Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 243 * 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 243 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -81176.031 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 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 -81176.031

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 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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 20 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 243 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 225038,6228.801,-1021.328,30,1.4,30,-10.3 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.131,0.179

_SM_DEPTHo 0.65 KALMAN_X -47779.6,-1620.6,-251.5,77574.3,3039.9

_SM_ANGLEo -53.3 KALMAN_Y -26065.3,822.2,256.3,61067.7,-5456.5

GPS2 225620,6228.769,-1021.335,14,1.5,31,-10.3 MHEAD_RNG_PITCHd_Wd 46.4,52610,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.1,1.008791 ALTIM_BOTTOM_PING 575.8,49.1

SM_CCo 15552,228.07,0.780,0,0,390,547.02 _24V_AH 23.8,46.895

SM_GC 0.60,0.00,0.00,228.07,0.000,0.000,0.780,418,2130,390,-10.49,-0.57,547.02 _10V_AH 10.1,22.826

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37981,744

TT8_MAMPS 0.029146 CAP_FILE_SIZE 128876,0

HUMID 1681 CFSIZE 254472192,235761664

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 387 GPS 310708,032137,6228.960,-1023.890,41,1.3,46,-10.3

ALTIM_TOP_PING 18.7,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 143 87.05 SBE_CT 510 24 291.54

Roll_motor 170 77 314.26 SBE_O2 549 19 248.50

VBD_pump_during_apogee 239 1273 7267.92 WL_BB2F 484 105 1209.60

VBD_pump_during_surface 228 780 4234.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.57 nil 0 0 0.00

Iridium_during_connect 25 160 98.08 nil 0 0 0.00

Iridium_during_xfer 138 223 733.29

Transponder_ping 101 420 1017.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.95

TT8 1439 19 287.86

LPSleep 11720 2 259.24

TT8_Active 665 19 133.07

TT8_Sampling 1786 39 718.24

TT8_CF8 510 45 236.19

TT8_Kalman 33 81 27.56

Analog_circuits 1566 12 189.81

GPS_charging 0 0 0.00

Compass 1728 8 139.67

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.30 -117.3 0.0 0.0 0 139 0.00 0.00 -110.03 0.000 6 0.000 0.000 421 2179 3100

143 -1.30 -117.3 2.3 -1.6 5 159 10.43 2.47 0.00 0.000 4 0.143 0.054 2406 3560 3099

298 -0.97 -117.3 27.1 -13.8 11 304 0.40 2.53 0.00 0.000 6 0.099 0.047 2487 2144 3098

626 -0.87 -117.3 57.5 -8.5 27 631 0.10 2.50 0.00 0.000 4 0.107 0.057 2507 745 3098

717 -0.82 -117.3 64.2 -6.8 31 721 0.00 2.53 0.00 0.000 6 0.000 0.048 2506 2161 3098

1038 -0.82 -117.3 85.4 -6.2 47 1043 0.00 2.50 0.00 0.000 4 0.000 0.058 2506 3561 3098

1118 -0.76 -117.3 90.9 -7.1 50 1125 0.12 2.53 0.00 0.000 6 0.108 0.046 2529 2136 3098

1436 -0.80 -117.3 112.3 -7.4 66 1440 0.00 2.47 0.00 0.000 4 0.000 0.059 2529 750 3099

1526 -0.80 -117.3 120.2 -8.8 70 1530 0.00 2.47 0.00 0.000 6 0.000 0.049 2530 2134 3099

1848 -0.86 -117.3 147.6 -8.6 86 1852 0.00 2.53 0.00 0.000 4 0.000 0.058 2529 745 3099

1920 -0.86 -117.3 154.6 -10.1 89 1924 0.00 2.47 0.00 0.000 6 0.000 0.050 2530 2132 3099

2237 -0.91 -117.3 182.6 -8.9 104 2242 0.12 2.53 0.00 0.000 4 0.053 0.058 2491 744 3099

2293 -0.83 -117.3 188.0 -9.5 106 2299 0.12 2.45 0.00 0.000 6 0.095 0.050 2517 2117 3098

2609 -0.83 -117.3 213.7 -7.7 122 2613 0.00 2.58 0.00 0.000 4 0.000 0.061 2517 3553 3098

2721 -0.83 -117.3 222.4 -7.2 127 2726 0.00 2.58 0.00 0.000 6 0.000 0.048 2517 2106 3098

3042 -0.83 -117.3 243.1 -6.4 143 3046 0.00 2.42 0.00 0.000 4 0.000 0.061 2517 742 3098

3166 -0.83 -117.3 251.3 -6.9 148 3172 0.00 2.42 0.00 0.000 6 0.000 0.051 2517 2101 3097

3482 -0.83 -117.3 272.8 -6.9 164 3483 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2101 3097

3791 -0.83 -117.3 294.3 -7.0 179 3792 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2101 3097

4101 -0.83 -117.3 317.8 -7.5 194 4102 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2102 3097

4409 -0.83 -117.3 343.6 -8.6 209 4410 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2102 3096

4718 -0.83 -117.3 368.7 -8.4 224 4723 0.00 2.47 0.00 0.000 4 0.000 0.063 2517 742 3096

4792 -0.83 -117.3 374.8 -8.5 227 4797 0.00 2.45 0.00 0.000 6 0.000 0.053 2517 2102 3096

5114 -0.83 -117.3 395.3 -5.6 243 5118 0.00 2.47 0.00 0.000 4 0.000 0.064 2517 745 3096

5215 -0.83 -117.3 400.8 -5.0 247 5221 0.00 2.40 0.00 0.000 6 0.000 0.053 2517 2079 3096

5531 -0.83 -117.3 415.9 -5.1 263 5535 0.00 2.67 0.00 0.000 4 0.000 0.065 2517 3561 3095

5643 -0.83 -117.3 423.0 -6.8 268 5647 0.00 2.65 0.00 0.000 6 0.000 0.051 2517 2077 3095

5965 -0.83 -117.3 443.3 -6.4 284 5966 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2076 3095

6274 -0.87 -117.3 461.3 -5.2 299 6278 0.00 2.40 0.00 0.000 4 0.000 0.065 2517 746 3094

6497 -0.87 -117.3 474.8 -6.3 309 6502 0.00 2.38 0.00 0.000 6 0.000 0.054 2517 2059 3094

6825 -0.91 -117.3 495.7 -6.5 325 6829 0.00 2.70 0.00 0.000 4 0.000 0.067 2517 3560 3094

6932 -0.91 -117.3 504.2 -8.3 330 6936 0.00 2.67 0.00 0.000 6 0.000 0.054 2517 2064 3094

7260 -0.96 -117.3 524.4 -5.2 346 7264 0.12 2.38 0.00 0.000 4 0.057 0.065 2481 748 3093

7323 -0.88 -117.3 528.5 -6.6 349 7328 0.12 2.40 0.00 0.000 6 0.100 0.058 2506 2071 3093

7650 -0.88 -117.3 548.4 -6.3 365 7654 0.00 2.72 0.00 0.000 4 0.000 0.072 2506 3561 3093

7874 -0.88 -117.3 564.4 -6.9 375 7878 0.00 2.62 0.00 0.000 6 0.000 0.058 2506 2107 3092

8195 -0.88 -117.3 585.5 -6.9 391 8200 0.00 2.47 0.00 0.000 4 0.000 0.074 2506 750 3092

8259 -0.88 -117.3 590.2 -7.5 394 8263 0.00 2.47 0.00 0.000 6 0.000 0.063 2506 2104 3091

8586 -0.88 -117.3 611.9 -5.9 410 8587 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2104 3090

8644 end dive: BOTTOM_OBSTACLE_DETECTED

state 8644 begin apogee

8651 -0.33 0.0 615.5 6.0 413 8753 0.57 0.00 99.12 1.274 6 0.093 0.000 2623 2104 2620

8754 end apogee: CONTROL_FINISHED_OK

state 8754 begin climb

8757 1.30 117.3 618.1 0.0 418 8864 1.65 2.72 98.82 1.242 4 0.074 0.077 2977 691 2141

8873 1.24 117.3 610.6 8.7 423 8878 0.00 2.65 0.00 0.000 6 0.000 0.064 2977 2106 2141

9189 1.24 117.3 584.0 8.2 438 9193 0.00 2.62 0.00 0.000 4 0.000 0.075 2977 3514 2139

9200 1.24 117.3 583.0 8.3 438 9206 0.00 2.60 0.00 0.000 6 0.000 0.064 2977 2114 2139

9516 1.26 130.8 558.9 7.4 454 9537 0.00 2.70 12.62 1.132 4 0.000 0.073 2977 3501 2085

9593 1.26 130.8 552.3 9.1 457 9598 0.00 2.58 0.00 0.000 6 0.000 0.064 2976 2120 2085

9910 1.26 130.8 524.7 9.0 472 9914 0.00 2.62 0.00 0.000 4 0.000 0.074 2977 3508 2084

9999 1.26 131.9 516.8 7.9 476 10003 0.00 2.53 0.00 0.000 6 0.000 0.062 2977 2142 2084

10320 1.26 131.9 492.2 8.1 492 10324 0.00 2.58 0.00 0.000 4 0.000 0.073 2977 3508 2083

10330 1.26 131.9 491.2 8.1 492 10336 0.00 2.50 0.00 0.000 6 0.000 0.063 2977 2147 2082

10646 1.31 165.3 468.5 6.5 508 10681 0.00 2.60 29.12 1.182 4 0.000 0.071 2977 3509 1946

10704 1.31 165.3 463.9 8.2 510 10711 0.00 2.53 0.00 0.000 6 0.000 0.060 2977 2150 1946

11020 1.31 165.3 435.9 9.5 526 11025 0.00 2.55 0.00 0.000 4 0.000 0.070 2977 3515 1945

11031 1.31 165.3 434.8 9.6 526 11037 0.00 2.50 0.00 0.000 6 0.000 0.061 2977 2154 1945

11347 1.31 165.3 408.1 8.5 542 11351 0.00 2.53 0.00 0.000 4 0.000 0.067 2977 3512 1944

11369 1.31 165.3 406.0 9.9 543 11373 0.00 2.47 0.00 0.000 6 0.000 0.055 2977 2157 1944

11690 1.36 165.3 375.6 9.7 559 11694 0.00 2.50 0.00 0.000 4 0.000 0.066 2977 3509 1944

11740 1.40 165.3 370.5 9.7 561 11745 0.12 2.42 0.00 0.000 6 0.053 0.055 3013 2167 1944

12057 1.34 165.3 334.0 11.6 576 12061 0.00 2.47 0.00 0.000 4 0.000 0.064 3013 3510 1944

12077 1.28 165.3 331.6 12.1 577 12082 0.17 2.40 0.00 0.000 6 0.091 0.052 2979 2179 1944

12404 1.33 165.3 298.2 10.2 593 12408 0.00 2.45 0.00 0.000 4 0.000 0.063 2979 3514 1944

12415 1.38 165.3 297.0 10.0 593 12421 0.00 2.42 0.00 0.000 6 0.000 0.054 2979 2177 1944

12731 1.43 165.3 266.0 9.3 609 12736 0.15 2.45 0.00 0.000 4 0.050 0.061 3026 3514 1945

12749 1.43 165.3 264.3 9.4 610 12753 0.00 2.40 0.00 0.000 6 0.000 0.052 3026 2182 1945

13076 1.34 165.3 227.3 11.1 626 13078 0.17 0.00 0.00 0.000 6 0.090 0.000 2993 2181 1946

13385 1.34 165.3 198.4 9.5 641 13389 0.00 2.42 0.00 0.000 4 0.000 0.061 2993 3512 1947

13396 1.34 165.3 197.0 9.5 641 13401 0.00 2.40 0.00 0.000 6 0.000 0.053 2992 2186 1947

13713 1.34 165.3 169.4 8.4 656 13717 0.00 2.42 0.00 0.000 4 0.000 0.060 2992 3515 1947

13724 1.34 165.3 168.1 8.5 656 13730 0.00 2.38 0.00 0.000 6 0.000 0.051 2993 2193 1948

14041 1.34 165.3 138.8 9.8 672 14045 0.00 2.40 0.00 0.000 4 0.000 0.060 2993 3511 1948

14069 1.34 165.3 135.6 11.2 673 14073 0.00 2.35 0.00 0.000 6 0.000 0.051 2992 2203 1948

14385 1.34 165.3 105.7 9.2 688 14386 0.00 0.00 0.00 0.000 6 0.000 0.000 2993 2201 1948

14694 1.34 165.3 74.8 10.3 703 14698 0.00 2.40 0.00 0.000 4 0.000 0.058 2992 3515 1948

14712 1.34 165.3 73.0 10.1 704 14716 0.00 2.35 0.00 0.000 6 0.000 0.051 2992 2199 1948

15039 1.34 165.3 43.2 8.6 720 15043 0.00 2.40 0.00 0.000 4 0.000 0.059 2992 3512 1949

15049 1.34 165.3 42.1 8.8 720 15055 0.00 2.33 0.00 0.000 6 0.000 0.050 2992 2212 1949

15366 1.34 165.3 13.2 9.0 736 15371 0.00 2.72 0.00 0.000 4 0.000 0.062 2993 686 1949

15400 1.39 165.3 9.8 9.2 737 15406 0.00 2.65 0.00 0.000 6 0.000 0.049 2993 2187 1950

15507 end climb: SURFACE_DEPTH_REACHED

state 15507 begin surface coast

15529 end surface coast: CONTROL_FINISHED_OK

state 15529 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	243	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-81176.031	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	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	225038,6228.801,-1021.328,30,1.4,30,-10.3	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.131,0.179
_SM_DEPTHo	0.65	KALMAN_X	-47779.6,-1620.6,-251.5,77574.3,3039.9
_SM_ANGLEo	-53.3	KALMAN_Y	-26065.3,822.2,256.3,61067.7,-5456.5
GPS2	225620,6228.769,-1021.335,14,1.5,31,-10.3	MHEAD_RNG_PITCHd_Wd	46.4,52610,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.1,1.008791	ALTIM_BOTTOM_PING	575.8,49.1
SM_CCo	15552,228.07,0.780,0,0,390,547.02	_24V_AH	23.8,46.895
SM_GC	0.60,0.00,0.00,228.07,0.000,0.000,0.780,418,2130,390,-10.49,-0.57,547.02	_10V_AH	10.1,22.826
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37981,744
TT8_MAMPS	0.029146	CAP_FILE_SIZE	128876,0
HUMID	1681	CFSIZE	254472192,235761664
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	387	GPS	310708,032137,6228.960,-1023.890,41,1.3,46,-10.3
ALTIM_TOP_PING	18.7,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	143	87.05	SBE_CT	510	24	291.54
Roll_motor	170	77	314.26	SBE_O2	549	19	248.50
VBD_pump_during_apogee	239	1273	7267.92	WL_BB2F	484	105	1209.60
VBD_pump_during_surface	228	780	4234.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.57	nil	0	0	0.00
Iridium_during_connect	25	160	98.08	nil	0	0	0.00
Iridium_during_xfer	138	223	733.29
Transponder_ping	101	420	1017.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.95
TT8	1439	19	287.86
LPSleep	11720	2	259.24
TT8_Active	665	19	133.07
TT8_Sampling	1786	39	718.24
TT8_CF8	510	45	236.19
TT8_Kalman	33	81	27.56
Analog_circuits	1566	12	189.81
GPS_charging	0	0	0.00
Compass	1728	8	139.67
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.30	-117.3	0.0	0.0	0	139	0.00	0.00	-110.03	0.000	6	0.000	0.000	421	2179	3100
143	-1.30	-117.3	2.3	-1.6	5	159	10.43	2.47	0.00	0.000	4	0.143	0.054	2406	3560	3099
298	-0.97	-117.3	27.1	-13.8	11	304	0.40	2.53	0.00	0.000	6	0.099	0.047	2487	2144	3098
626	-0.87	-117.3	57.5	-8.5	27	631	0.10	2.50	0.00	0.000	4	0.107	0.057	2507	745	3098
717	-0.82	-117.3	64.2	-6.8	31	721	0.00	2.53	0.00	0.000	6	0.000	0.048	2506	2161	3098
1038	-0.82	-117.3	85.4	-6.2	47	1043	0.00	2.50	0.00	0.000	4	0.000	0.058	2506	3561	3098
1118	-0.76	-117.3	90.9	-7.1	50	1125	0.12	2.53	0.00	0.000	6	0.108	0.046	2529	2136	3098
1436	-0.80	-117.3	112.3	-7.4	66	1440	0.00	2.47	0.00	0.000	4	0.000	0.059	2529	750	3099
1526	-0.80	-117.3	120.2	-8.8	70	1530	0.00	2.47	0.00	0.000	6	0.000	0.049	2530	2134	3099
1848	-0.86	-117.3	147.6	-8.6	86	1852	0.00	2.53	0.00	0.000	4	0.000	0.058	2529	745	3099
1920	-0.86	-117.3	154.6	-10.1	89	1924	0.00	2.47	0.00	0.000	6	0.000	0.050	2530	2132	3099
2237	-0.91	-117.3	182.6	-8.9	104	2242	0.12	2.53	0.00	0.000	4	0.053	0.058	2491	744	3099
2293	-0.83	-117.3	188.0	-9.5	106	2299	0.12	2.45	0.00	0.000	6	0.095	0.050	2517	2117	3098
2609	-0.83	-117.3	213.7	-7.7	122	2613	0.00	2.58	0.00	0.000	4	0.000	0.061	2517	3553	3098
2721	-0.83	-117.3	222.4	-7.2	127	2726	0.00	2.58	0.00	0.000	6	0.000	0.048	2517	2106	3098
3042	-0.83	-117.3	243.1	-6.4	143	3046	0.00	2.42	0.00	0.000	4	0.000	0.061	2517	742	3098
3166	-0.83	-117.3	251.3	-6.9	148	3172	0.00	2.42	0.00	0.000	6	0.000	0.051	2517	2101	3097
3482	-0.83	-117.3	272.8	-6.9	164	3483	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2101	3097
3791	-0.83	-117.3	294.3	-7.0	179	3792	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2101	3097
4101	-0.83	-117.3	317.8	-7.5	194	4102	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2102	3097
4409	-0.83	-117.3	343.6	-8.6	209	4410	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2102	3096
4718	-0.83	-117.3	368.7	-8.4	224	4723	0.00	2.47	0.00	0.000	4	0.000	0.063	2517	742	3096
4792	-0.83	-117.3	374.8	-8.5	227	4797	0.00	2.45	0.00	0.000	6	0.000	0.053	2517	2102	3096
5114	-0.83	-117.3	395.3	-5.6	243	5118	0.00	2.47	0.00	0.000	4	0.000	0.064	2517	745	3096
5215	-0.83	-117.3	400.8	-5.0	247	5221	0.00	2.40	0.00	0.000	6	0.000	0.053	2517	2079	3096
5531	-0.83	-117.3	415.9	-5.1	263	5535	0.00	2.67	0.00	0.000	4	0.000	0.065	2517	3561	3095
5643	-0.83	-117.3	423.0	-6.8	268	5647	0.00	2.65	0.00	0.000	6	0.000	0.051	2517	2077	3095
5965	-0.83	-117.3	443.3	-6.4	284	5966	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2076	3095
6274	-0.87	-117.3	461.3	-5.2	299	6278	0.00	2.40	0.00	0.000	4	0.000	0.065	2517	746	3094
6497	-0.87	-117.3	474.8	-6.3	309	6502	0.00	2.38	0.00	0.000	6	0.000	0.054	2517	2059	3094
6825	-0.91	-117.3	495.7	-6.5	325	6829	0.00	2.70	0.00	0.000	4	0.000	0.067	2517	3560	3094
6932	-0.91	-117.3	504.2	-8.3	330	6936	0.00	2.67	0.00	0.000	6	0.000	0.054	2517	2064	3094
7260	-0.96	-117.3	524.4	-5.2	346	7264	0.12	2.38	0.00	0.000	4	0.057	0.065	2481	748	3093
7323	-0.88	-117.3	528.5	-6.6	349	7328	0.12	2.40	0.00	0.000	6	0.100	0.058	2506	2071	3093
7650	-0.88	-117.3	548.4	-6.3	365	7654	0.00	2.72	0.00	0.000	4	0.000	0.072	2506	3561	3093
7874	-0.88	-117.3	564.4	-6.9	375	7878	0.00	2.62	0.00	0.000	6	0.000	0.058	2506	2107	3092
8195	-0.88	-117.3	585.5	-6.9	391	8200	0.00	2.47	0.00	0.000	4	0.000	0.074	2506	750	3092
8259	-0.88	-117.3	590.2	-7.5	394	8263	0.00	2.47	0.00	0.000	6	0.000	0.063	2506	2104	3091
8586	-0.88	-117.3	611.9	-5.9	410	8587	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2104	3090
8644	end dive: BOTTOM_OBSTACLE_DETECTED
state	8644	begin apogee
8651	-0.33	0.0	615.5	6.0	413	8753	0.57	0.00	99.12	1.274	6	0.093	0.000	2623	2104	2620
8754	end apogee: CONTROL_FINISHED_OK
state	8754	begin climb
8757	1.30	117.3	618.1	0.0	418	8864	1.65	2.72	98.82	1.242	4	0.074	0.077	2977	691	2141
8873	1.24	117.3	610.6	8.7	423	8878	0.00	2.65	0.00	0.000	6	0.000	0.064	2977	2106	2141
9189	1.24	117.3	584.0	8.2	438	9193	0.00	2.62	0.00	0.000	4	0.000	0.075	2977	3514	2139
9200	1.24	117.3	583.0	8.3	438	9206	0.00	2.60	0.00	0.000	6	0.000	0.064	2977	2114	2139
9516	1.26	130.8	558.9	7.4	454	9537	0.00	2.70	12.62	1.132	4	0.000	0.073	2977	3501	2085
9593	1.26	130.8	552.3	9.1	457	9598	0.00	2.58	0.00	0.000	6	0.000	0.064	2976	2120	2085
9910	1.26	130.8	524.7	9.0	472	9914	0.00	2.62	0.00	0.000	4	0.000	0.074	2977	3508	2084
9999	1.26	131.9	516.8	7.9	476	10003	0.00	2.53	0.00	0.000	6	0.000	0.062	2977	2142	2084
10320	1.26	131.9	492.2	8.1	492	10324	0.00	2.58	0.00	0.000	4	0.000	0.073	2977	3508	2083
10330	1.26	131.9	491.2	8.1	492	10336	0.00	2.50	0.00	0.000	6	0.000	0.063	2977	2147	2082
10646	1.31	165.3	468.5	6.5	508	10681	0.00	2.60	29.12	1.182	4	0.000	0.071	2977	3509	1946
10704	1.31	165.3	463.9	8.2	510	10711	0.00	2.53	0.00	0.000	6	0.000	0.060	2977	2150	1946
11020	1.31	165.3	435.9	9.5	526	11025	0.00	2.55	0.00	0.000	4	0.000	0.070	2977	3515	1945
11031	1.31	165.3	434.8	9.6	526	11037	0.00	2.50	0.00	0.000	6	0.000	0.061	2977	2154	1945
11347	1.31	165.3	408.1	8.5	542	11351	0.00	2.53	0.00	0.000	4	0.000	0.067	2977	3512	1944
11369	1.31	165.3	406.0	9.9	543	11373	0.00	2.47	0.00	0.000	6	0.000	0.055	2977	2157	1944
11690	1.36	165.3	375.6	9.7	559	11694	0.00	2.50	0.00	0.000	4	0.000	0.066	2977	3509	1944
11740	1.40	165.3	370.5	9.7	561	11745	0.12	2.42	0.00	0.000	6	0.053	0.055	3013	2167	1944
12057	1.34	165.3	334.0	11.6	576	12061	0.00	2.47	0.00	0.000	4	0.000	0.064	3013	3510	1944
12077	1.28	165.3	331.6	12.1	577	12082	0.17	2.40	0.00	0.000	6	0.091	0.052	2979	2179	1944
12404	1.33	165.3	298.2	10.2	593	12408	0.00	2.45	0.00	0.000	4	0.000	0.063	2979	3514	1944
12415	1.38	165.3	297.0	10.0	593	12421	0.00	2.42	0.00	0.000	6	0.000	0.054	2979	2177	1944
12731	1.43	165.3	266.0	9.3	609	12736	0.15	2.45	0.00	0.000	4	0.050	0.061	3026	3514	1945
12749	1.43	165.3	264.3	9.4	610	12753	0.00	2.40	0.00	0.000	6	0.000	0.052	3026	2182	1945
13076	1.34	165.3	227.3	11.1	626	13078	0.17	0.00	0.00	0.000	6	0.090	0.000	2993	2181	1946
13385	1.34	165.3	198.4	9.5	641	13389	0.00	2.42	0.00	0.000	4	0.000	0.061	2993	3512	1947
13396	1.34	165.3	197.0	9.5	641	13401	0.00	2.40	0.00	0.000	6	0.000	0.053	2992	2186	1947
13713	1.34	165.3	169.4	8.4	656	13717	0.00	2.42	0.00	0.000	4	0.000	0.060	2992	3515	1947
13724	1.34	165.3	168.1	8.5	656	13730	0.00	2.38	0.00	0.000	6	0.000	0.051	2993	2193	1948
14041	1.34	165.3	138.8	9.8	672	14045	0.00	2.40	0.00	0.000	4	0.000	0.060	2993	3511	1948
14069	1.34	165.3	135.6	11.2	673	14073	0.00	2.35	0.00	0.000	6	0.000	0.051	2992	2203	1948
14385	1.34	165.3	105.7	9.2	688	14386	0.00	0.00	0.00	0.000	6	0.000	0.000	2993	2201	1948
14694	1.34	165.3	74.8	10.3	703	14698	0.00	2.40	0.00	0.000	4	0.000	0.058	2992	3515	1948
14712	1.34	165.3	73.0	10.1	704	14716	0.00	2.35	0.00	0.000	6	0.000	0.051	2992	2199	1948
15039	1.34	165.3	43.2	8.6	720	15043	0.00	2.40	0.00	0.000	4	0.000	0.059	2992	3512	1949
15049	1.34	165.3	42.1	8.8	720	15055	0.00	2.33	0.00	0.000	6	0.000	0.050	2992	2212	1949
15366	1.34	165.3	13.2	9.0	736	15371	0.00	2.72	0.00	0.000	4	0.000	0.062	2993	686	1949
15400	1.39	165.3	9.8	9.2	737	15406	0.00	2.65	0.00	0.000	6	0.000	0.049	2993	2187	1950
15507	end climb: SURFACE_DEPTH_REACHED
state	15507	begin surface coast
15529	end surface coast: CONTROL_FINISHED_OK
state	15529	begin surface