Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 248 * 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 248 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 40 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 -81248.211 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 -81248.211

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 40 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 248 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 205331,6233.496,-1025.034,37,1.2,42,-10.4 TGT_NAME IFRSILL

_CALLS 1 TGT_LATLONG 6250.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.218,-0.039

_SM_DEPTHo 0.63 KALMAN_X -71507.0,228.4,1334.9,94616.6,-13740.5

_SM_ANGLEo -51.2 KALMAN_Y -32195.3,601.2,1194.0,75357.9,-5554.9

GPS2 205857,6233.562,-1025.024,15,1.6,15,-10.4 MHEAD_RNG_PITCHd_Wd 110.5,48747,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.0,1.022583 ALTIM_TOP_PING 18.8,999.0

SM_CCo 16046,224.15,0.775,0,0,390,547.02 _24V_AH 23.8,47.685

SM_GC 0.62,0.00,0.00,224.15,0.000,0.000,0.775,421,2133,390,-10.48,-0.48,547.02 _10V_AH 10.1,23.207

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41048,767

TT8_MAMPS 0.029146 CAP_FILE_SIZE 131730,0

HUMID 1686 CFSIZE 254472192,235462656

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,0,0

XPDR_PINGS 379 GPS 010808,013227,6232.984,-1024.777,28,3.4,47,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 141 92.36 SBE_CT 526 24 300.72

Roll_motor 165 102 403.98 SBE_O2 571 19 258.34

VBD_pump_during_apogee 250 1268 7554.32 WL_BB2F 509 105 1274.38

VBD_pump_during_surface 224 775 4136.78 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 27 160 106.59 nil 0 0 0.00

Iridium_during_xfer 135 223 717.77

Transponder_ping 100 420 999.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.88

TT8 1479 19 295.86

LPSleep 12181 2 269.45

TT8_Active 675 19 134.99

TT8_Sampling 1746 39 701.94

TT8_CF8 516 45 238.84

TT8_Kalman 33 81 27.55

Analog_circuits 1559 12 188.96

GPS_charging 0 0 0.00

Compass 1703 8 137.67

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 0 140 0.00 0.00 -110.12 0.000 6 0.000 0.000 419 2113 3099

144 -1.30 -117.3 2.2 -1.5 5 159 10.43 2.45 0.00 0.000 4 0.142 0.054 2409 753 3098

194 -0.98 -117.3 12.1 -14.2 8 199 0.38 2.50 0.00 0.000 6 0.094 0.047 2485 2161 3097

517 -0.89 -117.3 39.2 -6.8 24 521 0.10 2.50 0.00 0.000 4 0.099 0.056 2507 3561 3097

573 -0.83 -117.3 43.3 -6.8 26 580 0.00 2.45 0.00 0.000 6 0.000 0.044 2506 2166 3098

891 -0.83 -117.3 65.3 -7.3 42 892 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2148 3098

1199 -0.83 -117.3 87.2 -7.4 57 1203 0.00 2.53 0.00 0.000 4 0.000 0.058 2506 747 3099

1340 -0.79 -117.3 98.1 -7.8 63 1345 0.10 2.45 0.00 0.000 6 0.099 0.048 2526 2122 3099

1657 -0.79 -117.3 121.4 -7.7 78 1661 0.00 2.55 0.00 0.000 4 0.000 0.059 2526 3553 3098

1668 -0.79 -117.3 122.4 -7.8 78 1674 0.00 2.53 0.00 0.000 6 0.000 0.049 2526 2132 3099

1985 -0.83 -117.3 145.9 -7.2 94 1986 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2129 3099

2293 -0.87 -117.3 167.8 -7.1 109 2298 0.00 2.47 0.00 0.000 4 0.000 0.060 2526 744 3098

2327 -0.87 -117.3 170.5 -7.3 110 2333 0.00 2.47 0.00 0.000 6 0.000 0.051 2526 2132 3098

2645 -0.92 -117.3 192.8 -7.3 126 2647 0.12 0.00 0.00 0.000 6 0.051 0.000 2488 2132 3098

2953 -0.85 -117.3 220.0 -9.0 141 2958 0.12 2.53 0.00 0.000 4 0.097 0.060 2513 747 3098

2981 -0.85 -117.3 222.7 -8.7 142 2985 0.00 2.47 0.00 0.000 6 0.000 0.051 2513 2128 3098

3296 -0.85 -117.3 249.7 -8.9 157 3304 0.00 2.53 0.00 0.000 4 0.000 0.063 2513 746 3097

3338 -0.85 -117.3 253.4 -8.5 158 3344 0.00 2.45 0.00 0.000 6 0.000 0.051 2513 2116 3098

3654 -0.85 -117.3 280.2 -8.2 174 3658 0.00 2.50 0.00 0.000 4 0.000 0.061 2513 746 3097

3681 -0.85 -117.3 282.6 -8.5 175 3685 0.00 2.42 0.00 0.000 6 0.000 0.051 2514 2105 3097

3997 -0.85 -117.3 307.3 -7.8 190 4001 0.00 2.47 0.00 0.000 4 0.000 0.064 2513 746 3097

4047 -0.85 -117.3 311.5 -8.2 192 4051 0.00 2.45 0.00 0.000 6 0.000 0.051 2513 2109 3097

4363 -0.85 -117.3 336.5 -8.1 207 4367 0.00 2.47 0.00 0.000 4 0.000 0.063 2514 746 3097

4395 -0.85 -117.3 339.2 -8.7 208 4401 0.00 2.45 0.00 0.000 6 0.000 0.051 2513 2109 3096

4712 -0.85 -117.3 361.8 -6.7 224 4716 0.00 2.60 0.00 0.000 4 0.000 0.063 2513 3555 3096

4745 -0.85 -117.3 364.2 -7.3 225 4751 0.00 2.58 0.00 0.000 6 0.000 0.051 2514 2109 3097

5062 -0.85 -117.3 385.7 -6.7 241 5066 0.00 2.65 0.00 0.000 4 0.000 0.063 2514 3553 3096

5158 -0.85 -117.3 392.7 -7.0 245 5162 0.00 2.55 0.00 0.000 6 0.000 0.050 2513 2118 3096

5474 -0.85 -117.3 411.7 -5.6 260 5478 0.00 2.62 0.00 0.000 4 0.000 0.064 2513 3556 3095

5485 -0.85 -117.3 412.4 -5.7 260 5491 0.00 2.55 0.00 0.000 6 0.000 0.051 2514 2124 3095

5802 -0.85 -117.3 430.0 -6.1 276 5806 0.00 2.65 0.00 0.000 4 0.000 0.065 2514 3561 3095

5887 -0.85 -117.3 436.3 -7.8 280 5891 0.00 2.53 0.00 0.000 6 0.000 0.051 2513 2145 3094

6215 -0.85 -117.3 458.8 -6.3 296 6216 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2127 3094

6523 -0.85 -117.3 477.9 -6.3 311 6527 0.00 2.53 0.00 0.000 4 0.000 0.067 2513 741 3094

6573 -0.85 -117.3 481.1 -5.9 313 6577 0.00 2.53 0.00 0.000 6 0.000 0.056 2513 2138 3094

6890 -0.90 -117.3 501.6 -6.7 328 6894 0.00 2.55 0.00 0.000 4 0.000 0.067 2514 748 3093

6919 -0.90 -117.3 503.3 -5.7 329 6923 0.00 2.53 0.00 0.000 6 0.000 0.058 2514 2139 3093

7236 -0.94 -117.3 522.6 -6.5 344 7240 0.00 2.55 0.00 0.000 4 0.000 0.068 2514 750 3092

7292 -0.94 -117.3 526.1 -6.5 346 7298 0.00 2.53 0.00 0.000 6 0.000 0.059 2513 2141 3092

7609 -0.99 -117.3 544.3 -5.6 362 7614 0.12 2.60 0.00 0.000 4 0.058 0.073 2478 3557 3092

7638 -0.92 -117.3 546.4 -7.3 363 7643 0.10 2.58 0.00 0.000 6 0.108 0.061 2496 2138 3092

7954 -0.92 -117.3 567.1 -6.5 378 7958 0.00 2.53 0.00 0.000 4 0.000 0.071 2496 744 3091

8049 -0.92 -117.3 573.3 -6.7 382 8054 0.00 2.50 0.00 0.000 6 0.000 0.063 2497 2110 3090

8366 -1.44 -117.3 585.5 0.1 397 8371 0.47 2.53 0.00 0.000 4 0.051 0.073 2378 746 3090

8626 -1.90 -117.3 585.5 -0.2 408 8632 0.43 2.42 0.00 0.000 6 0.046 0.066 2274 2054 3090

8939 end dive: NO_VERTICAL_VELOCITY

state 8939 begin apogee

8946 -0.33 0.0 585.5 0.0 424 9048 1.60 0.00 98.38 1.269 6 0.066 0.000 2624 2107 2620

9049 end apogee: CONTROL_FINISHED_OK

state 9049 begin climb

9053 1.30 117.3 585.3 0.0 429 9159 1.65 2.67 98.28 1.232 4 0.073 0.074 2978 3504 2141

9226 1.30 117.3 573.3 9.3 437 9231 0.00 2.62 0.00 0.000 6 0.000 0.066 2978 2103 2140

9543 1.30 117.3 546.5 9.0 452 9547 0.00 2.65 0.00 0.000 4 0.000 0.074 2978 3505 2139

9582 1.30 117.3 542.7 9.9 454 9587 0.00 2.60 0.00 0.000 6 0.000 0.064 2978 2101 2139

9909 1.30 117.3 513.6 9.4 470 9913 0.00 2.65 0.00 0.000 4 0.000 0.075 2978 3505 2138

9972 1.26 117.3 507.9 9.2 473 9976 0.00 2.55 0.00 0.000 6 0.000 0.062 2978 2122 2138

10298 1.26 117.3 480.1 8.3 489 10299 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2122 2137

10607 1.26 117.3 452.8 8.9 504 10612 0.00 2.60 0.00 0.000 4 0.000 0.073 2978 3501 2136

10715 1.26 117.3 443.1 9.1 509 10720 0.00 2.50 0.00 0.000 6 0.000 0.060 2978 2135 2136

11042 1.26 117.3 416.3 8.1 525 11046 0.00 2.55 0.00 0.000 4 0.000 0.071 2978 3501 2135

11086 1.26 117.3 412.6 8.7 527 11090 0.00 2.47 0.00 0.000 6 0.000 0.059 2978 2148 2135

11408 1.27 120.7 388.0 7.8 543 11412 0.00 2.50 0.00 0.000 4 0.000 0.069 2978 3504 2135

11458 1.27 120.7 383.6 9.0 545 11462 0.00 2.45 0.00 0.000 6 0.000 0.056 2978 2160 2135

11774 1.27 120.7 356.5 8.3 560 11778 0.00 2.47 0.00 0.000 4 0.000 0.066 2978 3502 2135

11836 1.27 120.7 351.1 8.5 563 11840 0.00 2.40 0.00 0.000 6 0.000 0.054 2978 2171 2135

12162 1.27 120.7 325.3 8.1 579 12163 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2171 2135

12471 1.27 120.7 299.2 8.7 594 12473 0.00 0.00 0.00 0.000 6 0.000 0.000 2978 2171 2135

12781 1.27 120.7 272.5 8.5 609 12785 0.00 2.42 0.00 0.000 4 0.000 0.063 2978 3504 2136

12847 1.27 120.7 266.3 9.1 612 12851 0.00 2.38 0.00 0.000 6 0.000 0.051 2978 2178 2135

13169 1.27 122.6 240.0 7.9 628 13176 0.00 0.00 5.40 0.781 6 0.000 0.000 2977 2178 2120

13477 1.28 127.0 215.3 7.8 643 13488 0.00 2.45 5.60 0.784 4 0.000 0.060 2978 3511 2102

13544 1.28 127.0 209.8 8.0 646 13548 0.00 2.40 0.00 0.000 6 0.000 0.051 2978 2183 2101

13866 1.30 138.2 186.1 7.5 662 13878 0.00 0.00 10.68 0.874 6 0.000 0.000 2978 2184 2056

14174 1.34 140.0 162.9 7.9 677 14178 0.00 2.40 0.00 0.000 4 0.000 0.060 2978 3509 2056

14218 1.34 140.0 158.9 9.6 679 14222 0.00 2.38 0.00 0.000 6 0.000 0.051 2978 2191 2056

14546 1.38 140.0 130.5 8.9 695 14551 0.10 2.40 0.00 0.000 4 0.054 0.058 3012 3510 2056

14580 1.31 140.0 126.7 10.8 696 14586 0.15 2.33 0.00 0.000 6 0.094 0.050 2983 2205 2056

14898 1.31 140.0 96.4 9.5 712 14899 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2204 2057

15205 1.35 140.0 68.8 8.0 727 15209 0.00 2.38 0.00 0.000 4 0.000 0.058 2983 3504 2057

15239 1.38 154.4 66.3 7.3 728 15258 0.00 2.33 14.85 0.818 6 0.000 0.050 2983 2208 1990

15580 1.46 174.5 44.6 7.1 745 15599 0.15 0.00 17.02 0.811 6 0.047 0.000 3027 2207 1908

15906 1.41 174.5 10.7 9.9 761 15910 0.00 2.38 0.00 0.000 4 0.000 0.057 3027 3506 1908

15951 1.37 174.5 6.3 9.2 763 15956 0.15 2.33 0.00 0.000 6 0.089 0.052 2999 2220 1907

16003 end climb: SURFACE_DEPTH_REACHED

state 16003 begin surface coast

16023 end surface coast: CONTROL_FINISHED_OK

state 16023 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	248	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	40	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	-81248.211	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	205331,6233.496,-1025.034,37,1.2,42,-10.4	TGT_NAME	IFRSILL
_CALLS	1	TGT_LATLONG	6250.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.218,-0.039
_SM_DEPTHo	0.63	KALMAN_X	-71507.0,228.4,1334.9,94616.6,-13740.5
_SM_ANGLEo	-51.2	KALMAN_Y	-32195.3,601.2,1194.0,75357.9,-5554.9
GPS2	205857,6233.562,-1025.024,15,1.6,15,-10.4	MHEAD_RNG_PITCHd_Wd	110.5,48747,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	0.0,1.022583	ALTIM_TOP_PING	18.8,999.0
SM_CCo	16046,224.15,0.775,0,0,390,547.02	_24V_AH	23.8,47.685
SM_GC	0.62,0.00,0.00,224.15,0.000,0.000,0.775,421,2133,390,-10.48,-0.48,547.02	_10V_AH	10.1,23.207
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41048,767
TT8_MAMPS	0.029146	CAP_FILE_SIZE	131730,0
HUMID	1686	CFSIZE	254472192,235462656
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
XPDR_PINGS	379	GPS	010808,013227,6232.984,-1024.777,28,3.4,47,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	141	92.36	SBE_CT	526	24	300.72
Roll_motor	165	102	403.98	SBE_O2	571	19	258.34
VBD_pump_during_apogee	250	1268	7554.32	WL_BB2F	509	105	1274.38
VBD_pump_during_surface	224	775	4136.78	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	27	160	106.59	nil	0	0	0.00
Iridium_during_xfer	135	223	717.77
Transponder_ping	100	420	999.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.88
TT8	1479	19	295.86
LPSleep	12181	2	269.45
TT8_Active	675	19	134.99
TT8_Sampling	1746	39	701.94
TT8_CF8	516	45	238.84
TT8_Kalman	33	81	27.55
Analog_circuits	1559	12	188.96
GPS_charging	0	0	0.00
Compass	1703	8	137.67
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	140	0.00	0.00	-110.12	0.000	6	0.000	0.000	419	2113	3099
144	-1.30	-117.3	2.2	-1.5	5	159	10.43	2.45	0.00	0.000	4	0.142	0.054	2409	753	3098
194	-0.98	-117.3	12.1	-14.2	8	199	0.38	2.50	0.00	0.000	6	0.094	0.047	2485	2161	3097
517	-0.89	-117.3	39.2	-6.8	24	521	0.10	2.50	0.00	0.000	4	0.099	0.056	2507	3561	3097
573	-0.83	-117.3	43.3	-6.8	26	580	0.00	2.45	0.00	0.000	6	0.000	0.044	2506	2166	3098
891	-0.83	-117.3	65.3	-7.3	42	892	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2148	3098
1199	-0.83	-117.3	87.2	-7.4	57	1203	0.00	2.53	0.00	0.000	4	0.000	0.058	2506	747	3099
1340	-0.79	-117.3	98.1	-7.8	63	1345	0.10	2.45	0.00	0.000	6	0.099	0.048	2526	2122	3099
1657	-0.79	-117.3	121.4	-7.7	78	1661	0.00	2.55	0.00	0.000	4	0.000	0.059	2526	3553	3098
1668	-0.79	-117.3	122.4	-7.8	78	1674	0.00	2.53	0.00	0.000	6	0.000	0.049	2526	2132	3099
1985	-0.83	-117.3	145.9	-7.2	94	1986	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2129	3099
2293	-0.87	-117.3	167.8	-7.1	109	2298	0.00	2.47	0.00	0.000	4	0.000	0.060	2526	744	3098
2327	-0.87	-117.3	170.5	-7.3	110	2333	0.00	2.47	0.00	0.000	6	0.000	0.051	2526	2132	3098
2645	-0.92	-117.3	192.8	-7.3	126	2647	0.12	0.00	0.00	0.000	6	0.051	0.000	2488	2132	3098
2953	-0.85	-117.3	220.0	-9.0	141	2958	0.12	2.53	0.00	0.000	4	0.097	0.060	2513	747	3098
2981	-0.85	-117.3	222.7	-8.7	142	2985	0.00	2.47	0.00	0.000	6	0.000	0.051	2513	2128	3098
3296	-0.85	-117.3	249.7	-8.9	157	3304	0.00	2.53	0.00	0.000	4	0.000	0.063	2513	746	3097
3338	-0.85	-117.3	253.4	-8.5	158	3344	0.00	2.45	0.00	0.000	6	0.000	0.051	2513	2116	3098
3654	-0.85	-117.3	280.2	-8.2	174	3658	0.00	2.50	0.00	0.000	4	0.000	0.061	2513	746	3097
3681	-0.85	-117.3	282.6	-8.5	175	3685	0.00	2.42	0.00	0.000	6	0.000	0.051	2514	2105	3097
3997	-0.85	-117.3	307.3	-7.8	190	4001	0.00	2.47	0.00	0.000	4	0.000	0.064	2513	746	3097
4047	-0.85	-117.3	311.5	-8.2	192	4051	0.00	2.45	0.00	0.000	6	0.000	0.051	2513	2109	3097
4363	-0.85	-117.3	336.5	-8.1	207	4367	0.00	2.47	0.00	0.000	4	0.000	0.063	2514	746	3097
4395	-0.85	-117.3	339.2	-8.7	208	4401	0.00	2.45	0.00	0.000	6	0.000	0.051	2513	2109	3096
4712	-0.85	-117.3	361.8	-6.7	224	4716	0.00	2.60	0.00	0.000	4	0.000	0.063	2513	3555	3096
4745	-0.85	-117.3	364.2	-7.3	225	4751	0.00	2.58	0.00	0.000	6	0.000	0.051	2514	2109	3097
5062	-0.85	-117.3	385.7	-6.7	241	5066	0.00	2.65	0.00	0.000	4	0.000	0.063	2514	3553	3096
5158	-0.85	-117.3	392.7	-7.0	245	5162	0.00	2.55	0.00	0.000	6	0.000	0.050	2513	2118	3096
5474	-0.85	-117.3	411.7	-5.6	260	5478	0.00	2.62	0.00	0.000	4	0.000	0.064	2513	3556	3095
5485	-0.85	-117.3	412.4	-5.7	260	5491	0.00	2.55	0.00	0.000	6	0.000	0.051	2514	2124	3095
5802	-0.85	-117.3	430.0	-6.1	276	5806	0.00	2.65	0.00	0.000	4	0.000	0.065	2514	3561	3095
5887	-0.85	-117.3	436.3	-7.8	280	5891	0.00	2.53	0.00	0.000	6	0.000	0.051	2513	2145	3094
6215	-0.85	-117.3	458.8	-6.3	296	6216	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2127	3094
6523	-0.85	-117.3	477.9	-6.3	311	6527	0.00	2.53	0.00	0.000	4	0.000	0.067	2513	741	3094
6573	-0.85	-117.3	481.1	-5.9	313	6577	0.00	2.53	0.00	0.000	6	0.000	0.056	2513	2138	3094
6890	-0.90	-117.3	501.6	-6.7	328	6894	0.00	2.55	0.00	0.000	4	0.000	0.067	2514	748	3093
6919	-0.90	-117.3	503.3	-5.7	329	6923	0.00	2.53	0.00	0.000	6	0.000	0.058	2514	2139	3093
7236	-0.94	-117.3	522.6	-6.5	344	7240	0.00	2.55	0.00	0.000	4	0.000	0.068	2514	750	3092
7292	-0.94	-117.3	526.1	-6.5	346	7298	0.00	2.53	0.00	0.000	6	0.000	0.059	2513	2141	3092
7609	-0.99	-117.3	544.3	-5.6	362	7614	0.12	2.60	0.00	0.000	4	0.058	0.073	2478	3557	3092
7638	-0.92	-117.3	546.4	-7.3	363	7643	0.10	2.58	0.00	0.000	6	0.108	0.061	2496	2138	3092
7954	-0.92	-117.3	567.1	-6.5	378	7958	0.00	2.53	0.00	0.000	4	0.000	0.071	2496	744	3091
8049	-0.92	-117.3	573.3	-6.7	382	8054	0.00	2.50	0.00	0.000	6	0.000	0.063	2497	2110	3090
8366	-1.44	-117.3	585.5	0.1	397	8371	0.47	2.53	0.00	0.000	4	0.051	0.073	2378	746	3090
8626	-1.90	-117.3	585.5	-0.2	408	8632	0.43	2.42	0.00	0.000	6	0.046	0.066	2274	2054	3090
8939	end dive: NO_VERTICAL_VELOCITY
state	8939	begin apogee
8946	-0.33	0.0	585.5	0.0	424	9048	1.60	0.00	98.38	1.269	6	0.066	0.000	2624	2107	2620
9049	end apogee: CONTROL_FINISHED_OK
state	9049	begin climb
9053	1.30	117.3	585.3	0.0	429	9159	1.65	2.67	98.28	1.232	4	0.073	0.074	2978	3504	2141
9226	1.30	117.3	573.3	9.3	437	9231	0.00	2.62	0.00	0.000	6	0.000	0.066	2978	2103	2140
9543	1.30	117.3	546.5	9.0	452	9547	0.00	2.65	0.00	0.000	4	0.000	0.074	2978	3505	2139
9582	1.30	117.3	542.7	9.9	454	9587	0.00	2.60	0.00	0.000	6	0.000	0.064	2978	2101	2139
9909	1.30	117.3	513.6	9.4	470	9913	0.00	2.65	0.00	0.000	4	0.000	0.075	2978	3505	2138
9972	1.26	117.3	507.9	9.2	473	9976	0.00	2.55	0.00	0.000	6	0.000	0.062	2978	2122	2138
10298	1.26	117.3	480.1	8.3	489	10299	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2122	2137
10607	1.26	117.3	452.8	8.9	504	10612	0.00	2.60	0.00	0.000	4	0.000	0.073	2978	3501	2136
10715	1.26	117.3	443.1	9.1	509	10720	0.00	2.50	0.00	0.000	6	0.000	0.060	2978	2135	2136
11042	1.26	117.3	416.3	8.1	525	11046	0.00	2.55	0.00	0.000	4	0.000	0.071	2978	3501	2135
11086	1.26	117.3	412.6	8.7	527	11090	0.00	2.47	0.00	0.000	6	0.000	0.059	2978	2148	2135
11408	1.27	120.7	388.0	7.8	543	11412	0.00	2.50	0.00	0.000	4	0.000	0.069	2978	3504	2135
11458	1.27	120.7	383.6	9.0	545	11462	0.00	2.45	0.00	0.000	6	0.000	0.056	2978	2160	2135
11774	1.27	120.7	356.5	8.3	560	11778	0.00	2.47	0.00	0.000	4	0.000	0.066	2978	3502	2135
11836	1.27	120.7	351.1	8.5	563	11840	0.00	2.40	0.00	0.000	6	0.000	0.054	2978	2171	2135
12162	1.27	120.7	325.3	8.1	579	12163	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2171	2135
12471	1.27	120.7	299.2	8.7	594	12473	0.00	0.00	0.00	0.000	6	0.000	0.000	2978	2171	2135
12781	1.27	120.7	272.5	8.5	609	12785	0.00	2.42	0.00	0.000	4	0.000	0.063	2978	3504	2136
12847	1.27	120.7	266.3	9.1	612	12851	0.00	2.38	0.00	0.000	6	0.000	0.051	2978	2178	2135
13169	1.27	122.6	240.0	7.9	628	13176	0.00	0.00	5.40	0.781	6	0.000	0.000	2977	2178	2120
13477	1.28	127.0	215.3	7.8	643	13488	0.00	2.45	5.60	0.784	4	0.000	0.060	2978	3511	2102
13544	1.28	127.0	209.8	8.0	646	13548	0.00	2.40	0.00	0.000	6	0.000	0.051	2978	2183	2101
13866	1.30	138.2	186.1	7.5	662	13878	0.00	0.00	10.68	0.874	6	0.000	0.000	2978	2184	2056
14174	1.34	140.0	162.9	7.9	677	14178	0.00	2.40	0.00	0.000	4	0.000	0.060	2978	3509	2056
14218	1.34	140.0	158.9	9.6	679	14222	0.00	2.38	0.00	0.000	6	0.000	0.051	2978	2191	2056
14546	1.38	140.0	130.5	8.9	695	14551	0.10	2.40	0.00	0.000	4	0.054	0.058	3012	3510	2056
14580	1.31	140.0	126.7	10.8	696	14586	0.15	2.33	0.00	0.000	6	0.094	0.050	2983	2205	2056
14898	1.31	140.0	96.4	9.5	712	14899	0.00	0.00	0.00	0.000	6	0.000	0.000	2983	2204	2057
15205	1.35	140.0	68.8	8.0	727	15209	0.00	2.38	0.00	0.000	4	0.000	0.058	2983	3504	2057
15239	1.38	154.4	66.3	7.3	728	15258	0.00	2.33	14.85	0.818	6	0.000	0.050	2983	2208	1990
15580	1.46	174.5	44.6	7.1	745	15599	0.15	0.00	17.02	0.811	6	0.047	0.000	3027	2207	1908
15906	1.41	174.5	10.7	9.9	761	15910	0.00	2.38	0.00	0.000	4	0.000	0.057	3027	3506	1908
15951	1.37	174.5	6.3	9.2	763	15956	0.15	2.33	0.00	0.000	6	0.089	0.052	2999	2220	1907
16003	end climb: SURFACE_DEPTH_REACHED
state	16003	begin surface coast
16023	end surface coast: CONTROL_FINISHED_OK
state	16023	begin surface