Glider dive log

Faroes Jun08 * SG005 * Dive index * Mission links * Dive 319 * 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 319 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 46 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -82711.242 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 2730 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 -82711.242

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 2730 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 46 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 17 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 319 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 215108,6322.434,-820.998,33,1.5,33,-9.5 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.053,0.215

_SM_DEPTHo 0.23 KALMAN_X -124940.6,-584.2,-356.3,257923.0,5593.5

_SM_ANGLEo -43.2 KALMAN_Y -83517.8,1284.0,385.5,217309.6,-8589.3

GPS2 215803,6322.422,-820.961,13,1.5,13,-9.5 MHEAD_RNG_PITCHd_Wd 23.4,45202,-16.7,-8.000

SPEED_LIMITS 0.139,0.222 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.3,1.026915 ALTIM_BOTTOM_PING 601.7,28.6

SM_CCo 15720,219.95,0.798,0,0,390,547.02 _24V_AH 23.6,58.483

SM_GC 0.10,0.00,0.00,219.95,0.000,0.000,0.798,421,2207,390,-10.62,1.61,547.02 _10V_AH 10.1,27.976

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 37955,752

TT8_MAMPS 0.029146 CAP_FILE_SIZE 133757,0

HUMID 1706 CFSIZE 254472192,231763968

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,28,0,0

XPDR_PINGS 273 GPS 120808,022555,6324.455,-820.521,41,1.2,41,-9.5

ALTIM_TOP_PING 19.1,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.60 SBE_CT 518 24 293.71

Roll_motor 186 87 385.31 SBE_O2 557 19 250.02

VBD_pump_during_apogee 250 1350 7972.24 WL_BB2F 485 105 1203.86

VBD_pump_during_surface 219 798 4144.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.79 nil 0 0 0.00

Iridium_during_connect 27 160 102.81 nil 0 0 0.00

Iridium_during_xfer 225 223 1188.35

Transponder_ping 73 420 728.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.86

TT8 1464 19 292.79

LPSleep 11711 2 259.06

TT8_Active 694 19 138.81

TT8_Sampling 1868 39 750.92

TT8_CF8 617 45 285.64

TT8_Kalman 33 81 27.56

Analog_circuits 1644 12 199.37

GPS_charging 0 0 0.00

Compass 1822 8 147.27

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 0 149 0.00 0.00 -116.38 0.000 6 0.000 0.000 419 2139 3098

154 -1.30 -117.3 3.2 -3.5 6 170 10.48 2.60 0.00 0.000 4 0.137 0.059 2439 3564 3098

249 -1.01 -117.3 19.7 -11.7 9 254 0.32 2.47 0.00 0.000 6 0.089 0.044 2507 2162 3096

566 -0.95 -117.3 53.0 -10.6 24 570 0.00 2.50 0.00 0.000 4 0.000 0.053 2507 743 3097

812 -0.89 -117.3 75.9 -9.4 35 817 0.12 2.50 0.00 0.000 6 0.098 0.048 2531 2141 3097

1134 -0.89 -117.3 100.0 -7.1 51 1139 0.00 2.55 0.00 0.000 4 0.000 0.060 2532 3564 3097

1235 -0.89 -117.3 108.4 -8.5 55 1242 0.00 2.50 0.00 0.000 6 0.000 0.044 2532 2143 3097

1552 -0.89 -117.3 131.4 -7.6 71 1556 0.00 2.47 0.00 0.000 4 0.000 0.056 2531 749 3098

1630 -0.89 -117.3 137.8 -8.0 74 1637 0.00 2.50 0.00 0.000 6 0.000 0.050 2532 2150 3098

1946 -0.89 -117.3 161.7 -7.1 90 1947 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2149 3098

2256 -0.94 -117.3 183.6 -7.1 105 2260 0.00 2.58 0.00 0.000 4 0.000 0.060 2532 740 3098

2335 -0.94 -117.3 189.6 -7.4 108 2341 0.00 2.53 0.00 0.000 6 0.000 0.051 2531 2141 3098

2651 -0.98 -117.3 211.8 -7.0 124 2655 0.00 2.55 0.00 0.000 4 0.000 0.062 2532 3558 3098

2769 -0.98 -117.3 220.6 -7.7 129 2774 0.00 2.53 0.00 0.000 6 0.000 0.047 2532 2139 3097

3086 -1.03 -117.3 242.5 -7.2 144 3091 0.12 2.50 0.00 0.000 4 0.054 0.058 2495 739 3097

3271 -0.96 -117.3 260.2 -10.1 152 3276 0.12 2.53 0.00 0.000 6 0.097 0.052 2520 2139 3097

3587 -0.96 -117.3 287.1 -8.5 167 3591 0.00 2.55 0.00 0.000 4 0.000 0.064 2520 3561 3097

3806 -0.96 -117.3 305.4 -8.0 177 3811 0.00 2.55 0.00 0.000 6 0.000 0.050 2520 2132 3096

4133 -0.96 -117.3 328.6 -6.8 193 4137 0.00 2.50 0.00 0.000 4 0.000 0.062 2520 737 3096

4390 -0.96 -117.3 346.1 -7.0 204 4396 0.00 2.50 0.00 0.000 6 0.000 0.054 2520 2118 3096

4706 -0.96 -117.3 365.9 -6.5 220 4707 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2118 3096

5016 -0.96 -117.3 385.4 -6.2 235 5020 0.00 2.53 0.00 0.000 4 0.000 0.065 2520 744 3096

5139 -0.96 -117.3 393.1 -5.9 240 5145 0.00 2.47 0.00 0.000 6 0.000 0.058 2520 2102 3095

5456 -0.96 -117.3 408.0 -4.6 256 5461 0.00 2.67 0.00 0.000 4 0.000 0.072 2520 3556 3095

5535 -0.96 -117.3 412.2 -5.7 259 5541 0.00 2.70 0.00 0.000 6 0.000 0.059 2520 2072 3094

5851 -0.96 -117.3 430.4 -6.0 275 5855 0.00 2.42 0.00 0.000 4 0.000 0.071 2520 745 3094

5982 -0.96 -117.3 439.2 -6.9 281 5987 0.00 2.47 0.00 0.000 6 0.000 0.064 2520 2085 3093

6310 -0.96 -117.3 460.8 -6.7 297 6311 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2085 3092

6619 -0.96 -117.3 481.2 -6.4 312 6624 0.00 2.53 0.00 0.000 4 0.000 0.075 2520 746 3092

6682 -0.96 -117.3 485.6 -7.4 315 6687 0.00 2.47 0.00 0.000 6 0.000 0.068 2520 2074 3091

7011 -1.00 -117.3 506.9 -6.6 331 7013 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2074 3090

7320 -1.05 -117.3 528.4 -7.9 346 7324 0.00 2.53 0.00 0.000 4 0.000 0.081 2520 743 3088

7397 -1.05 -117.3 534.7 -8.0 349 7403 0.00 2.47 0.00 0.000 6 0.000 0.075 2520 2060 3088

7716 -1.10 -117.3 558.3 -7.2 365 7721 0.15 2.80 0.00 0.000 4 0.064 0.084 2482 3552 3087

7824 -1.01 -117.3 567.6 -8.1 370 7829 0.12 2.78 0.00 0.000 6 0.112 0.071 2506 2056 3086

8152 -1.01 -117.3 588.8 -5.5 386 8157 0.00 2.45 0.00 0.000 4 0.000 0.084 2506 748 3085

8231 -1.01 -117.3 594.8 -7.8 389 8237 0.00 2.45 0.00 0.000 6 0.000 0.074 2506 2051 3085

8547 -1.01 -117.3 617.8 -6.7 405 8552 0.00 2.85 0.00 0.000 4 0.000 0.087 2506 3563 3083

8578 end dive: BOTTOM_OBSTACLE_DETECTED

state 8578 begin apogee

8588 -0.33 0.0 620.5 7.9 406 8695 0.70 0.00 99.10 1.351 6 0.098 0.000 2650 2078 2620

8696 end apogee: CONTROL_FINISHED_OK

state 8696 begin climb

8699 1.30 117.3 623.1 0.0 412 8806 1.70 2.72 99.40 1.309 4 0.077 0.084 3010 691 2140

8826 1.20 117.3 614.2 9.5 418 8831 0.00 2.67 0.00 0.000 6 0.000 0.073 3010 2097 2140

9148 1.14 117.3 583.5 9.6 434 9153 0.15 2.67 0.00 0.000 4 0.107 0.084 2979 3509 2138

9198 1.14 117.3 578.7 9.1 436 9203 0.00 2.65 0.00 0.000 6 0.000 0.073 2979 2112 2138

9515 1.15 124.0 554.5 7.7 451 9529 0.00 2.75 6.65 1.071 4 0.000 0.083 2979 3511 2114

9536 1.15 124.0 552.6 8.7 452 9541 0.00 2.65 0.00 0.000 6 0.000 0.071 2979 2117 2114

9863 1.15 124.0 526.3 8.1 468 9868 0.00 2.70 0.00 0.000 4 0.000 0.084 2979 3514 2113

9914 1.15 124.0 521.9 8.7 470 9919 0.00 2.62 0.00 0.000 6 0.000 0.071 2979 2118 2113

10230 1.15 124.3 495.7 8.0 485 10235 0.00 2.67 0.00 0.000 4 0.000 0.084 2979 3507 2112

10298 1.15 124.3 490.1 9.1 488 10302 0.00 2.58 0.00 0.000 6 0.000 0.069 2979 2135 2112

10619 1.15 124.3 464.4 8.1 504 10623 0.00 2.65 0.00 0.000 4 0.000 0.084 2979 3509 2111

10659 1.15 124.3 461.1 9.3 506 10663 0.00 2.55 0.00 0.000 6 0.000 0.068 2979 2145 2111

10986 1.15 124.3 434.0 8.2 522 10990 0.00 2.62 0.00 0.000 4 0.000 0.084 2979 3508 2110

11026 1.15 124.3 430.5 8.7 524 11030 0.00 2.53 0.00 0.000 6 0.000 0.069 2979 2156 2111

11353 1.17 136.2 404.9 7.5 540 11374 0.00 2.70 11.40 1.164 4 0.000 0.081 2979 3509 2063

11381 1.18 144.4 402.7 7.6 541 11397 0.00 2.55 8.38 1.085 6 0.000 0.067 2979 2147 2031

11707 1.28 172.9 379.6 6.7 557 11738 0.12 2.65 25.17 1.203 4 0.066 0.079 3010 3506 1914

11769 1.24 172.9 374.5 8.8 560 11773 0.00 2.47 0.00 0.000 6 0.000 0.064 3010 2189 1914

12096 1.24 172.9 341.9 10.4 576 12100 0.00 2.53 0.00 0.000 4 0.000 0.079 3010 3508 1913

12118 1.24 172.9 339.3 11.0 577 12122 0.00 2.45 0.00 0.000 6 0.000 0.065 3010 2194 1913

12439 1.24 172.9 306.4 10.1 593 12444 0.00 2.50 0.00 0.000 4 0.000 0.075 3010 3508 1913

12495 1.24 172.9 300.1 11.0 595 12502 0.00 2.40 0.00 0.000 6 0.000 0.061 3010 2202 1912

12811 1.24 172.9 265.6 10.9 611 12816 0.00 2.47 0.00 0.000 4 0.000 0.072 3010 3515 1912

12833 1.24 172.9 262.9 11.2 612 12838 0.00 2.40 0.00 0.000 6 0.000 0.058 3010 2208 1912

13155 1.24 172.9 230.6 9.5 628 13160 0.00 2.42 0.00 0.000 4 0.000 0.069 3010 3510 1913

13166 1.24 172.9 229.4 9.3 628 13172 0.00 2.38 0.00 0.000 6 0.000 0.056 3010 2207 1913

13482 1.24 172.9 199.8 9.2 644 13486 0.00 2.42 0.00 0.000 4 0.000 0.067 3010 3515 1914

13494 1.24 172.9 198.6 9.1 644 13500 0.00 2.38 0.00 0.000 6 0.000 0.053 3010 2205 1914

13809 1.24 172.9 169.2 9.4 660 13814 0.00 2.40 0.00 0.000 4 0.000 0.064 3010 3511 1915

13827 1.24 172.9 167.4 9.6 661 13832 0.00 2.33 0.00 0.000 6 0.000 0.051 3010 2217 1915

14155 1.24 172.9 136.4 9.4 677 14160 0.00 2.38 0.00 0.000 4 0.000 0.064 3010 3511 1916

14166 1.24 172.9 135.1 9.3 677 14173 0.00 2.33 0.00 0.000 6 0.000 0.051 3010 2212 1916

14482 1.24 172.9 103.8 10.1 693 14487 0.00 2.38 0.00 0.000 4 0.000 0.062 3010 3511 1917

14493 1.24 172.9 102.6 9.7 693 14500 0.00 2.33 0.00 0.000 6 0.000 0.049 3010 2215 1917

14810 1.24 172.9 73.3 8.8 709 14815 0.00 2.38 0.00 0.000 4 0.000 0.061 3010 3512 1919

14822 1.24 172.9 72.2 8.9 709 14828 0.00 2.33 0.00 0.000 6 0.000 0.049 3010 2213 1918

15138 1.24 172.9 45.0 8.6 725 15142 0.00 2.38 0.00 0.000 4 0.000 0.061 3010 3511 1919

15149 1.24 172.9 43.9 8.5 725 15156 0.00 2.30 0.00 0.000 6 0.000 0.048 3010 2216 1920

15466 1.24 172.9 19.1 8.6 741 15470 0.00 2.38 0.00 0.000 4 0.000 0.061 3011 3515 1920

15500 1.24 172.9 15.7 8.5 742 15504 0.00 2.30 0.00 0.000 6 0.000 0.048 3010 2223 1920

15674 end climb: SURFACE_DEPTH_REACHED

state 15674 begin surface coast

15696 end surface coast: CONTROL_FINISHED_OK

state 15696 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	319	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	46	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-82711.242	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	2730	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	215108,6322.434,-820.998,33,1.5,33,-9.5	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.053,0.215
_SM_DEPTHo	0.23	KALMAN_X	-124940.6,-584.2,-356.3,257923.0,5593.5
_SM_ANGLEo	-43.2	KALMAN_Y	-83517.8,1284.0,385.5,217309.6,-8589.3
GPS2	215803,6322.422,-820.961,13,1.5,13,-9.5	MHEAD_RNG_PITCHd_Wd	23.4,45202,-16.7,-8.000
SPEED_LIMITS	0.139,0.222	D_GRID	990

FINISH	-0.3,1.026915	ALTIM_BOTTOM_PING	601.7,28.6
SM_CCo	15720,219.95,0.798,0,0,390,547.02	_24V_AH	23.6,58.483
SM_GC	0.10,0.00,0.00,219.95,0.000,0.000,0.798,421,2207,390,-10.62,1.61,547.02	_10V_AH	10.1,27.976
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	37955,752
TT8_MAMPS	0.029146	CAP_FILE_SIZE	133757,0
HUMID	1706	CFSIZE	254472192,231763968
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
XPDR_PINGS	273	GPS	120808,022555,6324.455,-820.521,41,1.2,41,-9.5
ALTIM_TOP_PING	19.1,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.60	SBE_CT	518	24	293.71
Roll_motor	186	87	385.31	SBE_O2	557	19	250.02
VBD_pump_during_apogee	250	1350	7972.24	WL_BB2F	485	105	1203.86
VBD_pump_during_surface	219	798	4144.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.79	nil	0	0	0.00
Iridium_during_connect	27	160	102.81	nil	0	0	0.00
Iridium_during_xfer	225	223	1188.35
Transponder_ping	73	420	728.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.86
TT8	1464	19	292.79
LPSleep	11711	2	259.06
TT8_Active	694	19	138.81
TT8_Sampling	1868	39	750.92
TT8_CF8	617	45	285.64
TT8_Kalman	33	81	27.56
Analog_circuits	1644	12	199.37
GPS_charging	0	0	0.00
Compass	1822	8	147.27
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	149	0.00	0.00	-116.38	0.000	6	0.000	0.000	419	2139	3098
154	-1.30	-117.3	3.2	-3.5	6	170	10.48	2.60	0.00	0.000	4	0.137	0.059	2439	3564	3098
249	-1.01	-117.3	19.7	-11.7	9	254	0.32	2.47	0.00	0.000	6	0.089	0.044	2507	2162	3096
566	-0.95	-117.3	53.0	-10.6	24	570	0.00	2.50	0.00	0.000	4	0.000	0.053	2507	743	3097
812	-0.89	-117.3	75.9	-9.4	35	817	0.12	2.50	0.00	0.000	6	0.098	0.048	2531	2141	3097
1134	-0.89	-117.3	100.0	-7.1	51	1139	0.00	2.55	0.00	0.000	4	0.000	0.060	2532	3564	3097
1235	-0.89	-117.3	108.4	-8.5	55	1242	0.00	2.50	0.00	0.000	6	0.000	0.044	2532	2143	3097
1552	-0.89	-117.3	131.4	-7.6	71	1556	0.00	2.47	0.00	0.000	4	0.000	0.056	2531	749	3098
1630	-0.89	-117.3	137.8	-8.0	74	1637	0.00	2.50	0.00	0.000	6	0.000	0.050	2532	2150	3098
1946	-0.89	-117.3	161.7	-7.1	90	1947	0.00	0.00	0.00	0.000	6	0.000	0.000	2532	2149	3098
2256	-0.94	-117.3	183.6	-7.1	105	2260	0.00	2.58	0.00	0.000	4	0.000	0.060	2532	740	3098
2335	-0.94	-117.3	189.6	-7.4	108	2341	0.00	2.53	0.00	0.000	6	0.000	0.051	2531	2141	3098
2651	-0.98	-117.3	211.8	-7.0	124	2655	0.00	2.55	0.00	0.000	4	0.000	0.062	2532	3558	3098
2769	-0.98	-117.3	220.6	-7.7	129	2774	0.00	2.53	0.00	0.000	6	0.000	0.047	2532	2139	3097
3086	-1.03	-117.3	242.5	-7.2	144	3091	0.12	2.50	0.00	0.000	4	0.054	0.058	2495	739	3097
3271	-0.96	-117.3	260.2	-10.1	152	3276	0.12	2.53	0.00	0.000	6	0.097	0.052	2520	2139	3097
3587	-0.96	-117.3	287.1	-8.5	167	3591	0.00	2.55	0.00	0.000	4	0.000	0.064	2520	3561	3097
3806	-0.96	-117.3	305.4	-8.0	177	3811	0.00	2.55	0.00	0.000	6	0.000	0.050	2520	2132	3096
4133	-0.96	-117.3	328.6	-6.8	193	4137	0.00	2.50	0.00	0.000	4	0.000	0.062	2520	737	3096
4390	-0.96	-117.3	346.1	-7.0	204	4396	0.00	2.50	0.00	0.000	6	0.000	0.054	2520	2118	3096
4706	-0.96	-117.3	365.9	-6.5	220	4707	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2118	3096
5016	-0.96	-117.3	385.4	-6.2	235	5020	0.00	2.53	0.00	0.000	4	0.000	0.065	2520	744	3096
5139	-0.96	-117.3	393.1	-5.9	240	5145	0.00	2.47	0.00	0.000	6	0.000	0.058	2520	2102	3095
5456	-0.96	-117.3	408.0	-4.6	256	5461	0.00	2.67	0.00	0.000	4	0.000	0.072	2520	3556	3095
5535	-0.96	-117.3	412.2	-5.7	259	5541	0.00	2.70	0.00	0.000	6	0.000	0.059	2520	2072	3094
5851	-0.96	-117.3	430.4	-6.0	275	5855	0.00	2.42	0.00	0.000	4	0.000	0.071	2520	745	3094
5982	-0.96	-117.3	439.2	-6.9	281	5987	0.00	2.47	0.00	0.000	6	0.000	0.064	2520	2085	3093
6310	-0.96	-117.3	460.8	-6.7	297	6311	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2085	3092
6619	-0.96	-117.3	481.2	-6.4	312	6624	0.00	2.53	0.00	0.000	4	0.000	0.075	2520	746	3092
6682	-0.96	-117.3	485.6	-7.4	315	6687	0.00	2.47	0.00	0.000	6	0.000	0.068	2520	2074	3091
7011	-1.00	-117.3	506.9	-6.6	331	7013	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2074	3090
7320	-1.05	-117.3	528.4	-7.9	346	7324	0.00	2.53	0.00	0.000	4	0.000	0.081	2520	743	3088
7397	-1.05	-117.3	534.7	-8.0	349	7403	0.00	2.47	0.00	0.000	6	0.000	0.075	2520	2060	3088
7716	-1.10	-117.3	558.3	-7.2	365	7721	0.15	2.80	0.00	0.000	4	0.064	0.084	2482	3552	3087
7824	-1.01	-117.3	567.6	-8.1	370	7829	0.12	2.78	0.00	0.000	6	0.112	0.071	2506	2056	3086
8152	-1.01	-117.3	588.8	-5.5	386	8157	0.00	2.45	0.00	0.000	4	0.000	0.084	2506	748	3085
8231	-1.01	-117.3	594.8	-7.8	389	8237	0.00	2.45	0.00	0.000	6	0.000	0.074	2506	2051	3085
8547	-1.01	-117.3	617.8	-6.7	405	8552	0.00	2.85	0.00	0.000	4	0.000	0.087	2506	3563	3083
8578	end dive: BOTTOM_OBSTACLE_DETECTED
state	8578	begin apogee
8588	-0.33	0.0	620.5	7.9	406	8695	0.70	0.00	99.10	1.351	6	0.098	0.000	2650	2078	2620
8696	end apogee: CONTROL_FINISHED_OK
state	8696	begin climb
8699	1.30	117.3	623.1	0.0	412	8806	1.70	2.72	99.40	1.309	4	0.077	0.084	3010	691	2140
8826	1.20	117.3	614.2	9.5	418	8831	0.00	2.67	0.00	0.000	6	0.000	0.073	3010	2097	2140
9148	1.14	117.3	583.5	9.6	434	9153	0.15	2.67	0.00	0.000	4	0.107	0.084	2979	3509	2138
9198	1.14	117.3	578.7	9.1	436	9203	0.00	2.65	0.00	0.000	6	0.000	0.073	2979	2112	2138
9515	1.15	124.0	554.5	7.7	451	9529	0.00	2.75	6.65	1.071	4	0.000	0.083	2979	3511	2114
9536	1.15	124.0	552.6	8.7	452	9541	0.00	2.65	0.00	0.000	6	0.000	0.071	2979	2117	2114
9863	1.15	124.0	526.3	8.1	468	9868	0.00	2.70	0.00	0.000	4	0.000	0.084	2979	3514	2113
9914	1.15	124.0	521.9	8.7	470	9919	0.00	2.62	0.00	0.000	6	0.000	0.071	2979	2118	2113
10230	1.15	124.3	495.7	8.0	485	10235	0.00	2.67	0.00	0.000	4	0.000	0.084	2979	3507	2112
10298	1.15	124.3	490.1	9.1	488	10302	0.00	2.58	0.00	0.000	6	0.000	0.069	2979	2135	2112
10619	1.15	124.3	464.4	8.1	504	10623	0.00	2.65	0.00	0.000	4	0.000	0.084	2979	3509	2111
10659	1.15	124.3	461.1	9.3	506	10663	0.00	2.55	0.00	0.000	6	0.000	0.068	2979	2145	2111
10986	1.15	124.3	434.0	8.2	522	10990	0.00	2.62	0.00	0.000	4	0.000	0.084	2979	3508	2110
11026	1.15	124.3	430.5	8.7	524	11030	0.00	2.53	0.00	0.000	6	0.000	0.069	2979	2156	2111
11353	1.17	136.2	404.9	7.5	540	11374	0.00	2.70	11.40	1.164	4	0.000	0.081	2979	3509	2063
11381	1.18	144.4	402.7	7.6	541	11397	0.00	2.55	8.38	1.085	6	0.000	0.067	2979	2147	2031
11707	1.28	172.9	379.6	6.7	557	11738	0.12	2.65	25.17	1.203	4	0.066	0.079	3010	3506	1914
11769	1.24	172.9	374.5	8.8	560	11773	0.00	2.47	0.00	0.000	6	0.000	0.064	3010	2189	1914
12096	1.24	172.9	341.9	10.4	576	12100	0.00	2.53	0.00	0.000	4	0.000	0.079	3010	3508	1913
12118	1.24	172.9	339.3	11.0	577	12122	0.00	2.45	0.00	0.000	6	0.000	0.065	3010	2194	1913
12439	1.24	172.9	306.4	10.1	593	12444	0.00	2.50	0.00	0.000	4	0.000	0.075	3010	3508	1913
12495	1.24	172.9	300.1	11.0	595	12502	0.00	2.40	0.00	0.000	6	0.000	0.061	3010	2202	1912
12811	1.24	172.9	265.6	10.9	611	12816	0.00	2.47	0.00	0.000	4	0.000	0.072	3010	3515	1912
12833	1.24	172.9	262.9	11.2	612	12838	0.00	2.40	0.00	0.000	6	0.000	0.058	3010	2208	1912
13155	1.24	172.9	230.6	9.5	628	13160	0.00	2.42	0.00	0.000	4	0.000	0.069	3010	3510	1913
13166	1.24	172.9	229.4	9.3	628	13172	0.00	2.38	0.00	0.000	6	0.000	0.056	3010	2207	1913
13482	1.24	172.9	199.8	9.2	644	13486	0.00	2.42	0.00	0.000	4	0.000	0.067	3010	3515	1914
13494	1.24	172.9	198.6	9.1	644	13500	0.00	2.38	0.00	0.000	6	0.000	0.053	3010	2205	1914
13809	1.24	172.9	169.2	9.4	660	13814	0.00	2.40	0.00	0.000	4	0.000	0.064	3010	3511	1915
13827	1.24	172.9	167.4	9.6	661	13832	0.00	2.33	0.00	0.000	6	0.000	0.051	3010	2217	1915
14155	1.24	172.9	136.4	9.4	677	14160	0.00	2.38	0.00	0.000	4	0.000	0.064	3010	3511	1916
14166	1.24	172.9	135.1	9.3	677	14173	0.00	2.33	0.00	0.000	6	0.000	0.051	3010	2212	1916
14482	1.24	172.9	103.8	10.1	693	14487	0.00	2.38	0.00	0.000	4	0.000	0.062	3010	3511	1917
14493	1.24	172.9	102.6	9.7	693	14500	0.00	2.33	0.00	0.000	6	0.000	0.049	3010	2215	1917
14810	1.24	172.9	73.3	8.8	709	14815	0.00	2.38	0.00	0.000	4	0.000	0.061	3010	3512	1919
14822	1.24	172.9	72.2	8.9	709	14828	0.00	2.33	0.00	0.000	6	0.000	0.049	3010	2213	1918
15138	1.24	172.9	45.0	8.6	725	15142	0.00	2.38	0.00	0.000	4	0.000	0.061	3010	3511	1919
15149	1.24	172.9	43.9	8.5	725	15156	0.00	2.30	0.00	0.000	6	0.000	0.048	3010	2216	1920
15466	1.24	172.9	19.1	8.6	741	15470	0.00	2.38	0.00	0.000	4	0.000	0.061	3011	3515	1920
15500	1.24	172.9	15.7	8.5	742	15504	0.00	2.30	0.00	0.000	6	0.000	0.048	3010	2223	1920
15674	end climb: SURFACE_DEPTH_REACHED
state	15674	begin surface coast
15696	end surface coast: CONTROL_FINISHED_OK
state	15696	begin surface