Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 233 * 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 233 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 390 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3851 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2620 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0016 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -80961.305 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 432 AH0_24V 91.800003 SEABIRD_T_G 0.0043890956

SPEED_FACTOR 1 PITCH_MAX 3760 AH0_10V 61.200001 SEABIRD_T_H 0.00065287336

RHO 1.023 C_PITCH 2700 PRESSURE_YINT -24.477776 SEABIRD_T_I 2.754709e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 3.0424237e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.354986

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1996267

KALMAN_USE 0 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 -80961.305

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 440

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 5 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 T_WATCHDOG 10

C_PITCH 2700 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 0 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 33 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 19 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.354986 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1996267 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0023424325 VBD_MAX 3851

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.0002635108 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043890956 VBD_MIN 390

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065287336 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.754709e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 233 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 185107,6221.630,-1100.876,29,1.1,29,-10.6 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,-0.028

_SM_DEPTHo 0.82 KALMAN_X -51308.0,16.3,787.7,44165.8,-5937.4

_SM_ANGLEo -56.5 KALMAN_Y -6985.0,103.0,1135.9,28705.4,334.5

GPS2 185720,6221.669,-1100.899,12,1.8,17,-10.6 MHEAD_RNG_PITCHd_Wd 108.0,86211,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.013082 ALTIM_BOTTOM_PING 725.1,95.1

SM_CCo 20018,209.43,0.769,0,0,390,547.02 _24V_AH 23.7,45.211

SM_GC 0.78,0.00,0.00,209.43,0.000,0.000,0.769,419,2159,390,-10.49,0.28,547.02 _10V_AH 10.1,21.981

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50567,963

TT8_MAMPS 0.029146 CAP_FILE_SIZE 148030,0

HUMID 1679 CFSIZE 254472192,236384256

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,19,0,0

XPDR_PINGS 577 GPS 290708,003638,6222.194,-1057.812,36,1.2,36,-10.6

ALTIM_TOP_PING 18.6,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 82.59 SBE_CT 660 24 375.68

Roll_motor 162 77 298.67 SBE_O2 717 19 322.89

VBD_pump_during_apogee 269 1383 8841.79 WL_BB2F 564 105 1403.73

VBD_pump_during_surface 209 768 3814.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.19 nil 0 0 0.00

Iridium_during_connect 31 160 119.92 nil 0 0 0.00

Iridium_during_xfer 162 223 860.14

Transponder_ping 150 420 1500.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.88

TT8 1784 19 356.78

LPSleep 15508 2 343.02

TT8_Active 682 19 136.45

TT8_Sampling 2038 39 819.59

TT8_CF8 583 45 269.99

TT8_Kalman 33 81 27.56

Analog_circuits 1688 12 204.62

GPS_charging 0 0 0.00

Compass 1993 8 161.06

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 0 135 0.00 0.00 -108.38 0.000 6 0.000 0.000 422 2128 3100

139 -1.30 -117.3 2.5 -1.8 5 154 10.30 2.47 0.00 0.000 4 0.137 0.053 2409 752 3098

216 -0.96 -117.3 16.5 -13.7 7 224 0.40 2.50 0.00 0.000 6 0.094 0.046 2490 2161 3098

535 -0.88 -117.3 47.3 -9.4 23 539 0.00 2.53 0.00 0.000 4 0.000 0.054 2490 752 3098

644 -0.78 -117.3 57.4 -9.6 28 649 0.17 2.42 0.00 0.000 6 0.089 0.045 2528 2123 3098

972 -0.78 -117.3 84.2 -8.3 44 976 0.00 2.55 0.00 0.000 4 0.000 0.057 2528 3553 3098

1036 -0.78 -117.3 89.8 -9.3 47 1040 0.00 2.50 0.00 0.000 6 0.000 0.044 2527 2132 3098

1364 -0.78 -117.3 116.7 -7.7 63 1368 0.00 2.58 0.00 0.000 4 0.000 0.056 2527 3551 3099

1386 -0.78 -117.3 118.5 -7.3 64 1390 0.00 2.55 0.00 0.000 6 0.000 0.045 2528 2113 3099

1708 -0.78 -117.3 141.7 -6.7 80 1709 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2113 3099

2016 -0.78 -117.3 162.1 -6.7 95 2017 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2112 3099

2325 -0.78 -117.3 183.7 -7.0 110 2330 0.00 2.62 0.00 0.000 4 0.000 0.059 2528 3563 3098

2337 -0.78 -117.3 184.7 -7.3 110 2343 0.00 2.58 0.00 0.000 6 0.000 0.048 2528 2113 3098

2654 -0.83 -117.3 208.4 -7.7 126 2659 0.00 2.62 0.00 0.000 4 0.000 0.059 2528 3561 3098

2699 -0.83 -117.3 212.1 -7.8 128 2703 0.00 2.58 0.00 0.000 6 0.000 0.051 2528 2120 3098

3021 -0.88 -117.3 236.4 -7.5 144 3026 0.00 2.62 0.00 0.000 4 0.000 0.061 2527 3556 3097

3071 -0.88 -117.3 240.7 -8.4 146 3076 0.00 2.55 0.00 0.000 6 0.000 0.051 2528 2130 3097

3388 -0.92 -117.3 264.2 -7.4 161 3393 0.12 2.60 0.00 0.000 4 0.053 0.061 2490 3556 3097

3417 -0.85 -117.3 266.7 -8.6 162 3422 0.10 2.55 0.00 0.000 6 0.101 0.052 2510 2138 3096

3733 -0.85 -117.3 291.1 -7.5 177 3737 0.00 2.58 0.00 0.000 4 0.000 0.061 2511 3553 3096

3743 -0.85 -117.3 292.0 -7.7 177 3749 0.00 2.55 0.00 0.000 6 0.000 0.052 2511 2134 3096

4060 -0.85 -117.3 316.2 -7.4 193 4061 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2134 3096

4369 -0.85 -117.3 338.6 -7.2 208 4370 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2134 3096

4679 -0.85 -117.3 361.6 -7.5 223 4683 0.00 2.50 0.00 0.000 4 0.000 0.064 2511 746 3095

4723 -0.85 -117.3 365.4 -8.1 225 4727 0.00 2.47 0.00 0.000 6 0.000 0.051 2511 2125 3095

5044 -0.85 -117.3 390.3 -7.9 241 5049 0.00 2.53 0.00 0.000 4 0.000 0.065 2511 744 3095

5095 -0.85 -117.3 394.6 -8.4 243 5099 0.00 2.47 0.00 0.000 6 0.000 0.053 2511 2120 3095

5411 -0.85 -117.3 419.2 -7.6 258 5412 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2119 3094

5720 -0.85 -117.3 441.7 -7.2 273 5725 0.00 2.50 0.00 0.000 4 0.000 0.064 2511 746 3094

5755 -0.85 -117.3 444.4 -7.6 274 5761 0.00 2.47 0.00 0.000 6 0.000 0.053 2511 2123 3094

6071 -0.85 -117.3 466.1 -6.6 290 6075 0.00 2.50 0.00 0.000 4 0.000 0.064 2510 746 3094

6128 -0.85 -117.3 469.9 -7.2 292 6134 0.00 2.42 0.00 0.000 6 0.000 0.052 2511 2101 3093

6445 -0.85 -117.3 489.5 -6.0 308 6446 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2100 3093

6753 -0.85 -117.3 508.0 -6.1 323 6754 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2101 3093

7063 -0.85 -117.3 527.6 -6.3 338 7064 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 2101 3093

7372 -0.85 -117.3 547.6 -6.7 353 7376 0.00 2.62 0.00 0.000 4 0.000 0.065 2512 3556 3093

7382 -0.85 -117.3 548.4 -6.8 353 7388 0.00 2.62 0.00 0.000 6 0.000 0.056 2511 2097 3093

7699 -0.85 -117.3 571.4 -7.7 369 7700 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2078 3093

8007 -0.85 -117.3 597.5 -8.6 384 8008 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2078 3093

8316 -0.85 -117.3 623.9 -8.7 399 8321 0.00 2.67 0.00 0.000 4 0.000 0.064 2511 3556 3092

8344 -0.85 -117.3 626.5 -9.9 400 8348 0.00 2.62 0.00 0.000 6 0.000 0.054 2510 2089 3092

8660 -0.85 -117.3 653.5 -8.5 415 8665 0.00 2.67 0.00 0.000 4 0.000 0.064 2511 3556 3092

8824 -0.85 -117.3 668.2 -9.0 422 8829 0.00 2.58 0.00 0.000 6 0.000 0.053 2511 2114 3091

9141 -0.85 -117.3 692.2 -7.5 437 9145 0.00 2.45 0.00 0.000 4 0.000 0.064 2511 746 3091

9180 -0.85 -117.3 695.4 -8.1 439 9185 0.00 2.40 0.00 0.000 6 0.000 0.053 2511 2088 3091

9508 -0.85 -117.3 721.0 -7.5 455 9509 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2088 3091

9818 -0.90 -117.3 737.3 -4.7 470 9822 0.00 2.47 0.00 0.000 4 0.000 0.065 2511 741 3091

9975 -0.90 -117.3 743.8 -4.3 477 9979 0.00 2.47 0.00 0.000 6 0.000 0.056 2511 2109 3091

10296 -0.90 -117.3 762.6 -6.5 493 10301 0.00 2.50 0.00 0.000 4 0.000 0.068 2511 747 3091

10487 -0.90 -117.3 776.5 -7.3 501 10493 0.00 2.40 0.00 0.000 6 0.000 0.058 2511 2063 3091

10804 -0.94 -117.3 791.3 -3.7 517 10809 0.00 2.72 0.00 0.000 4 0.000 0.071 2511 3560 3091

10939 -0.94 -117.3 798.0 -5.3 523 10943 0.00 2.65 0.00 0.000 6 0.000 0.058 2511 2097 3090

11195 end dive: BOTTOM_OBSTACLE_DETECTED

state 11196 begin apogee

11203 -0.33 0.0 811.1 5.3 536 11306 0.55 0.00 100.68 1.384 6 0.084 0.000 2625 2078 2620

11307 end apogee: CONTROL_FINISHED_OK

state 11307 begin climb

11310 1.30 117.3 813.4 0.0 541 11416 1.62 0.00 101.18 1.355 6 0.070 0.000 2976 2077 2141

11727 1.26 117.3 781.9 8.3 561 11731 0.00 2.67 0.00 0.000 4 0.000 0.076 2976 3504 2139

11817 1.21 117.3 772.6 9.2 565 11822 0.00 2.55 0.00 0.000 6 0.000 0.063 2977 2127 2139

12139 1.21 117.3 741.2 9.3 581 12143 0.00 2.67 0.00 0.000 4 0.000 0.077 2977 684 2138

12183 1.21 117.3 737.0 9.2 583 12188 0.00 2.65 0.00 0.000 6 0.000 0.066 2976 2116 2138

12504 1.34 194.2 719.8 4.5 599 12572 0.00 0.00 65.22 1.342 6 0.000 0.000 2976 2116 1828

12876 1.34 194.2 693.6 8.6 617 12878 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2116 1826

13185 1.34 194.2 663.7 9.6 632 13189 0.00 2.55 0.00 0.000 4 0.000 0.069 2976 3514 1825

13251 1.34 194.2 656.8 10.9 635 13256 0.00 2.58 0.00 0.000 6 0.000 0.058 2976 2107 1825

13573 1.34 194.2 625.6 9.6 651 13578 0.00 2.60 0.00 0.000 4 0.000 0.067 2976 3509 1825

13629 1.34 194.2 619.8 9.7 653 13635 0.00 2.53 0.00 0.000 6 0.000 0.058 2976 2122 1825

13945 1.34 194.2 589.6 9.5 669 13946 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2121 1825

14255 1.34 194.2 558.2 9.8 684 14259 0.00 2.55 0.00 0.000 4 0.000 0.064 2976 3509 1825

14296 1.34 194.2 554.0 10.6 686 14300 0.00 2.47 0.00 0.000 6 0.000 0.053 2977 2133 1825

14622 1.34 194.2 521.7 10.0 702 14624 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2133 1826

14932 1.34 194.2 490.2 10.3 717 14936 0.00 2.53 0.00 0.000 4 0.000 0.061 2976 3511 1827

14965 1.38 194.2 486.4 11.2 718 14972 0.10 2.47 0.00 0.000 6 0.056 0.052 3007 2137 1827

15281 1.33 194.2 446.2 12.8 734 15282 0.00 0.00 0.00 0.000 6 0.000 0.000 3007 2138 1827

15591 1.27 194.2 407.4 12.4 749 15593 0.15 0.00 0.00 0.000 6 0.091 0.000 2978 2138 1827

15900 1.31 194.2 375.6 10.1 764 15904 0.00 2.50 0.00 0.000 4 0.000 0.060 2978 3515 1828

15945 1.36 194.2 370.9 9.8 766 15949 0.00 2.45 0.00 0.000 6 0.000 0.051 2978 2147 1827

16266 1.40 194.2 339.4 9.4 782 16268 0.12 0.00 0.00 0.000 6 0.051 0.000 3015 2147 1828

16575 1.33 194.2 304.6 11.1 797 16580 0.15 2.50 0.00 0.000 4 0.091 0.061 2985 3512 1828

16615 1.33 194.2 300.6 10.1 799 16620 0.00 2.42 0.00 0.000 6 0.000 0.050 2985 2152 1828

16942 1.33 194.2 271.0 9.0 815 16943 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2151 1829

17251 1.33 194.2 242.7 9.0 830 17256 0.00 2.47 0.00 0.000 4 0.000 0.059 2985 3512 1829

17296 1.33 194.2 238.2 9.7 832 17301 0.00 2.42 0.00 0.000 6 0.000 0.050 2985 2157 1829

17618 1.33 194.2 209.4 8.7 848 17622 0.00 2.62 0.00 0.000 4 0.000 0.062 2985 689 1829

17645 1.33 194.2 206.8 9.2 849 17649 0.00 2.65 0.00 0.000 6 0.000 0.052 2985 2176 1829

17961 1.33 194.2 179.1 8.7 864 17962 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2176 1829

18270 1.33 194.2 150.8 9.1 879 18271 0.00 0.00 0.00 0.000 6 0.000 0.000 2986 2176 1830

18579 1.33 194.2 124.8 8.2 894 18581 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2176 1830

18890 1.37 194.2 99.8 8.6 909 18894 0.00 2.70 0.00 0.000 4 0.000 0.061 2985 691 1830

18930 1.41 194.2 96.2 8.6 911 18935 0.10 2.62 0.00 0.000 6 0.055 0.051 3017 2165 1830

19258 1.36 194.2 62.5 10.4 927 19262 0.00 2.40 0.00 0.000 4 0.000 0.058 3017 3515 1830

19325 1.31 194.2 54.8 10.1 930 19330 0.17 2.38 0.00 0.000 6 0.087 0.048 2981 2184 1831

19647 1.39 194.2 28.7 8.6 946 19648 0.00 0.00 0.00 0.000 6 0.000 0.000 2981 2184 1830

19957 1.48 196.3 3.9 7.9 961 19962 0.17 0.00 2.55 0.329 6 0.044 0.000 3032 2184 1819

19973 end climb: SURFACE_DEPTH_REACHED

state 19973 begin surface coast

19995 end surface coast: CONTROL_FINISHED_OK

state 19995 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	233	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	390	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3851	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2620	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0016	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-80961.305	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	432	AH0_24V	91.800003	SEABIRD_T_G	0.0043890956
SPEED_FACTOR	1	PITCH_MAX	3760	AH0_10V	61.200001	SEABIRD_T_H	0.00065287336
RHO	1.023	C_PITCH	2700	PRESSURE_YINT	-24.477776	SEABIRD_T_I	2.754709e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	3.0424237e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.354986
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1996267
KALMAN_USE	0	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	185107,6221.630,-1100.876,29,1.1,29,-10.6	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,-0.028
_SM_DEPTHo	0.82	KALMAN_X	-51308.0,16.3,787.7,44165.8,-5937.4
_SM_ANGLEo	-56.5	KALMAN_Y	-6985.0,103.0,1135.9,28705.4,334.5
GPS2	185720,6221.669,-1100.899,12,1.8,17,-10.6	MHEAD_RNG_PITCHd_Wd	108.0,86211,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.2,1.013082	ALTIM_BOTTOM_PING	725.1,95.1
SM_CCo	20018,209.43,0.769,0,0,390,547.02	_24V_AH	23.7,45.211
SM_GC	0.78,0.00,0.00,209.43,0.000,0.000,0.769,419,2159,390,-10.49,0.28,547.02	_10V_AH	10.1,21.981
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50567,963
TT8_MAMPS	0.029146	CAP_FILE_SIZE	148030,0
HUMID	1679	CFSIZE	254472192,236384256
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,19,0,0
XPDR_PINGS	577	GPS	290708,003638,6222.194,-1057.812,36,1.2,36,-10.6
ALTIM_TOP_PING	18.6,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	82.59	SBE_CT	660	24	375.68
Roll_motor	162	77	298.67	SBE_O2	717	19	322.89
VBD_pump_during_apogee	269	1383	8841.79	WL_BB2F	564	105	1403.73
VBD_pump_during_surface	209	768	3814.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.19	nil	0	0	0.00
Iridium_during_connect	31	160	119.92	nil	0	0	0.00
Iridium_during_xfer	162	223	860.14
Transponder_ping	150	420	1500.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.88
TT8	1784	19	356.78
LPSleep	15508	2	343.02
TT8_Active	682	19	136.45
TT8_Sampling	2038	39	819.59
TT8_CF8	583	45	269.99
TT8_Kalman	33	81	27.56
Analog_circuits	1688	12	204.62
GPS_charging	0	0	0.00
Compass	1993	8	161.06
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	135	0.00	0.00	-108.38	0.000	6	0.000	0.000	422	2128	3100
139	-1.30	-117.3	2.5	-1.8	5	154	10.30	2.47	0.00	0.000	4	0.137	0.053	2409	752	3098
216	-0.96	-117.3	16.5	-13.7	7	224	0.40	2.50	0.00	0.000	6	0.094	0.046	2490	2161	3098
535	-0.88	-117.3	47.3	-9.4	23	539	0.00	2.53	0.00	0.000	4	0.000	0.054	2490	752	3098
644	-0.78	-117.3	57.4	-9.6	28	649	0.17	2.42	0.00	0.000	6	0.089	0.045	2528	2123	3098
972	-0.78	-117.3	84.2	-8.3	44	976	0.00	2.55	0.00	0.000	4	0.000	0.057	2528	3553	3098
1036	-0.78	-117.3	89.8	-9.3	47	1040	0.00	2.50	0.00	0.000	6	0.000	0.044	2527	2132	3098
1364	-0.78	-117.3	116.7	-7.7	63	1368	0.00	2.58	0.00	0.000	4	0.000	0.056	2527	3551	3099
1386	-0.78	-117.3	118.5	-7.3	64	1390	0.00	2.55	0.00	0.000	6	0.000	0.045	2528	2113	3099
1708	-0.78	-117.3	141.7	-6.7	80	1709	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2113	3099
2016	-0.78	-117.3	162.1	-6.7	95	2017	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2112	3099
2325	-0.78	-117.3	183.7	-7.0	110	2330	0.00	2.62	0.00	0.000	4	0.000	0.059	2528	3563	3098
2337	-0.78	-117.3	184.7	-7.3	110	2343	0.00	2.58	0.00	0.000	6	0.000	0.048	2528	2113	3098
2654	-0.83	-117.3	208.4	-7.7	126	2659	0.00	2.62	0.00	0.000	4	0.000	0.059	2528	3561	3098
2699	-0.83	-117.3	212.1	-7.8	128	2703	0.00	2.58	0.00	0.000	6	0.000	0.051	2528	2120	3098
3021	-0.88	-117.3	236.4	-7.5	144	3026	0.00	2.62	0.00	0.000	4	0.000	0.061	2527	3556	3097
3071	-0.88	-117.3	240.7	-8.4	146	3076	0.00	2.55	0.00	0.000	6	0.000	0.051	2528	2130	3097
3388	-0.92	-117.3	264.2	-7.4	161	3393	0.12	2.60	0.00	0.000	4	0.053	0.061	2490	3556	3097
3417	-0.85	-117.3	266.7	-8.6	162	3422	0.10	2.55	0.00	0.000	6	0.101	0.052	2510	2138	3096
3733	-0.85	-117.3	291.1	-7.5	177	3737	0.00	2.58	0.00	0.000	4	0.000	0.061	2511	3553	3096
3743	-0.85	-117.3	292.0	-7.7	177	3749	0.00	2.55	0.00	0.000	6	0.000	0.052	2511	2134	3096
4060	-0.85	-117.3	316.2	-7.4	193	4061	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2134	3096
4369	-0.85	-117.3	338.6	-7.2	208	4370	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2134	3096
4679	-0.85	-117.3	361.6	-7.5	223	4683	0.00	2.50	0.00	0.000	4	0.000	0.064	2511	746	3095
4723	-0.85	-117.3	365.4	-8.1	225	4727	0.00	2.47	0.00	0.000	6	0.000	0.051	2511	2125	3095
5044	-0.85	-117.3	390.3	-7.9	241	5049	0.00	2.53	0.00	0.000	4	0.000	0.065	2511	744	3095
5095	-0.85	-117.3	394.6	-8.4	243	5099	0.00	2.47	0.00	0.000	6	0.000	0.053	2511	2120	3095
5411	-0.85	-117.3	419.2	-7.6	258	5412	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2119	3094
5720	-0.85	-117.3	441.7	-7.2	273	5725	0.00	2.50	0.00	0.000	4	0.000	0.064	2511	746	3094
5755	-0.85	-117.3	444.4	-7.6	274	5761	0.00	2.47	0.00	0.000	6	0.000	0.053	2511	2123	3094
6071	-0.85	-117.3	466.1	-6.6	290	6075	0.00	2.50	0.00	0.000	4	0.000	0.064	2510	746	3094
6128	-0.85	-117.3	469.9	-7.2	292	6134	0.00	2.42	0.00	0.000	6	0.000	0.052	2511	2101	3093
6445	-0.85	-117.3	489.5	-6.0	308	6446	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2100	3093
6753	-0.85	-117.3	508.0	-6.1	323	6754	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2101	3093
7063	-0.85	-117.3	527.6	-6.3	338	7064	0.00	0.00	0.00	0.000	6	0.000	0.000	2510	2101	3093
7372	-0.85	-117.3	547.6	-6.7	353	7376	0.00	2.62	0.00	0.000	4	0.000	0.065	2512	3556	3093
7382	-0.85	-117.3	548.4	-6.8	353	7388	0.00	2.62	0.00	0.000	6	0.000	0.056	2511	2097	3093
7699	-0.85	-117.3	571.4	-7.7	369	7700	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2078	3093
8007	-0.85	-117.3	597.5	-8.6	384	8008	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2078	3093
8316	-0.85	-117.3	623.9	-8.7	399	8321	0.00	2.67	0.00	0.000	4	0.000	0.064	2511	3556	3092
8344	-0.85	-117.3	626.5	-9.9	400	8348	0.00	2.62	0.00	0.000	6	0.000	0.054	2510	2089	3092
8660	-0.85	-117.3	653.5	-8.5	415	8665	0.00	2.67	0.00	0.000	4	0.000	0.064	2511	3556	3092
8824	-0.85	-117.3	668.2	-9.0	422	8829	0.00	2.58	0.00	0.000	6	0.000	0.053	2511	2114	3091
9141	-0.85	-117.3	692.2	-7.5	437	9145	0.00	2.45	0.00	0.000	4	0.000	0.064	2511	746	3091
9180	-0.85	-117.3	695.4	-8.1	439	9185	0.00	2.40	0.00	0.000	6	0.000	0.053	2511	2088	3091
9508	-0.85	-117.3	721.0	-7.5	455	9509	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2088	3091
9818	-0.90	-117.3	737.3	-4.7	470	9822	0.00	2.47	0.00	0.000	4	0.000	0.065	2511	741	3091
9975	-0.90	-117.3	743.8	-4.3	477	9979	0.00	2.47	0.00	0.000	6	0.000	0.056	2511	2109	3091
10296	-0.90	-117.3	762.6	-6.5	493	10301	0.00	2.50	0.00	0.000	4	0.000	0.068	2511	747	3091
10487	-0.90	-117.3	776.5	-7.3	501	10493	0.00	2.40	0.00	0.000	6	0.000	0.058	2511	2063	3091
10804	-0.94	-117.3	791.3	-3.7	517	10809	0.00	2.72	0.00	0.000	4	0.000	0.071	2511	3560	3091
10939	-0.94	-117.3	798.0	-5.3	523	10943	0.00	2.65	0.00	0.000	6	0.000	0.058	2511	2097	3090
11195	end dive: BOTTOM_OBSTACLE_DETECTED
state	11196	begin apogee
11203	-0.33	0.0	811.1	5.3	536	11306	0.55	0.00	100.68	1.384	6	0.084	0.000	2625	2078	2620
11307	end apogee: CONTROL_FINISHED_OK
state	11307	begin climb
11310	1.30	117.3	813.4	0.0	541	11416	1.62	0.00	101.18	1.355	6	0.070	0.000	2976	2077	2141
11727	1.26	117.3	781.9	8.3	561	11731	0.00	2.67	0.00	0.000	4	0.000	0.076	2976	3504	2139
11817	1.21	117.3	772.6	9.2	565	11822	0.00	2.55	0.00	0.000	6	0.000	0.063	2977	2127	2139
12139	1.21	117.3	741.2	9.3	581	12143	0.00	2.67	0.00	0.000	4	0.000	0.077	2977	684	2138
12183	1.21	117.3	737.0	9.2	583	12188	0.00	2.65	0.00	0.000	6	0.000	0.066	2976	2116	2138
12504	1.34	194.2	719.8	4.5	599	12572	0.00	0.00	65.22	1.342	6	0.000	0.000	2976	2116	1828
12876	1.34	194.2	693.6	8.6	617	12878	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2116	1826
13185	1.34	194.2	663.7	9.6	632	13189	0.00	2.55	0.00	0.000	4	0.000	0.069	2976	3514	1825
13251	1.34	194.2	656.8	10.9	635	13256	0.00	2.58	0.00	0.000	6	0.000	0.058	2976	2107	1825
13573	1.34	194.2	625.6	9.6	651	13578	0.00	2.60	0.00	0.000	4	0.000	0.067	2976	3509	1825
13629	1.34	194.2	619.8	9.7	653	13635	0.00	2.53	0.00	0.000	6	0.000	0.058	2976	2122	1825
13945	1.34	194.2	589.6	9.5	669	13946	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2121	1825
14255	1.34	194.2	558.2	9.8	684	14259	0.00	2.55	0.00	0.000	4	0.000	0.064	2976	3509	1825
14296	1.34	194.2	554.0	10.6	686	14300	0.00	2.47	0.00	0.000	6	0.000	0.053	2977	2133	1825
14622	1.34	194.2	521.7	10.0	702	14624	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2133	1826
14932	1.34	194.2	490.2	10.3	717	14936	0.00	2.53	0.00	0.000	4	0.000	0.061	2976	3511	1827
14965	1.38	194.2	486.4	11.2	718	14972	0.10	2.47	0.00	0.000	6	0.056	0.052	3007	2137	1827
15281	1.33	194.2	446.2	12.8	734	15282	0.00	0.00	0.00	0.000	6	0.000	0.000	3007	2138	1827
15591	1.27	194.2	407.4	12.4	749	15593	0.15	0.00	0.00	0.000	6	0.091	0.000	2978	2138	1827
15900	1.31	194.2	375.6	10.1	764	15904	0.00	2.50	0.00	0.000	4	0.000	0.060	2978	3515	1828
15945	1.36	194.2	370.9	9.8	766	15949	0.00	2.45	0.00	0.000	6	0.000	0.051	2978	2147	1827
16266	1.40	194.2	339.4	9.4	782	16268	0.12	0.00	0.00	0.000	6	0.051	0.000	3015	2147	1828
16575	1.33	194.2	304.6	11.1	797	16580	0.15	2.50	0.00	0.000	4	0.091	0.061	2985	3512	1828
16615	1.33	194.2	300.6	10.1	799	16620	0.00	2.42	0.00	0.000	6	0.000	0.050	2985	2152	1828
16942	1.33	194.2	271.0	9.0	815	16943	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	2151	1829
17251	1.33	194.2	242.7	9.0	830	17256	0.00	2.47	0.00	0.000	4	0.000	0.059	2985	3512	1829
17296	1.33	194.2	238.2	9.7	832	17301	0.00	2.42	0.00	0.000	6	0.000	0.050	2985	2157	1829
17618	1.33	194.2	209.4	8.7	848	17622	0.00	2.62	0.00	0.000	4	0.000	0.062	2985	689	1829
17645	1.33	194.2	206.8	9.2	849	17649	0.00	2.65	0.00	0.000	6	0.000	0.052	2985	2176	1829
17961	1.33	194.2	179.1	8.7	864	17962	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	2176	1829
18270	1.33	194.2	150.8	9.1	879	18271	0.00	0.00	0.00	0.000	6	0.000	0.000	2986	2176	1830
18579	1.33	194.2	124.8	8.2	894	18581	0.00	0.00	0.00	0.000	6	0.000	0.000	2985	2176	1830
18890	1.37	194.2	99.8	8.6	909	18894	0.00	2.70	0.00	0.000	4	0.000	0.061	2985	691	1830
18930	1.41	194.2	96.2	8.6	911	18935	0.10	2.62	0.00	0.000	6	0.055	0.051	3017	2165	1830
19258	1.36	194.2	62.5	10.4	927	19262	0.00	2.40	0.00	0.000	4	0.000	0.058	3017	3515	1830
19325	1.31	194.2	54.8	10.1	930	19330	0.17	2.38	0.00	0.000	6	0.087	0.048	2981	2184	1831
19647	1.39	194.2	28.7	8.6	946	19648	0.00	0.00	0.00	0.000	6	0.000	0.000	2981	2184	1830
19957	1.48	196.3	3.9	7.9	961	19962	0.17	0.00	2.55	0.329	6	0.044	0.000	3032	2184	1819
19973	end climb: SURFACE_DEPTH_REACHED
state	19973	begin surface coast
19995	end surface coast: CONTROL_FINISHED_OK
state	19995	begin surface