,19.309

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47329,949

TT8_MAMPS 0.029146 CAP_FILE_SIZE 139667,0

HUMID 1659 CFSIZE 254472192,238374912

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

XPDR_PINGS 494 GPS 210708,231407,6157.340,-1009.319,40,1.3,40,-10.0

ALTIM_TOP_PING 19.2,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 142 83.60 SBE_CT 651 24 370.61

Roll_motor 146 81 281.32 SBE_O2 700 19 315.39

VBD_pump_during_apogee 244 1409 8158.96 WL_BB2F 542 105 1349.28

VBD_pump_during_surface 222 770 4065.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.18 nil 0 0 0.00

Iridium_during_connect 29 160 111.75 nil 0 0 0.00

Iridium_during_xfer 165 223 873.95

Transponder_ping 130 420 1299.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.14

TT8 1738 19 347.59

LPSleep 15433 2 341.37

TT8_Active 665 19 133.01

TT8_Sampling 1980 39 796.15

TT8_CF8 571 45 264.33

TT8_Kalman 33 81 27.57

Analog_circuits 1627 12 197.29

GPS_charging 0 0 0.00

Compass 1919 8 155.10

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 22 begin dive

25 -1.30 -117.3 0.0 0.0 0 138 0.00 0.00 -111.12 0.000 6 0.000 0.000 424 2120 3099

142 -1.30 -117.3 2.1 -1.6 5 158 10.40 2.45 0.00 0.000 4 0.143 0.054 2409 755 3098

332 -0.98 -117.3 31.9 -15.0 12 339 0.38 2.50 0.00 0.000 6 0.098 0.048 2485 2161 3097

649 -0.89 -117.3 67.2 -8.8 28 651 0.10 0.00 0.00 0.000 6 0.100 0.000 2506 2161 3097

960 -0.89 -117.3 91.5 -7.9 43 964 0.00 2.55 0.00 0.000 4 0.000 0.056 2506 752 3097

1000 -0.89 -117.3 95.3 -8.9 45 1004 0.00 2.45 0.00 0.000 6 0.000 0.048 2506 2127 3098

1327 -0.89 -117.3 120.9 -8.7 61 1331 0.00 2.55 0.00 0.000 4 0.000 0.059 2506 3555 3098

1368 -0.85 -117.3 124.2 -8.4 63 1372 0.00 2.53 0.00 0.000 6 0.000 0.046 2506 2129 3098

1695 -0.85 -117.3 148.9 -7.6 79 1699 0.00 2.47 0.00 0.000 4 0.000 0.060 2506 744 3098

1745 -0.85 -117.3 153.1 -8.6 81 1749 0.00 2.47 0.00 0.000 6 0.000 0.050 2506 2124 3098

2061 -0.85 -117.3 178.1 -7.6 96 2065 0.00 2.58 0.00 0.000 4 0.000 0.061 2506 3563 3097

2094 -0.81 -117.3 180.8 -8.4 97 2100 0.00 2.55 0.00 0.000 6 0.000 0.048 2506 2126 3097

2410 -0.81 -117.3 207.6 -8.5 113 2412 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3097

2719 -0.81 -117.3 232.3 -7.8 128 2721 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3097

3029 -0.81 -117.3 254.6 -7.2 143 3030 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3097

3341 -0.81 -117.3 275.4 -6.4 158 3345 0.00 2.47 0.00 0.000 4 0.000 0.061 2506 739 3097

3368 -0.81 -117.3 277.6 -7.2 159 3373 0.00 2.47 0.00 0.000 6 0.000 0.052 2506 2124 3097

3685 -0.81 -117.3 301.7 -8.9 174 3686 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3096

3994 -0.81 -117.3 330.1 -9.2 189 3998 0.00 2.60 0.00 0.000 4 0.000 0.064 2506 3567 3096

4060 -0.81 -117.3 336.7 -10.1 192 4065 0.00 2.58 0.00 0.000 6 0.000 0.051 2506 2125 3096

4382 -0.81 -117.3 365.7 -8.8 208 4383 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2124 3096

4692 -0.81 -117.3 391.8 -7.3 223 4693 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2123 3095

5000 -0.81 -117.3 410.4 -6.5 238 5005 0.00 2.47 0.00 0.000 4 0.000 0.063 2506 741 3095

5045 -0.81 -117.3 413.9 -8.0 240 5050 0.00 2.50 0.00 0.000 6 0.000 0.053 2506 2132 3095

5368 -0.81 -117.3 436.6 -6.7 256 5369 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2133 3095

5677 -0.81 -117.3 457.8 -7.0 271 5678 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2133 3095

5986 -0.81 -117.3 482.5 -8.4 286 5987 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2136 3094

6295 -0.81 -117.3 506.1 -7.0 301 6299 0.00 2.55 0.00 0.000 4 0.000 0.062 2506 735 3094

6322 -0.81 -117.3 508.0 -6.7 302 6327 0.00 2.50 0.00 0.000 6 0.000 0.054 2506 2125 3094

6639 -0.81 -117.3 528.2 -6.5 317 6640 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2126 3094

6948 -0.81 -117.3 549.1 -7.7 332 6949 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3094

7257 -0.81 -117.3 577.0 -9.7 347 7259 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2126 3093

7567 -0.81 -117.3 599.3 -5.7 362 7568 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2126 3093

7876 -0.81 -117.3 618.7 -7.3 377 7877 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2125 3093

8185 -0.81 -117.3 642.5 -7.9 392 8189 0.00 2.55 0.00 0.000 4 0.000 0.064 2506 737 3093

8212 -0.81 -117.3 645.1 -9.4 393 8217 0.00 2.50 0.00 0.000 6 0.000 0.054 2506 2124 3093

8528 -0.81 -117.3 671.7 -5.6 408 8529 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2124 3093

8837 -0.81 -117.3 693.4 -6.4 423 8839 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2124 3093

9147 -0.81 -117.3 704.7 -3.9 438 9152 0.00 2.55 0.00 0.000 4 0.000 0.067 2506 738 3093

9198 -0.81 -117.3 707.6 -6.0 440 9202 0.00 2.50 0.00 0.000 6 0.000 0.058 2506 2117 3093

9514 -0.81 -117.3 726.8 -8.1 455 9515 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2117 3093

9823 -0.81 -117.3 744.4 -5.0 470 9827 0.00 2.53 0.00 0.000 4 0.000 0.071 2506 746 3093

9935 -0.81 -117.3 751.6 -6.7 475 9939 0.00 2.50 0.00 0.000 6 0.000 0.062 2506 2110 3093

10257 -0.81 -117.3 771.2 -5.1 491 10261 0.00 2.55 0.00 0.000 4 0.000 0.076 2506 747 3092

10286 -0.81 -117.3 772.9 -5.7 492 10290 0.00 2.47 0.00 0.000 6 0.000 0.064 2506 2088 3092

10602 -0.81 -117.3 794.6 -6.5 507 10603 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2089 3091

10846 end dive: BOTTOM_OBSTACLE_DETECTED

state 10846 begin apogee

10854 -0.33 0.0 816.3 9.2 519 10958 0.57 0.00 101.15 1.410 6 0.091 0.000 2625 2088 2620

10959 end apogee: CONTROL_FINISHED_OK

state 10959 begin climb

10962 1.30 117.3 820.7 0.0 524 11070 1.65 0.00 100.65 1.384 6 0.073 0.000 2977 2089 2140

11379 1.31 118.6 786.4 7.9 545 11384 0.00 2.67 0.00 0.000 4 0.000 0.081 2977 3505 2139

11525 1.31 118.6 773.0 10.1 551 11531 0.00 2.62 0.00 0.000 6 0.000 0.070 2977 2106 2138

11841 1.32 124.7 746.4 7.7 567 11850 0.00 0.00 7.30 1.141 6 0.000 0.000 2976 2106 2111

12150 1.32 125.3 719.5 8.0 582 12154 0.00 2.67 0.00 0.000 4 0.000 0.081 2976 3511 2110

12216 1.32 125.3 714.0 8.3 585 12221 0.00 2.62 0.00 0.000 6 0.000 0.068 2977 2105 2109

12539 1.32 126.0 685.9 8.0 601 12544 0.00 2.65 0.00 0.000 4 0.000 0.077 2976 3509 2108

12624 1.32 126.0 678.6 8.5 605 12629 0.00 2.50 0.00 0.000 6 0.000 0.063 2976 2141 2107

12952 1.32 126.0 652.7 8.9 621 12957 0.00 2.58 0.00 0.000 4 0.000 0.072 2976 3511 2106

12980 1.32 126.0 650.2 8.8 622 12984 0.00 2.50 0.00 0.000 6 0.000 0.060 2976 2148 2106

13296 1.34 141.2 627.4 7.3 637 13317 0.00 2.62 14.35 1.230 4 0.000 0.069 2976 3511 2044

13396 1.34 141.2 618.1 10.9 641 13401 0.00 2.45 0.00 0.000 6 0.000 0.056 2977 2172 2044

13715 1.34 141.2 585.2 11.7 656 13716 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2154 2043

14022 1.34 141.2 553.2 9.8 671 14026 0.00 2.47 0.00 0.000 4 0.000 0.065 2976 3509 2044

14062 1.34 141.2 549.0 11.0 673 14066 0.00 2.40 0.00 0.000 6 0.000 0.052 2977 2175 2044

14388 1.34 141.2 520.5 8.3 689 14392 0.00 2.47 0.00 0.000 4 0.000 0.064 2976 3514 2045

14422 1.34 141.2 517.4 8.8 690 14428 0.00 2.40 0.00 0.000 6 0.000 0.052 2976 2183 2045

14738 1.34 141.2 483.6 11.2 706 14739 0.00 0.00 0.00 0.000 6 0.000 0.000 2977 2165 2045

15047 1.34 141.2 452.1 10.3 721 15051 0.00 2.45 0.00 0.000 4 0.000 0.062 2977 3516 2047

15108 1.34 141.2 445.6 10.9 723 15114 0.00 2.38 0.00 0.000 6 0.000 0.051 2977 2193 2047

15424 1.34 141.2 416.9 9.2 739 15426 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2177 2047

15733 1.34 141.2 388.4 8.5 754 15737 0.00 2.42 0.00 0.000 4 0.000 0.063 2976 3512 2048

15773 1.34 141.2 384.8 9.8 756 15777 0.00 2.35 0.00 0.000 6 0.000 0.051 2977 2197 2048

16100 1.34 141.2 353.6 9.2 772 16101 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2180 2048

16409 1.34 141.2 325.2 9.1 787 16413 0.00 2.40 0.00 0.000 4 0.000 0.061 2977 3510 2049

16441 1.34 141.2 322.1 9.6 788 16447 0.00 2.35 0.00 0.000 6 0.000 0.050 2977 2196 2049

16758 1.34 141.2 296.8 8.1 804 16762 0.00 2.40 0.00 0.000 4 0.000 0.061 2977 3514 2049

16785 1.34 141.2 294.2 8.7 805 16789 0.00 2.33 0.00 0.000 6 0.000 0.049 2977 2211 2049

17101 1.34 141.2 266.9 9.0 820 17105 0.00 2.72 0.00 0.000 4 0.000 0.062 2977 687 2049

17128 1.34 141.2 264.2 11.7 821 17132 0.00 2.75 0.00 0.000 6 0.000 0.053 2977 2223 2050

17445 1.39 141.2 234.0 9.8 836 17447 0.12 0.00 0.00 0.000 6 0.051 0.000 3014 2222 2051

17754 1.32 141.2 196.9 12.4 851 17759 0.15 2.80 0.00 0.000 4 0.089 0.062 2981 678 2051

17776 1.32 141.2 194.0 12.6 852 17781 0.00 2.75 0.00 0.000 6 0.000 0.052 2981 2214 2051

18097 1.32 141.2 160.0 10.5 868 18098 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2214 2051

18407 1.36 141.2 129.8 9.1 883 18408 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2214 2051

18716 1.40 163.2 106.2 7.0 898 18743 0.10 2.38 20.75 0.844 4 0.056 0.058 3013 3516 1953

18760 1.35 163.2 102.2 9.7 900 18764 0.00 2.38 0.00 0.000 6 0.000 0.048 3012 2202 1953

19082 1.35 163.2 70.2 11.2 916 19086 0.00 2.72 0.00 0.000 4 0.000 0.062 3013 683 1953

19148 1.35 163.2 62.1 11.3 919 19153 0.00 2.70 0.00 0.000 6 0.000 0.051 3013 2193 1952

19472 1.35 163.2 27.3 11.3 935 19476 0.00 2.35 0.00 0.000 4 0.000 0.057 3012 3513 1953

19584 1.35 163.2 14.2 10.2 940 19588 0.00 2.33 0.00 0.000 6 0.000 0.048 3013 2207 1953

19737 end climb: SURFACE_DEPTH_REACHED

state 19737 begin surface coast

19760 end surface coast: CONTROL_FINISHED_OK

state 19760 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	207	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	18	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	-80460.133	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	3	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	173201,6157.027,-1006.593,37,2.0,37,-10.0	TGT_NAME	IFRS1K
_CALLS	1	TGT_LATLONG	6210.000,-1055.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,-0.041
_SM_DEPTHo	0.52	KALMAN_X	-32424.8,-260.9,1421.3,-22921.5,4976.6
_SM_ANGLEo	-47.6	KALMAN_Y	2265.5,-2.7,-191.1,-21237.6,1252.8
GPS2	173829,6157.028,-1006.557,16,2.3,35,-10.0	MHEAD_RNG_PITCHd_Wd	269.4,48289,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.2,1.013943	ALTIM_BOTTOM_PING	775.8,49.8
SM_CCo	19782,222.75,0.770,0,0,389,547.02	_24V_AH	23.7,40.387
SM_GC	0.47,0.00,0.00,222.75,0.000,0.000,0.770,420,2177,389,-10.49,1.07,547.02	_10V_AH	10.1,19.309
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47329,949
TT8_MAMPS	0.029146	CAP_FILE_SIZE	139667,0
HUMID	1659	CFSIZE	254472192,238374912
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
XPDR_PINGS	494	GPS	210708,231407,6157.340,-1009.319,40,1.3,40,-10.0
ALTIM_TOP_PING	19.2,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	142	83.60	SBE_CT	651	24	370.61
Roll_motor	146	81	281.32	SBE_O2	700	19	315.39
VBD_pump_during_apogee	244	1409	8158.96	WL_BB2F	542	105	1349.28
VBD_pump_during_surface	222	770	4065.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.18	nil	0	0	0.00
Iridium_during_connect	29	160	111.75	nil	0	0	0.00
Iridium_during_xfer	165	223	873.95
Transponder_ping	130	420	1299.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.14
TT8	1738	19	347.59
LPSleep	15433	2	341.37
TT8_Active	665	19	133.01
TT8_Sampling	1980	39	796.15
TT8_CF8	571	45	264.33
TT8_Kalman	33	81	27.57
Analog_circuits	1627	12	197.29
GPS_charging	0	0	0.00
Compass	1919	8	155.10
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	22	begin dive
25	-1.30	-117.3	0.0	0.0	0	138	0.00	0.00	-111.12	0.000	6	0.000	0.000	424	2120	3099
142	-1.30	-117.3	2.1	-1.6	5	158	10.40	2.45	0.00	0.000	4	0.143	0.054	2409	755	3098
332	-0.98	-117.3	31.9	-15.0	12	339	0.38	2.50	0.00	0.000	6	0.098	0.048	2485	2161	3097
649	-0.89	-117.3	67.2	-8.8	28	651	0.10	0.00	0.00	0.000	6	0.100	0.000	2506	2161	3097
960	-0.89	-117.3	91.5	-7.9	43	964	0.00	2.55	0.00	0.000	4	0.000	0.056	2506	752	3097
1000	-0.89	-117.3	95.3	-8.9	45	1004	0.00	2.45	0.00	0.000	6	0.000	0.048	2506	2127	3098
1327	-0.89	-117.3	120.9	-8.7	61	1331	0.00	2.55	0.00	0.000	4	0.000	0.059	2506	3555	3098
1368	-0.85	-117.3	124.2	-8.4	63	1372	0.00	2.53	0.00	0.000	6	0.000	0.046	2506	2129	3098
1695	-0.85	-117.3	148.9	-7.6	79	1699	0.00	2.47	0.00	0.000	4	0.000	0.060	2506	744	3098
1745	-0.85	-117.3	153.1	-8.6	81	1749	0.00	2.47	0.00	0.000	6	0.000	0.050	2506	2124	3098
2061	-0.85	-117.3	178.1	-7.6	96	2065	0.00	2.58	0.00	0.000	4	0.000	0.061	2506	3563	3097
2094	-0.81	-117.3	180.8	-8.4	97	2100	0.00	2.55	0.00	0.000	6	0.000	0.048	2506	2126	3097
2410	-0.81	-117.3	207.6	-8.5	113	2412	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3097
2719	-0.81	-117.3	232.3	-7.8	128	2721	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3097
3029	-0.81	-117.3	254.6	-7.2	143	3030	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3097
3341	-0.81	-117.3	275.4	-6.4	158	3345	0.00	2.47	0.00	0.000	4	0.000	0.061	2506	739	3097
3368	-0.81	-117.3	277.6	-7.2	159	3373	0.00	2.47	0.00	0.000	6	0.000	0.052	2506	2124	3097
3685	-0.81	-117.3	301.7	-8.9	174	3686	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3096
3994	-0.81	-117.3	330.1	-9.2	189	3998	0.00	2.60	0.00	0.000	4	0.000	0.064	2506	3567	3096
4060	-0.81	-117.3	336.7	-10.1	192	4065	0.00	2.58	0.00	0.000	6	0.000	0.051	2506	2125	3096
4382	-0.81	-117.3	365.7	-8.8	208	4383	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2124	3096
4692	-0.81	-117.3	391.8	-7.3	223	4693	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2123	3095
5000	-0.81	-117.3	410.4	-6.5	238	5005	0.00	2.47	0.00	0.000	4	0.000	0.063	2506	741	3095
5045	-0.81	-117.3	413.9	-8.0	240	5050	0.00	2.50	0.00	0.000	6	0.000	0.053	2506	2132	3095
5368	-0.81	-117.3	436.6	-6.7	256	5369	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2133	3095
5677	-0.81	-117.3	457.8	-7.0	271	5678	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2133	3095
5986	-0.81	-117.3	482.5	-8.4	286	5987	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2136	3094
6295	-0.81	-117.3	506.1	-7.0	301	6299	0.00	2.55	0.00	0.000	4	0.000	0.062	2506	735	3094
6322	-0.81	-117.3	508.0	-6.7	302	6327	0.00	2.50	0.00	0.000	6	0.000	0.054	2506	2125	3094
6639	-0.81	-117.3	528.2	-6.5	317	6640	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2126	3094
6948	-0.81	-117.3	549.1	-7.7	332	6949	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3094
7257	-0.81	-117.3	577.0	-9.7	347	7259	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2126	3093
7567	-0.81	-117.3	599.3	-5.7	362	7568	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2126	3093
7876	-0.81	-117.3	618.7	-7.3	377	7877	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2125	3093
8185	-0.81	-117.3	642.5	-7.9	392	8189	0.00	2.55	0.00	0.000	4	0.000	0.064	2506	737	3093
8212	-0.81	-117.3	645.1	-9.4	393	8217	0.00	2.50	0.00	0.000	6	0.000	0.054	2506	2124	3093
8528	-0.81	-117.3	671.7	-5.6	408	8529	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2124	3093
8837	-0.81	-117.3	693.4	-6.4	423	8839	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2124	3093
9147	-0.81	-117.3	704.7	-3.9	438	9152	0.00	2.55	0.00	0.000	4	0.000	0.067	2506	738	3093
9198	-0.81	-117.3	707.6	-6.0	440	9202	0.00	2.50	0.00	0.000	6	0.000	0.058	2506	2117	3093
9514	-0.81	-117.3	726.8	-8.1	455	9515	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2117	3093
9823	-0.81	-117.3	744.4	-5.0	470	9827	0.00	2.53	0.00	0.000	4	0.000	0.071	2506	746	3093
9935	-0.81	-117.3	751.6	-6.7	475	9939	0.00	2.50	0.00	0.000	6	0.000	0.062	2506	2110	3093
10257	-0.81	-117.3	771.2	-5.1	491	10261	0.00	2.55	0.00	0.000	4	0.000	0.076	2506	747	3092
10286	-0.81	-117.3	772.9	-5.7	492	10290	0.00	2.47	0.00	0.000	6	0.000	0.064	2506	2088	3092
10602	-0.81	-117.3	794.6	-6.5	507	10603	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2089	3091
10846	end dive: BOTTOM_OBSTACLE_DETECTED
state	10846	begin apogee
10854	-0.33	0.0	816.3	9.2	519	10958	0.57	0.00	101.15	1.410	6	0.091	0.000	2625	2088	2620
10959	end apogee: CONTROL_FINISHED_OK
state	10959	begin climb
10962	1.30	117.3	820.7	0.0	524	11070	1.65	0.00	100.65	1.384	6	0.073	0.000	2977	2089	2140
11379	1.31	118.6	786.4	7.9	545	11384	0.00	2.67	0.00	0.000	4	0.000	0.081	2977	3505	2139
11525	1.31	118.6	773.0	10.1	551	11531	0.00	2.62	0.00	0.000	6	0.000	0.070	2977	2106	2138
11841	1.32	124.7	746.4	7.7	567	11850	0.00	0.00	7.30	1.141	6	0.000	0.000	2976	2106	2111
12150	1.32	125.3	719.5	8.0	582	12154	0.00	2.67	0.00	0.000	4	0.000	0.081	2976	3511	2110
12216	1.32	125.3	714.0	8.3	585	12221	0.00	2.62	0.00	0.000	6	0.000	0.068	2977	2105	2109
12539	1.32	126.0	685.9	8.0	601	12544	0.00	2.65	0.00	0.000	4	0.000	0.077	2976	3509	2108
12624	1.32	126.0	678.6	8.5	605	12629	0.00	2.50	0.00	0.000	6	0.000	0.063	2976	2141	2107
12952	1.32	126.0	652.7	8.9	621	12957	0.00	2.58	0.00	0.000	4	0.000	0.072	2976	3511	2106
12980	1.32	126.0	650.2	8.8	622	12984	0.00	2.50	0.00	0.000	6	0.000	0.060	2976	2148	2106
13296	1.34	141.2	627.4	7.3	637	13317	0.00	2.62	14.35	1.230	4	0.000	0.069	2976	3511	2044
13396	1.34	141.2	618.1	10.9	641	13401	0.00	2.45	0.00	0.000	6	0.000	0.056	2977	2172	2044
13715	1.34	141.2	585.2	11.7	656	13716	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2154	2043
14022	1.34	141.2	553.2	9.8	671	14026	0.00	2.47	0.00	0.000	4	0.000	0.065	2976	3509	2044
14062	1.34	141.2	549.0	11.0	673	14066	0.00	2.40	0.00	0.000	6	0.000	0.052	2977	2175	2044
14388	1.34	141.2	520.5	8.3	689	14392	0.00	2.47	0.00	0.000	4	0.000	0.064	2976	3514	2045
14422	1.34	141.2	517.4	8.8	690	14428	0.00	2.40	0.00	0.000	6	0.000	0.052	2976	2183	2045
14738	1.34	141.2	483.6	11.2	706	14739	0.00	0.00	0.00	0.000	6	0.000	0.000	2977	2165	2045
15047	1.34	141.2	452.1	10.3	721	15051	0.00	2.45	0.00	0.000	4	0.000	0.062	2977	3516	2047
15108	1.34	141.2	445.6	10.9	723	15114	0.00	2.38	0.00	0.000	6	0.000	0.051	2977	2193	2047
15424	1.34	141.2	416.9	9.2	739	15426	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2177	2047
15733	1.34	141.2	388.4	8.5	754	15737	0.00	2.42	0.00	0.000	4	0.000	0.063	2976	3512	2048
15773	1.34	141.2	384.8	9.8	756	15777	0.00	2.35	0.00	0.000	6	0.000	0.051	2977	2197	2048
16100	1.34	141.2	353.6	9.2	772	16101	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2180	2048
16409	1.34	141.2	325.2	9.1	787	16413	0.00	2.40	0.00	0.000	4	0.000	0.061	2977	3510	2049
16441	1.34	141.2	322.1	9.6	788	16447	0.00	2.35	0.00	0.000	6	0.000	0.050	2977	2196	2049
16758	1.34	141.2	296.8	8.1	804	16762	0.00	2.40	0.00	0.000	4	0.000	0.061	2977	3514	2049
16785	1.34	141.2	294.2	8.7	805	16789	0.00	2.33	0.00	0.000	6	0.000	0.049	2977	2211	2049
17101	1.34	141.2	266.9	9.0	820	17105	0.00	2.72	0.00	0.000	4	0.000	0.062	2977	687	2049
17128	1.34	141.2	264.2	11.7	821	17132	0.00	2.75	0.00	0.000	6	0.000	0.053	2977	2223	2050
17445	1.39	141.2	234.0	9.8	836	17447	0.12	0.00	0.00	0.000	6	0.051	0.000	3014	2222	2051
17754	1.32	141.2	196.9	12.4	851	17759	0.15	2.80	0.00	0.000	4	0.089	0.062	2981	678	2051
17776	1.32	141.2	194.0	12.6	852	17781	0.00	2.75	0.00	0.000	6	0.000	0.052	2981	2214	2051
18097	1.32	141.2	160.0	10.5	868	18098	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2214	2051
18407	1.36	141.2	129.8	9.1	883	18408	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2214	2051
18716	1.40	163.2	106.2	7.0	898	18743	0.10	2.38	20.75	0.844	4	0.056	0.058	3013	3516	1953
18760	1.35	163.2	102.2	9.7	900	18764	0.00	2.38	0.00	0.000	6	0.000	0.048	3012	2202	1953
19082	1.35	163.2	70.2	11.2	916	19086	0.00	2.72	0.00	0.000	4	0.000	0.062	3013	683	1953
19148	1.35	163.2	62.1	11.3	919	19153	0.00	2.70	0.00	0.000	6	0.000	0.051	3013	2193	1952
19472	1.35	163.2	27.3	11.3	935	19476	0.00	2.35	0.00	0.000	4	0.000	0.057	3012	3513	1953
19584	1.35	163.2	14.2	10.2	940	19588	0.00	2.33	0.00	0.000	6	0.000	0.048	3013	2207	1953
19737	end climb: SURFACE_DEPTH_REACHED
state	19737	begin surface coast
19760	end surface coast: CONTROL_FINISHED_OK
state	19760	begin surface