Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 246 * 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 246 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 25 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 -81221.109 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 -81221.109

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 25 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 246 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 121138,6231.846,-1023.862,32,1.0,32,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.205,0.083

_SM_DEPTHo 0.71 KALMAN_X -61026.2,945.4,86.7,85619.8,-7767.6

_SM_ANGLEo -56.2 KALMAN_Y -30888.5,891.1,-163.1,71909.1,-4442.9

GPS2 121721,6231.815,-1023.921,14,1.6,14,-10.4 MHEAD_RNG_PITCHd_Wd 78.3,50135,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.026828 ALTIM_BOTTOM_PING 501.0,100.8

SM_CCo 14689,226.12,0.777,0,0,390,547.02 _24V_AH 23.8,47.373

SM_GC 0.55,0.00,0.00,226.12,0.000,0.000,0.777,419,2136,390,-10.49,-0.45,547.02 _10V_AH 10.1,23.053

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 34844,705

TT8_MAMPS 0.029146 CAP_FILE_SIZE 125953,0

HUMID 1683 CFSIZE 254472192,235597824

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,0,0

XPDR_PINGS 396 GPS 310708,162834,6231.083,-1026.137,67,1.4,67,-10.4

ALTIM_TOP_PING 19.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 85.57 SBE_CT 483 24 276.15

Roll_motor 178 79 334.77 SBE_O2 524 19 237.01

VBD_pump_during_apogee 249 1250 7415.77 WL_BB2F 473 105 1183.69

VBD_pump_during_surface 226 776 4181.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.56 nil 0 0 0.00

Iridium_during_connect 27 160 106.51 nil 0 0 0.00

Iridium_during_xfer 153 223 814.02

Transponder_ping 103 420 1032.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.29

TT8 1377 19 275.50

LPSleep 11009 2 243.53

TT8_Active 674 19 134.94

TT8_Sampling 1675 39 673.57

TT8_CF8 521 45 241.23

TT8_Kalman 33 81 27.55

Analog_circuits 1537 12 186.31

GPS_charging 0 0 0.00

Compass 1638 8 132.42

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 0 140 0.00 0.00 -110.30 0.000 6 0.000 0.000 420 2181 3098

144 -1.30 -117.3 2.2 -1.6 5 160 10.38 2.47 0.00 0.000 4 0.141 0.054 2406 3567 3098

233 -0.95 -117.3 18.3 -15.3 8 239 0.43 2.53 0.00 0.000 6 0.095 0.046 2493 2146 3097

555 -0.87 -117.3 50.5 -8.4 24 560 0.00 2.50 0.00 0.000 4 0.000 0.056 2493 745 3097

601 -0.79 -117.3 54.6 -9.2 26 606 0.15 2.58 0.00 0.000 6 0.096 0.048 2524 2185 3097

923 -0.79 -117.3 77.5 -7.5 42 927 0.00 2.60 0.00 0.000 4 0.000 0.057 2524 752 3097

985 -0.79 -117.3 82.3 -8.1 45 990 0.00 2.50 0.00 0.000 6 0.000 0.048 2524 2156 3098

1314 -0.79 -117.3 107.9 -7.4 61 1318 0.00 2.55 0.00 0.000 4 0.000 0.058 2524 742 3098

1399 -0.79 -117.3 114.5 -7.8 65 1404 0.00 2.50 0.00 0.000 6 0.000 0.048 2524 2143 3098

1727 -0.79 -117.3 137.6 -6.9 81 1731 0.00 2.55 0.00 0.000 4 0.000 0.060 2524 746 3098

1783 -0.79 -117.3 141.6 -7.6 83 1789 0.00 2.50 0.00 0.000 6 0.000 0.050 2524 2142 3098

2100 -0.83 -117.3 164.4 -7.3 99 2101 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2141 3098

2409 -0.88 -117.3 187.3 -7.7 114 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2143 3097

2718 -0.92 -117.3 211.9 -7.9 129 2723 0.12 2.55 0.00 0.000 4 0.051 0.061 2487 751 3097

2785 -0.84 -117.3 218.3 -9.7 132 2790 0.15 2.45 0.00 0.000 6 0.092 0.051 2518 2128 3097

3107 -0.84 -117.3 244.0 -7.7 148 3111 0.00 2.58 0.00 0.000 4 0.000 0.061 2518 3563 3097

3162 -0.84 -117.3 248.7 -8.6 150 3169 0.00 2.55 0.00 0.000 6 0.000 0.050 2518 2129 3096

3479 -0.84 -117.3 271.3 -6.8 166 3483 0.00 2.47 0.00 0.000 4 0.000 0.061 2518 745 3096

3541 -0.84 -117.3 276.0 -7.9 169 3546 0.00 2.47 0.00 0.000 6 0.000 0.051 2518 2127 3096

3869 -0.84 -117.3 300.3 -7.8 185 3874 0.00 2.58 0.00 0.000 4 0.000 0.063 2518 3563 3096

3915 -0.84 -117.3 304.3 -8.9 187 3919 0.00 2.55 0.00 0.000 6 0.000 0.050 2518 2134 3096

4235 -0.84 -117.3 330.5 -8.0 203 4240 0.00 2.47 0.00 0.000 4 0.000 0.061 2518 746 3096

4285 -0.84 -117.3 334.8 -8.4 205 4290 0.00 2.50 0.00 0.000 6 0.000 0.052 2518 2137 3095

4602 -0.84 -117.3 359.5 -7.9 220 4606 0.00 2.55 0.00 0.000 4 0.000 0.061 2518 738 3096

4646 -0.84 -117.3 363.2 -8.4 222 4650 0.00 2.50 0.00 0.000 6 0.000 0.053 2518 2128 3096

4968 -0.88 -117.3 386.2 -6.9 238 4972 0.00 2.53 0.00 0.000 4 0.000 0.064 2518 744 3095

5091 -0.88 -117.3 394.4 -6.9 243 5096 0.00 2.47 0.00 0.000 6 0.000 0.052 2518 2120 3095

5407 -0.92 -117.3 414.7 -6.3 259 5408 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2119 3095

5717 -0.97 -117.3 432.6 -5.5 274 5722 0.12 2.53 0.00 0.000 4 0.054 0.064 2481 747 3095

5883 -0.90 -117.3 444.1 -7.1 281 5888 0.10 2.42 0.00 0.000 6 0.102 0.054 2500 2089 3094

6201 -0.90 -117.3 462.2 -5.5 296 6205 0.00 2.67 0.00 0.000 4 0.000 0.067 2500 3560 3094

6245 -0.90 -117.3 465.0 -6.4 298 6249 0.00 2.72 0.00 0.000 6 0.000 0.054 2500 2043 3093

6567 -0.90 -117.3 485.1 -7.0 314 6571 0.00 2.80 0.00 0.000 4 0.000 0.067 2500 3561 3093

6622 -0.90 -117.3 489.5 -8.1 316 6628 0.00 2.72 0.00 0.000 6 0.000 0.055 2500 2042 3093

6938 -0.90 -117.3 514.8 -8.6 332 6942 0.00 2.80 0.00 0.000 4 0.000 0.067 2500 3556 3093

7045 -0.90 -117.3 524.8 -10.1 337 7049 0.00 2.70 0.00 0.000 6 0.000 0.057 2500 2056 3092

7372 -0.90 -117.3 550.9 -7.2 353 7376 0.00 2.40 0.00 0.000 4 0.000 0.071 2500 744 3091

7508 -0.90 -117.3 560.6 -7.0 359 7512 0.00 2.38 0.00 0.000 6 0.000 0.061 2500 2044 3091

7829 -0.90 -117.3 583.8 -7.5 375 7834 0.00 2.78 0.00 0.000 4 0.000 0.075 2500 3553 3090

7897 -0.90 -117.3 589.4 -8.0 378 7901 0.00 2.72 0.00 0.000 6 0.000 0.062 2500 2055 3090

7926 end dive: BOTTOM_OBSTACLE_DETECTED

state 7926 begin apogee

7934 -0.33 0.0 591.7 7.6 380 8036 0.60 0.00 98.93 1.251 6 0.089 0.000 2624 2106 2620

8037 end apogee: CONTROL_FINISHED_OK

state 8037 begin climb

8040 1.30 117.3 595.0 0.0 385 8151 1.67 2.70 98.00 1.221 4 0.070 0.071 2980 3498 2140

8169 1.30 117.3 587.3 8.5 391 8175 0.00 2.60 0.00 0.000 6 0.000 0.061 2980 2105 2140

8486 1.30 117.3 558.0 9.0 407 8490 0.00 2.65 0.00 0.000 4 0.000 0.073 2980 3500 2139

8548 1.30 117.3 551.6 10.5 410 8552 0.00 2.55 0.00 0.000 6 0.000 0.063 2980 2120 2139

8875 1.30 117.3 523.5 8.1 426 8879 0.00 2.60 0.00 0.000 4 0.000 0.073 2980 3500 2138

8902 1.30 117.3 521.0 8.4 427 8906 0.00 2.53 0.00 0.000 6 0.000 0.061 2980 2129 2138

9218 1.31 122.7 496.0 7.8 442 9229 0.00 2.60 5.80 0.944 4 0.000 0.073 2980 3498 2118

9338 1.33 131.5 486.5 7.6 447 9352 0.00 2.50 8.82 1.055 6 0.000 0.061 2980 2143 2084

9680 1.36 149.5 461.8 7.2 464 9702 0.00 2.65 16.48 1.136 4 0.000 0.071 2980 3499 2009

9742 1.36 154.4 457.1 7.8 466 9752 0.00 2.45 5.65 0.918 6 0.000 0.062 2980 2176 1990

10075 1.38 162.7 432.3 7.6 483 10089 0.00 2.55 8.60 1.029 4 0.000 0.071 2980 3498 1956

10113 1.38 162.7 429.2 8.0 484 10119 0.00 2.42 0.00 0.000 6 0.000 0.058 2980 2187 1955

10429 1.38 162.7 404.0 8.0 500 10434 0.00 2.72 0.00 0.000 4 0.000 0.068 2980 692 1955

10447 1.38 162.7 402.4 8.1 501 10452 0.00 2.72 0.00 0.000 6 0.000 0.059 2980 2190 1955

10774 1.38 162.7 375.3 8.7 517 10778 0.00 2.75 0.00 0.000 4 0.000 0.067 2980 683 1954

10819 1.38 162.7 370.9 9.5 519 10823 0.00 2.70 0.00 0.000 6 0.000 0.058 2980 2173 1954

11140 1.38 162.7 340.2 9.8 535 11145 0.00 2.40 0.00 0.000 4 0.000 0.065 2980 3501 1954

11174 1.38 162.7 336.5 10.2 536 11180 0.00 2.38 0.00 0.000 6 0.000 0.053 2980 2188 1954

11490 1.38 162.7 305.7 9.9 552 11494 0.00 2.40 0.00 0.000 4 0.000 0.064 2980 3501 1954

11513 1.38 162.7 303.5 9.4 553 11517 0.00 2.33 0.00 0.000 6 0.000 0.052 2980 2206 1954

11839 1.38 162.7 271.2 10.2 569 11844 0.00 2.38 0.00 0.000 4 0.000 0.062 2980 3504 1955

11857 1.38 162.7 269.4 9.8 570 11861 0.00 2.35 0.00 0.000 6 0.000 0.052 2980 2198 1955

12185 1.42 162.7 237.8 9.7 586 12190 0.12 2.38 0.00 0.000 4 0.051 0.061 3018 3501 1956

12218 1.34 162.7 233.6 12.3 587 12224 0.15 2.33 0.00 0.000 6 0.091 0.051 2989 2210 1956

12534 1.34 162.7 200.0 10.5 603 12536 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2209 1956

12843 1.34 162.7 169.3 9.4 618 12847 0.00 2.35 0.00 0.000 4 0.000 0.060 2989 3504 1956

12870 1.34 162.7 166.4 10.4 619 12874 0.00 2.33 0.00 0.000 6 0.000 0.051 2989 2209 1956

13186 1.34 162.7 137.6 8.6 634 13190 0.00 2.38 0.00 0.000 4 0.000 0.059 2989 3505 1956

13208 1.34 162.7 135.5 8.6 635 13212 0.00 2.30 0.00 0.000 6 0.000 0.050 2989 2224 1957

13530 1.34 162.7 107.9 9.1 651 13534 0.00 2.75 0.00 0.000 4 0.000 0.063 2990 688 1958

13557 1.34 162.7 104.8 10.3 652 13561 0.00 2.72 0.00 0.000 6 0.000 0.051 2989 2214 1957

13874 1.38 162.7 73.2 10.2 667 13878 0.00 2.30 0.00 0.000 4 0.000 0.060 2989 3502 1958

13914 1.38 162.7 68.9 10.5 669 13918 0.00 2.28 0.00 0.000 6 0.000 0.050 2989 2227 1958

14247 1.42 162.7 36.2 8.9 685 14248 0.00 0.00 0.00 0.000 6 0.000 0.000 2989 2224 1959

14559 1.50 168.7 11.1 7.7 700 14573 0.15 2.83 6.80 0.693 4 0.048 0.061 3036 680 1932

14619 1.36 168.7 4.4 11.7 702 14625 0.20 2.78 0.00 0.000 6 0.090 0.048 2998 2240 1932

14643 end climb: SURFACE_DEPTH_REACHED

state 14643 begin surface coast

14665 end surface coast: CONTROL_FINISHED_OK

state 14665 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	246	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	25	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	-81221.109	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	121138,6231.846,-1023.862,32,1.0,32,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.205,0.083
_SM_DEPTHo	0.71	KALMAN_X	-61026.2,945.4,86.7,85619.8,-7767.6
_SM_ANGLEo	-56.2	KALMAN_Y	-30888.5,891.1,-163.1,71909.1,-4442.9
GPS2	121721,6231.815,-1023.921,14,1.6,14,-10.4	MHEAD_RNG_PITCHd_Wd	78.3,50135,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.2,1.026828	ALTIM_BOTTOM_PING	501.0,100.8
SM_CCo	14689,226.12,0.777,0,0,390,547.02	_24V_AH	23.8,47.373
SM_GC	0.55,0.00,0.00,226.12,0.000,0.000,0.777,419,2136,390,-10.49,-0.45,547.02	_10V_AH	10.1,23.053
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	34844,705
TT8_MAMPS	0.029146	CAP_FILE_SIZE	125953,0
HUMID	1683	CFSIZE	254472192,235597824
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
XPDR_PINGS	396	GPS	310708,162834,6231.083,-1026.137,67,1.4,67,-10.4
ALTIM_TOP_PING	19.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	85.57	SBE_CT	483	24	276.15
Roll_motor	178	79	334.77	SBE_O2	524	19	237.01
VBD_pump_during_apogee	249	1250	7415.77	WL_BB2F	473	105	1183.69
VBD_pump_during_surface	226	776	4181.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.56	nil	0	0	0.00
Iridium_during_connect	27	160	106.51	nil	0	0	0.00
Iridium_during_xfer	153	223	814.02
Transponder_ping	103	420	1032.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.29
TT8	1377	19	275.50
LPSleep	11009	2	243.53
TT8_Active	674	19	134.94
TT8_Sampling	1675	39	673.57
TT8_CF8	521	45	241.23
TT8_Kalman	33	81	27.55
Analog_circuits	1537	12	186.31
GPS_charging	0	0	0.00
Compass	1638	8	132.42
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	140	0.00	0.00	-110.30	0.000	6	0.000	0.000	420	2181	3098
144	-1.30	-117.3	2.2	-1.6	5	160	10.38	2.47	0.00	0.000	4	0.141	0.054	2406	3567	3098
233	-0.95	-117.3	18.3	-15.3	8	239	0.43	2.53	0.00	0.000	6	0.095	0.046	2493	2146	3097
555	-0.87	-117.3	50.5	-8.4	24	560	0.00	2.50	0.00	0.000	4	0.000	0.056	2493	745	3097
601	-0.79	-117.3	54.6	-9.2	26	606	0.15	2.58	0.00	0.000	6	0.096	0.048	2524	2185	3097
923	-0.79	-117.3	77.5	-7.5	42	927	0.00	2.60	0.00	0.000	4	0.000	0.057	2524	752	3097
985	-0.79	-117.3	82.3	-8.1	45	990	0.00	2.50	0.00	0.000	6	0.000	0.048	2524	2156	3098
1314	-0.79	-117.3	107.9	-7.4	61	1318	0.00	2.55	0.00	0.000	4	0.000	0.058	2524	742	3098
1399	-0.79	-117.3	114.5	-7.8	65	1404	0.00	2.50	0.00	0.000	6	0.000	0.048	2524	2143	3098
1727	-0.79	-117.3	137.6	-6.9	81	1731	0.00	2.55	0.00	0.000	4	0.000	0.060	2524	746	3098
1783	-0.79	-117.3	141.6	-7.6	83	1789	0.00	2.50	0.00	0.000	6	0.000	0.050	2524	2142	3098
2100	-0.83	-117.3	164.4	-7.3	99	2101	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2141	3098
2409	-0.88	-117.3	187.3	-7.7	114	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2143	3097
2718	-0.92	-117.3	211.9	-7.9	129	2723	0.12	2.55	0.00	0.000	4	0.051	0.061	2487	751	3097
2785	-0.84	-117.3	218.3	-9.7	132	2790	0.15	2.45	0.00	0.000	6	0.092	0.051	2518	2128	3097
3107	-0.84	-117.3	244.0	-7.7	148	3111	0.00	2.58	0.00	0.000	4	0.000	0.061	2518	3563	3097
3162	-0.84	-117.3	248.7	-8.6	150	3169	0.00	2.55	0.00	0.000	6	0.000	0.050	2518	2129	3096
3479	-0.84	-117.3	271.3	-6.8	166	3483	0.00	2.47	0.00	0.000	4	0.000	0.061	2518	745	3096
3541	-0.84	-117.3	276.0	-7.9	169	3546	0.00	2.47	0.00	0.000	6	0.000	0.051	2518	2127	3096
3869	-0.84	-117.3	300.3	-7.8	185	3874	0.00	2.58	0.00	0.000	4	0.000	0.063	2518	3563	3096
3915	-0.84	-117.3	304.3	-8.9	187	3919	0.00	2.55	0.00	0.000	6	0.000	0.050	2518	2134	3096
4235	-0.84	-117.3	330.5	-8.0	203	4240	0.00	2.47	0.00	0.000	4	0.000	0.061	2518	746	3096
4285	-0.84	-117.3	334.8	-8.4	205	4290	0.00	2.50	0.00	0.000	6	0.000	0.052	2518	2137	3095
4602	-0.84	-117.3	359.5	-7.9	220	4606	0.00	2.55	0.00	0.000	4	0.000	0.061	2518	738	3096
4646	-0.84	-117.3	363.2	-8.4	222	4650	0.00	2.50	0.00	0.000	6	0.000	0.053	2518	2128	3096
4968	-0.88	-117.3	386.2	-6.9	238	4972	0.00	2.53	0.00	0.000	4	0.000	0.064	2518	744	3095
5091	-0.88	-117.3	394.4	-6.9	243	5096	0.00	2.47	0.00	0.000	6	0.000	0.052	2518	2120	3095
5407	-0.92	-117.3	414.7	-6.3	259	5408	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2119	3095
5717	-0.97	-117.3	432.6	-5.5	274	5722	0.12	2.53	0.00	0.000	4	0.054	0.064	2481	747	3095
5883	-0.90	-117.3	444.1	-7.1	281	5888	0.10	2.42	0.00	0.000	6	0.102	0.054	2500	2089	3094
6201	-0.90	-117.3	462.2	-5.5	296	6205	0.00	2.67	0.00	0.000	4	0.000	0.067	2500	3560	3094
6245	-0.90	-117.3	465.0	-6.4	298	6249	0.00	2.72	0.00	0.000	6	0.000	0.054	2500	2043	3093
6567	-0.90	-117.3	485.1	-7.0	314	6571	0.00	2.80	0.00	0.000	4	0.000	0.067	2500	3561	3093
6622	-0.90	-117.3	489.5	-8.1	316	6628	0.00	2.72	0.00	0.000	6	0.000	0.055	2500	2042	3093
6938	-0.90	-117.3	514.8	-8.6	332	6942	0.00	2.80	0.00	0.000	4	0.000	0.067	2500	3556	3093
7045	-0.90	-117.3	524.8	-10.1	337	7049	0.00	2.70	0.00	0.000	6	0.000	0.057	2500	2056	3092
7372	-0.90	-117.3	550.9	-7.2	353	7376	0.00	2.40	0.00	0.000	4	0.000	0.071	2500	744	3091
7508	-0.90	-117.3	560.6	-7.0	359	7512	0.00	2.38	0.00	0.000	6	0.000	0.061	2500	2044	3091
7829	-0.90	-117.3	583.8	-7.5	375	7834	0.00	2.78	0.00	0.000	4	0.000	0.075	2500	3553	3090
7897	-0.90	-117.3	589.4	-8.0	378	7901	0.00	2.72	0.00	0.000	6	0.000	0.062	2500	2055	3090
7926	end dive: BOTTOM_OBSTACLE_DETECTED
state	7926	begin apogee
7934	-0.33	0.0	591.7	7.6	380	8036	0.60	0.00	98.93	1.251	6	0.089	0.000	2624	2106	2620
8037	end apogee: CONTROL_FINISHED_OK
state	8037	begin climb
8040	1.30	117.3	595.0	0.0	385	8151	1.67	2.70	98.00	1.221	4	0.070	0.071	2980	3498	2140
8169	1.30	117.3	587.3	8.5	391	8175	0.00	2.60	0.00	0.000	6	0.000	0.061	2980	2105	2140
8486	1.30	117.3	558.0	9.0	407	8490	0.00	2.65	0.00	0.000	4	0.000	0.073	2980	3500	2139
8548	1.30	117.3	551.6	10.5	410	8552	0.00	2.55	0.00	0.000	6	0.000	0.063	2980	2120	2139
8875	1.30	117.3	523.5	8.1	426	8879	0.00	2.60	0.00	0.000	4	0.000	0.073	2980	3500	2138
8902	1.30	117.3	521.0	8.4	427	8906	0.00	2.53	0.00	0.000	6	0.000	0.061	2980	2129	2138
9218	1.31	122.7	496.0	7.8	442	9229	0.00	2.60	5.80	0.944	4	0.000	0.073	2980	3498	2118
9338	1.33	131.5	486.5	7.6	447	9352	0.00	2.50	8.82	1.055	6	0.000	0.061	2980	2143	2084
9680	1.36	149.5	461.8	7.2	464	9702	0.00	2.65	16.48	1.136	4	0.000	0.071	2980	3499	2009
9742	1.36	154.4	457.1	7.8	466	9752	0.00	2.45	5.65	0.918	6	0.000	0.062	2980	2176	1990
10075	1.38	162.7	432.3	7.6	483	10089	0.00	2.55	8.60	1.029	4	0.000	0.071	2980	3498	1956
10113	1.38	162.7	429.2	8.0	484	10119	0.00	2.42	0.00	0.000	6	0.000	0.058	2980	2187	1955
10429	1.38	162.7	404.0	8.0	500	10434	0.00	2.72	0.00	0.000	4	0.000	0.068	2980	692	1955
10447	1.38	162.7	402.4	8.1	501	10452	0.00	2.72	0.00	0.000	6	0.000	0.059	2980	2190	1955
10774	1.38	162.7	375.3	8.7	517	10778	0.00	2.75	0.00	0.000	4	0.000	0.067	2980	683	1954
10819	1.38	162.7	370.9	9.5	519	10823	0.00	2.70	0.00	0.000	6	0.000	0.058	2980	2173	1954
11140	1.38	162.7	340.2	9.8	535	11145	0.00	2.40	0.00	0.000	4	0.000	0.065	2980	3501	1954
11174	1.38	162.7	336.5	10.2	536	11180	0.00	2.38	0.00	0.000	6	0.000	0.053	2980	2188	1954
11490	1.38	162.7	305.7	9.9	552	11494	0.00	2.40	0.00	0.000	4	0.000	0.064	2980	3501	1954
11513	1.38	162.7	303.5	9.4	553	11517	0.00	2.33	0.00	0.000	6	0.000	0.052	2980	2206	1954
11839	1.38	162.7	271.2	10.2	569	11844	0.00	2.38	0.00	0.000	4	0.000	0.062	2980	3504	1955
11857	1.38	162.7	269.4	9.8	570	11861	0.00	2.35	0.00	0.000	6	0.000	0.052	2980	2198	1955
12185	1.42	162.7	237.8	9.7	586	12190	0.12	2.38	0.00	0.000	4	0.051	0.061	3018	3501	1956
12218	1.34	162.7	233.6	12.3	587	12224	0.15	2.33	0.00	0.000	6	0.091	0.051	2989	2210	1956
12534	1.34	162.7	200.0	10.5	603	12536	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2209	1956
12843	1.34	162.7	169.3	9.4	618	12847	0.00	2.35	0.00	0.000	4	0.000	0.060	2989	3504	1956
12870	1.34	162.7	166.4	10.4	619	12874	0.00	2.33	0.00	0.000	6	0.000	0.051	2989	2209	1956
13186	1.34	162.7	137.6	8.6	634	13190	0.00	2.38	0.00	0.000	4	0.000	0.059	2989	3505	1956
13208	1.34	162.7	135.5	8.6	635	13212	0.00	2.30	0.00	0.000	6	0.000	0.050	2989	2224	1957
13530	1.34	162.7	107.9	9.1	651	13534	0.00	2.75	0.00	0.000	4	0.000	0.063	2990	688	1958
13557	1.34	162.7	104.8	10.3	652	13561	0.00	2.72	0.00	0.000	6	0.000	0.051	2989	2214	1957
13874	1.38	162.7	73.2	10.2	667	13878	0.00	2.30	0.00	0.000	4	0.000	0.060	2989	3502	1958
13914	1.38	162.7	68.9	10.5	669	13918	0.00	2.28	0.00	0.000	6	0.000	0.050	2989	2227	1958
14247	1.42	162.7	36.2	8.9	685	14248	0.00	0.00	0.00	0.000	6	0.000	0.000	2989	2224	1959
14559	1.50	168.7	11.1	7.7	700	14573	0.15	2.83	6.80	0.693	4	0.048	0.061	3036	680	1932
14619	1.36	168.7	4.4	11.7	702	14625	0.20	2.78	0.00	0.000	6	0.090	0.048	2998	2240	1932
14643	end climb: SURFACE_DEPTH_REACHED
state	14643	begin surface coast
14665	end surface coast: CONTROL_FINISHED_OK
state	14665	begin surface