Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 168 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 168 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 24 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -2096515.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

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 -2096515.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 168 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-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 040525,6233.942,-1153.981,26,1.9,44,-11.2 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.29 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 041128,6233.921,-1154.016,34,3.2,53,-11.2 MHEAD_RNG_PITCHd_Wd 308.2,24799,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014580 ALTIM_BOTTOM_PING 751.5,67.2

SM_CCo 22251,126.82,0.624,0,0,509,557.32 _24V_AH 23.5,29.758

SM_GC 1.38,0.00,0.00,126.82,0.000,0.000,0.624,71,2186,509,-10.25,-0.40,557.32 _10V_AH 10.1,14.735

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53659,1078

TT8_MAMPS 0.023777 CAP_FILE_SIZE 141937,0

HUMID 1854 CFSIZE 260165632,248332288

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 29 GPS 100708,102622,6233.601,-1204.294,38,2.7,58,-11.3

ALTIM_TOP_PING 18.3,17.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 100.13 SBE_CT 793 24 447.58

Roll_motor 127 88 266.69 SBE_O2 739 19 329.97

VBD_pump_during_apogee 401 1185 11170.47 WL_BB2F 619 105 1529.66

VBD_pump_during_surface 126 623 1858.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.65 nil 0 0 0.00

Iridium_during_connect 26 160 100.92 nil 0 0 0.00

Iridium_during_xfer 149 223 785.28

Transponder_ping 14 420 138.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 54 50 27.54

TT8 1884 19 376.88

LPSleep 17490 2 386.86

TT8_Active 693 19 138.75

TT8_Sampling 2148 39 863.46

TT8_CF8 519 45 240.39

TT8_Kalman 0 81 0.00

Analog_circuits 1728 12 209.52

GPS_charging 0 0 0.00

Compass 2064 8 166.83

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 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.45 0.000 2 0.000 0.000 71 2192 3021

153 -0.85 -146.6 4.3 -3.8 6 178 11.45 2.72 -7.88 0.000 4 0.169 0.085 2109 3619 3380

331 -0.67 -146.6 30.7 -11.7 14 336 0.22 2.60 0.00 0.000 6 0.089 0.054 2153 2205 3380

658 -0.67 -146.6 65.8 -11.7 30 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2205 3380

968 -0.62 -146.6 99.0 -10.1 45 969 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2206 3381

1277 -0.58 -146.6 127.7 -9.4 60 1282 0.00 2.70 0.00 0.000 4 0.000 0.078 2153 3613 3381

1311 -0.53 -146.6 131.5 -10.5 61 1318 0.15 2.58 0.00 0.000 6 0.094 0.052 2183 2200 3381

1627 -0.58 -146.6 157.7 -8.1 77 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2200 3381

1936 -0.63 -146.6 180.9 -7.1 92 1940 0.00 2.70 0.00 0.000 4 0.000 0.079 2183 3613 3381

1982 -0.68 -146.6 184.2 -7.6 94 1987 0.15 2.58 0.00 0.000 6 0.044 0.051 2139 2197 3381

2304 -0.61 -146.6 212.1 -9.1 110 2305 0.15 0.00 0.00 0.000 6 0.084 0.000 2169 2197 3381

2612 -0.61 -146.6 233.3 -6.8 125 2613 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2197 3381

2922 -0.61 -146.6 255.8 -7.5 140 2923 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2198 3381

3231 -0.61 -146.6 279.7 -7.8 155 3235 0.00 2.72 0.00 0.000 4 0.000 0.080 2170 3618 3381

3270 -0.61 -146.6 282.9 -9.0 157 3274 0.00 2.60 0.00 0.000 6 0.000 0.054 2169 2199 3381

3596 -0.61 -146.6 306.9 -7.2 173 3597 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2199 3381

3905 -0.61 -146.6 328.2 -6.8 188 3910 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3612 3381

3944 -0.61 -146.6 331.2 -7.6 190 3949 0.00 2.58 0.00 0.000 6 0.000 0.054 2169 2200 3381

4272 -0.61 -146.6 354.2 -7.1 206 4273 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2200 3380

4581 -0.61 -146.6 377.1 -7.6 221 4582 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2200 3380

4892 -0.61 -146.6 401.3 -7.9 236 4897 0.00 2.70 0.00 0.000 4 0.000 0.082 2169 3612 3380

4937 -0.61 -146.6 405.3 -8.5 238 4941 0.00 2.58 0.00 0.000 6 0.000 0.054 2169 2196 3380

5258 -0.61 -146.6 430.2 -7.2 254 5259 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2196 3380

5569 -0.61 -146.6 451.3 -6.5 269 5574 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3611 3380

5609 -0.61 -146.6 453.9 -6.4 271 5614 0.00 2.58 0.00 0.000 6 0.000 0.054 2169 2199 3380

5936 -0.61 -146.6 473.5 -5.7 287 5937 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2199 3380

6245 -0.61 -146.6 492.9 -6.8 302 6246 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2199 3380

6555 -0.61 -146.6 517.2 -8.2 317 6559 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3615 3380

6604 -0.61 -146.6 521.9 -8.9 319 6609 0.00 2.58 0.00 0.000 6 0.000 0.053 2169 2199 3380

6920 -0.61 -146.6 549.3 -8.4 334 6921 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2199 3379

7229 -0.61 -146.6 571.8 -6.4 349 7234 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3613 3379

7270 -0.61 -146.6 574.5 -7.0 351 7274 0.00 2.58 0.00 0.000 6 0.000 0.052 2169 2196 3380

7596 -0.61 -146.6 591.8 -4.9 367 7597 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2196 3379

7905 -0.61 -146.6 610.7 -7.1 382 7910 0.00 2.70 0.00 0.000 4 0.000 0.080 2171 3612 3379

7949 -0.61 -146.6 614.3 -7.9 384 7954 0.00 2.55 0.00 0.000 6 0.000 0.053 2169 2202 3379

8271 -0.65 -146.6 641.2 -8.4 400 8275 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3615 3379

8321 -0.69 -146.6 645.6 -8.6 402 8325 0.00 2.58 0.00 0.000 6 0.000 0.053 2169 2197 3379

8637 -0.74 -146.6 667.5 -6.2 417 8639 0.15 0.00 0.00 0.000 6 0.046 0.000 2129 2197 3379

8947 -0.67 -146.6 689.2 -6.2 432 8952 0.12 2.72 0.00 0.000 4 0.091 0.082 2153 3615 3378

9014 -0.67 -146.6 693.2 -5.7 435 9018 0.00 2.58 0.00 0.000 6 0.000 0.054 2153 2202 3378

9335 -0.67 -146.6 711.4 -6.5 451 9339 0.00 2.70 0.00 0.000 4 0.000 0.084 2154 3610 3378

9368 -0.67 -146.6 714.0 -8.3 452 9374 0.00 2.58 0.00 0.000 6 0.000 0.056 2153 2199 3378

9683 -0.67 -146.6 738.0 -7.5 468 9684 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2199 3378

9992 -0.67 -146.6 760.7 -7.5 483 9997 0.00 2.72 0.00 0.000 4 0.000 0.087 2154 3610 3377

10037 -0.67 -146.6 764.2 -8.1 485 10041 0.00 2.60 0.00 0.000 6 0.000 0.059 2153 2196 3377

10358 -0.67 -146.6 786.7 -7.0 501 10359 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2196 3377

10667 -0.67 -146.6 807.3 -7.1 516 10671 0.00 2.75 0.00 0.000 4 0.000 0.089 2153 3612 3376

10686 end dive: BOTTOM_OBSTACLE_DETECTED

state 10686 begin apogee

10695 -0.31 0.0 809.0 6.8 517 10832 0.35 0.00 133.10 1.185 6 0.088 0.000 2227 2241 2781

10833 end apogee: CONTROL_FINISHED_OK

state 10833 begin climb

10836 0.85 146.6 813.2 0.0 524 10975 1.23 2.80 131.35 1.161 4 0.077 0.070 2481 827 2183

11121 0.91 202.6 800.2 4.5 537 11177 0.00 2.65 50.80 1.131 6 0.000 0.058 2481 2240 1955

11500 1.00 247.2 780.4 4.8 556 11550 0.15 2.80 41.20 1.124 4 0.059 0.086 2519 3651 1772

11579 0.96 247.2 775.1 7.6 559 11585 0.00 2.67 0.00 0.000 6 0.000 0.061 2520 2234 1772

11894 0.96 247.2 748.6 9.2 575 11896 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2234 1772

12204 0.96 247.2 719.6 8.7 590 12205 0.00 0.00 0.00 0.000 6 0.000 0.000 2520 2234 1771

12513 0.96 247.2 696.8 6.7 605 12517 0.00 2.78 0.00 0.000 4 0.000 0.085 2520 3657 1770

12557 0.91 247.2 693.7 7.4 607 12562 0.00 2.65 0.00 0.000 6 0.000 0.060 2520 2232 1770

12878 0.91 247.2 672.3 7.3 623 12882 0.00 2.75 0.00 0.000 4 0.000 0.082 2520 3653 1770

12922 0.87 247.2 668.8 8.8 625 12927 0.15 2.62 0.00 0.000 6 0.097 0.058 2491 2234 1770

13244 0.92 247.2 650.2 6.2 641 13245 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2234 1770

13554 0.98 247.2 629.6 6.8 656 13555 0.10 0.00 0.00 0.000 6 0.057 0.000 2518 2234 1769

13862 0.98 247.2 607.3 6.7 671 13863 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2234 1769

14172 0.98 247.2 586.8 6.9 686 14176 0.00 2.72 0.00 0.000 4 0.000 0.079 2518 3653 1769

14211 0.98 247.2 583.7 8.2 688 14215 0.00 2.60 0.00 0.000 6 0.000 0.057 2518 2241 1769

14537 0.98 247.2 558.7 7.6 704 14538 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1769

14847 0.98 247.2 534.6 8.0 719 14848 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1769

15156 0.98 247.2 510.3 7.6 734 15160 0.00 2.65 0.00 0.000 4 0.000 0.068 2518 822 1769

15196 0.98 247.2 507.3 8.0 736 15201 0.00 2.62 0.00 0.000 6 0.000 0.054 2518 2245 1769

15522 0.98 247.2 481.8 8.0 752 15524 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1769

15831 0.98 247.2 455.8 8.6 767 15833 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1770

16141 0.98 247.2 429.8 8.3 782 16142 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1770

16450 0.98 247.2 405.7 7.5 797 16451 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1770

16760 0.98 247.2 383.8 6.8 812 16761 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1771

17068 0.98 247.2 363.4 6.6 827 17070 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2245 1771

17378 0.98 247.2 343.1 6.8 842 17382 0.00 2.67 0.00 0.000 4 0.000 0.080 2518 3650 1772

17422 0.98 247.2 339.8 8.0 844 17426 0.00 2.60 0.00 0.000 6 0.000 0.058 2518 2241 1771

17742 0.98 247.2 316.9 7.3 860 17744 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1772

18052 0.98 247.2 294.2 7.1 875 18053 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1772

18361 0.98 247.2 273.0 7.0 890 18362 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1772

18670 0.98 247.2 251.1 7.5 905 18671 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2239 1772

18979 0.98 247.2 226.9 8.1 920 18981 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1772

19289 0.98 247.2 201.2 8.2 935 19290 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1773

19598 0.98 247.2 177.0 7.6 950 19602 0.00 2.70 0.00 0.000 4 0.000 0.079 2518 3653 1773

19637 0.98 247.2 174.0 8.0 952 19641 0.00 2.60 0.00 0.000 6 0.000 0.058 2518 2241 1773

19964 0.98 247.2 151.7 6.9 968 19965 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1773

20273 0.98 247.2 128.5 7.7 983 20274 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1773

20582 0.98 247.2 106.3 6.8 998 20583 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1773

20893 0.98 247.2 85.1 6.7 1013 20895 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1773

21201 0.99 253.7 65.6 5.8 1028 21210 0.00 0.00 7.20 0.581 6 0.000 0.000 2518 2240 1747

21512 1.04 298.7 50.1 4.8 1043 21551 0.00 0.00 37.47 0.663 6 0.000 0.000 2518 2242 1563

21862 1.10 298.7 29.4 6.6 1060 21867 0.10 2.65 0.00 0.000 4 0.071 0.065 2544 822 1562

21902 1.10 298.7 26.1 7.8 1062 21906 0.00 2.60 0.00 0.000 6 0.000 0.052 2544 2237 1561

22205 end climb: SURFACE_DEPTH_REACHED

state 22205 begin surface coast

22229 end surface coast: CONTROL_FINISHED_OK

state 22229 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	168	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	24	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-2096515.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.434687	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	040525,6233.942,-1153.981,26,1.9,44,-11.2	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.29	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	041128,6233.921,-1154.016,34,3.2,53,-11.2	MHEAD_RNG_PITCHd_Wd	308.2,24799,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014580	ALTIM_BOTTOM_PING	751.5,67.2
SM_CCo	22251,126.82,0.624,0,0,509,557.32	_24V_AH	23.5,29.758
SM_GC	1.38,0.00,0.00,126.82,0.000,0.000,0.624,71,2186,509,-10.25,-0.40,557.32	_10V_AH	10.1,14.735
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53659,1078
TT8_MAMPS	0.023777	CAP_FILE_SIZE	141937,0
HUMID	1854	CFSIZE	260165632,248332288
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	29	GPS	100708,102622,6233.601,-1204.294,38,2.7,58,-11.3
ALTIM_TOP_PING	18.3,17.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	100.13	SBE_CT	793	24	447.58
Roll_motor	127	88	266.69	SBE_O2	739	19	329.97
VBD_pump_during_apogee	401	1185	11170.47	WL_BB2F	619	105	1529.66
VBD_pump_during_surface	126	623	1858.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.65	nil	0	0	0.00
Iridium_during_connect	26	160	100.92	nil	0	0	0.00
Iridium_during_xfer	149	223	785.28
Transponder_ping	14	420	138.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	54	50	27.54
TT8	1884	19	376.88
LPSleep	17490	2	386.86
TT8_Active	693	19	138.75
TT8_Sampling	2148	39	863.46
TT8_CF8	519	45	240.39
TT8_Kalman	0	81	0.00
Analog_circuits	1728	12	209.52
GPS_charging	0	0	0.00
Compass	2064	8	166.83
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	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.45	0.000	2	0.000	0.000	71	2192	3021
153	-0.85	-146.6	4.3	-3.8	6	178	11.45	2.72	-7.88	0.000	4	0.169	0.085	2109	3619	3380
331	-0.67	-146.6	30.7	-11.7	14	336	0.22	2.60	0.00	0.000	6	0.089	0.054	2153	2205	3380
658	-0.67	-146.6	65.8	-11.7	30	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2205	3380
968	-0.62	-146.6	99.0	-10.1	45	969	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2206	3381
1277	-0.58	-146.6	127.7	-9.4	60	1282	0.00	2.70	0.00	0.000	4	0.000	0.078	2153	3613	3381
1311	-0.53	-146.6	131.5	-10.5	61	1318	0.15	2.58	0.00	0.000	6	0.094	0.052	2183	2200	3381
1627	-0.58	-146.6	157.7	-8.1	77	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2200	3381
1936	-0.63	-146.6	180.9	-7.1	92	1940	0.00	2.70	0.00	0.000	4	0.000	0.079	2183	3613	3381
1982	-0.68	-146.6	184.2	-7.6	94	1987	0.15	2.58	0.00	0.000	6	0.044	0.051	2139	2197	3381
2304	-0.61	-146.6	212.1	-9.1	110	2305	0.15	0.00	0.00	0.000	6	0.084	0.000	2169	2197	3381
2612	-0.61	-146.6	233.3	-6.8	125	2613	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2197	3381
2922	-0.61	-146.6	255.8	-7.5	140	2923	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2198	3381
3231	-0.61	-146.6	279.7	-7.8	155	3235	0.00	2.72	0.00	0.000	4	0.000	0.080	2170	3618	3381
3270	-0.61	-146.6	282.9	-9.0	157	3274	0.00	2.60	0.00	0.000	6	0.000	0.054	2169	2199	3381
3596	-0.61	-146.6	306.9	-7.2	173	3597	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2199	3381
3905	-0.61	-146.6	328.2	-6.8	188	3910	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3612	3381
3944	-0.61	-146.6	331.2	-7.6	190	3949	0.00	2.58	0.00	0.000	6	0.000	0.054	2169	2200	3381
4272	-0.61	-146.6	354.2	-7.1	206	4273	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2200	3380
4581	-0.61	-146.6	377.1	-7.6	221	4582	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2200	3380
4892	-0.61	-146.6	401.3	-7.9	236	4897	0.00	2.70	0.00	0.000	4	0.000	0.082	2169	3612	3380
4937	-0.61	-146.6	405.3	-8.5	238	4941	0.00	2.58	0.00	0.000	6	0.000	0.054	2169	2196	3380
5258	-0.61	-146.6	430.2	-7.2	254	5259	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2196	3380
5569	-0.61	-146.6	451.3	-6.5	269	5574	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3611	3380
5609	-0.61	-146.6	453.9	-6.4	271	5614	0.00	2.58	0.00	0.000	6	0.000	0.054	2169	2199	3380
5936	-0.61	-146.6	473.5	-5.7	287	5937	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2199	3380
6245	-0.61	-146.6	492.9	-6.8	302	6246	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2199	3380
6555	-0.61	-146.6	517.2	-8.2	317	6559	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3615	3380
6604	-0.61	-146.6	521.9	-8.9	319	6609	0.00	2.58	0.00	0.000	6	0.000	0.053	2169	2199	3380
6920	-0.61	-146.6	549.3	-8.4	334	6921	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2199	3379
7229	-0.61	-146.6	571.8	-6.4	349	7234	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3613	3379
7270	-0.61	-146.6	574.5	-7.0	351	7274	0.00	2.58	0.00	0.000	6	0.000	0.052	2169	2196	3380
7596	-0.61	-146.6	591.8	-4.9	367	7597	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2196	3379
7905	-0.61	-146.6	610.7	-7.1	382	7910	0.00	2.70	0.00	0.000	4	0.000	0.080	2171	3612	3379
7949	-0.61	-146.6	614.3	-7.9	384	7954	0.00	2.55	0.00	0.000	6	0.000	0.053	2169	2202	3379
8271	-0.65	-146.6	641.2	-8.4	400	8275	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3615	3379
8321	-0.69	-146.6	645.6	-8.6	402	8325	0.00	2.58	0.00	0.000	6	0.000	0.053	2169	2197	3379
8637	-0.74	-146.6	667.5	-6.2	417	8639	0.15	0.00	0.00	0.000	6	0.046	0.000	2129	2197	3379
8947	-0.67	-146.6	689.2	-6.2	432	8952	0.12	2.72	0.00	0.000	4	0.091	0.082	2153	3615	3378
9014	-0.67	-146.6	693.2	-5.7	435	9018	0.00	2.58	0.00	0.000	6	0.000	0.054	2153	2202	3378
9335	-0.67	-146.6	711.4	-6.5	451	9339	0.00	2.70	0.00	0.000	4	0.000	0.084	2154	3610	3378
9368	-0.67	-146.6	714.0	-8.3	452	9374	0.00	2.58	0.00	0.000	6	0.000	0.056	2153	2199	3378
9683	-0.67	-146.6	738.0	-7.5	468	9684	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2199	3378
9992	-0.67	-146.6	760.7	-7.5	483	9997	0.00	2.72	0.00	0.000	4	0.000	0.087	2154	3610	3377
10037	-0.67	-146.6	764.2	-8.1	485	10041	0.00	2.60	0.00	0.000	6	0.000	0.059	2153	2196	3377
10358	-0.67	-146.6	786.7	-7.0	501	10359	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2196	3377
10667	-0.67	-146.6	807.3	-7.1	516	10671	0.00	2.75	0.00	0.000	4	0.000	0.089	2153	3612	3376
10686	end dive: BOTTOM_OBSTACLE_DETECTED
state	10686	begin apogee
10695	-0.31	0.0	809.0	6.8	517	10832	0.35	0.00	133.10	1.185	6	0.088	0.000	2227	2241	2781
10833	end apogee: CONTROL_FINISHED_OK
state	10833	begin climb
10836	0.85	146.6	813.2	0.0	524	10975	1.23	2.80	131.35	1.161	4	0.077	0.070	2481	827	2183
11121	0.91	202.6	800.2	4.5	537	11177	0.00	2.65	50.80	1.131	6	0.000	0.058	2481	2240	1955
11500	1.00	247.2	780.4	4.8	556	11550	0.15	2.80	41.20	1.124	4	0.059	0.086	2519	3651	1772
11579	0.96	247.2	775.1	7.6	559	11585	0.00	2.67	0.00	0.000	6	0.000	0.061	2520	2234	1772
11894	0.96	247.2	748.6	9.2	575	11896	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2234	1772
12204	0.96	247.2	719.6	8.7	590	12205	0.00	0.00	0.00	0.000	6	0.000	0.000	2520	2234	1771
12513	0.96	247.2	696.8	6.7	605	12517	0.00	2.78	0.00	0.000	4	0.000	0.085	2520	3657	1770
12557	0.91	247.2	693.7	7.4	607	12562	0.00	2.65	0.00	0.000	6	0.000	0.060	2520	2232	1770
12878	0.91	247.2	672.3	7.3	623	12882	0.00	2.75	0.00	0.000	4	0.000	0.082	2520	3653	1770
12922	0.87	247.2	668.8	8.8	625	12927	0.15	2.62	0.00	0.000	6	0.097	0.058	2491	2234	1770
13244	0.92	247.2	650.2	6.2	641	13245	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2234	1770
13554	0.98	247.2	629.6	6.8	656	13555	0.10	0.00	0.00	0.000	6	0.057	0.000	2518	2234	1769
13862	0.98	247.2	607.3	6.7	671	13863	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2234	1769
14172	0.98	247.2	586.8	6.9	686	14176	0.00	2.72	0.00	0.000	4	0.000	0.079	2518	3653	1769
14211	0.98	247.2	583.7	8.2	688	14215	0.00	2.60	0.00	0.000	6	0.000	0.057	2518	2241	1769
14537	0.98	247.2	558.7	7.6	704	14538	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1769
14847	0.98	247.2	534.6	8.0	719	14848	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1769
15156	0.98	247.2	510.3	7.6	734	15160	0.00	2.65	0.00	0.000	4	0.000	0.068	2518	822	1769
15196	0.98	247.2	507.3	8.0	736	15201	0.00	2.62	0.00	0.000	6	0.000	0.054	2518	2245	1769
15522	0.98	247.2	481.8	8.0	752	15524	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1769
15831	0.98	247.2	455.8	8.6	767	15833	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1770
16141	0.98	247.2	429.8	8.3	782	16142	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1770
16450	0.98	247.2	405.7	7.5	797	16451	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1770
16760	0.98	247.2	383.8	6.8	812	16761	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1771
17068	0.98	247.2	363.4	6.6	827	17070	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2245	1771
17378	0.98	247.2	343.1	6.8	842	17382	0.00	2.67	0.00	0.000	4	0.000	0.080	2518	3650	1772
17422	0.98	247.2	339.8	8.0	844	17426	0.00	2.60	0.00	0.000	6	0.000	0.058	2518	2241	1771
17742	0.98	247.2	316.9	7.3	860	17744	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1772
18052	0.98	247.2	294.2	7.1	875	18053	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1772
18361	0.98	247.2	273.0	7.0	890	18362	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1772
18670	0.98	247.2	251.1	7.5	905	18671	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2239	1772
18979	0.98	247.2	226.9	8.1	920	18981	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1772
19289	0.98	247.2	201.2	8.2	935	19290	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1773
19598	0.98	247.2	177.0	7.6	950	19602	0.00	2.70	0.00	0.000	4	0.000	0.079	2518	3653	1773
19637	0.98	247.2	174.0	8.0	952	19641	0.00	2.60	0.00	0.000	6	0.000	0.058	2518	2241	1773
19964	0.98	247.2	151.7	6.9	968	19965	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1773
20273	0.98	247.2	128.5	7.7	983	20274	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1773
20582	0.98	247.2	106.3	6.8	998	20583	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1773
20893	0.98	247.2	85.1	6.7	1013	20895	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1773
21201	0.99	253.7	65.6	5.8	1028	21210	0.00	0.00	7.20	0.581	6	0.000	0.000	2518	2240	1747
21512	1.04	298.7	50.1	4.8	1043	21551	0.00	0.00	37.47	0.663	6	0.000	0.000	2518	2242	1563
21862	1.10	298.7	29.4	6.6	1060	21867	0.10	2.65	0.00	0.000	4	0.071	0.065	2544	822	1562
21902	1.10	298.7	26.1	7.8	1062	21906	0.00	2.60	0.00	0.000	6	0.000	0.052	2544	2237	1561
22205	end climb: SURFACE_DEPTH_REACHED
state	22205	begin surface coast
22229	end surface coast: CONTROL_FINISHED_OK
state	22229	begin surface