Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 174 * 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 174 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 2230 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 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 -2096629.9 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 -2096629.9

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 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 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 174 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 183838,6240.079,-1236.735,29,1.0,29,-11.7 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.32 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 184438,6240.050,-1236.732,12,1.8,17,-11.7 MHEAD_RNG_PITCHd_Wd 319.3,30181,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.002080 ALTIM_BOTTOM_PING 750.7,96.9

SM_CCo 22771,125.32,0.615,0,0,508,557.32 _24V_AH 23.5,30.773

SM_GC 1.38,0.00,0.00,125.32,0.000,0.000,0.615,71,2243,508,-10.25,0.37,557.32 _10V_AH 10.2,15.314

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56809,1103

TT8_MAMPS 0.02301 CAP_FILE_SIZE 138822,0

HUMID 1869 CFSIZE 260165632,247918592

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 31 GPS 120708,010807,6240.603,-1245.405,41,1.3,53,-11.7

ALTIM_TOP_PING 19.8,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 171 98.28 SBE_CT 808 24 456.12

Roll_motor 111 88 232.40 SBE_O2 757 19 338.25

VBD_pump_during_apogee 408 1197 11490.14 WL_BB2F 638 105 1576.43

VBD_pump_during_surface 125 615 1811.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.87 nil 0 0 0.00

Iridium_during_connect 27 160 102.61 nil 0 0 0.00

Iridium_during_xfer 177 223 930.39

Transponder_ping 14 420 143.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.94

TT8 1900 19 383.86

LPSleep 17989 2 401.85

TT8_Active 726 19 146.65

TT8_Sampling 2084 39 846.32

TT8_CF8 552 45 258.01

TT8_Kalman 0 81 0.00

Analog_circuits 1726 12 211.32

GPS_charging 0 0 0.00

Compass 2043 8 166.75

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.45 0.000 2 0.000 0.000 74 2231 3024

151 -0.85 -146.6 4.3 -3.6 6 176 11.48 2.70 -7.82 0.000 4 0.171 0.087 2110 3643 3380

356 -0.64 -146.6 34.6 -12.6 15 361 0.25 2.60 0.00 0.000 6 0.094 0.056 2159 2230 3381

678 -0.64 -146.6 62.9 -8.4 31 679 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2230 3381

987 -0.64 -146.6 84.1 -6.1 46 988 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2230 3381

1296 -0.64 -146.6 102.7 -6.4 61 1297 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2230 3381

1605 -0.64 -146.6 124.6 -7.3 76 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2230 3381

1915 -0.64 -146.6 148.5 -7.9 91 1919 0.00 2.72 0.00 0.000 4 0.000 0.080 2159 3645 3381

1955 -0.64 -146.6 151.8 -8.7 93 1959 0.00 2.60 0.00 0.000 6 0.000 0.056 2159 2228 3381

2281 -0.64 -146.6 177.6 -7.7 109 2282 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3382

2594 -0.64 -146.6 200.7 -7.6 124 2595 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

2899 -0.64 -146.6 224.4 -7.8 139 2901 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

3210 -0.64 -146.6 250.5 -8.3 154 3211 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

3521 -0.64 -146.6 275.7 -8.0 169 3522 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

3828 -0.64 -146.6 300.6 -8.2 184 3829 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

4137 -0.64 -146.6 325.6 -8.0 199 4139 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2228 3381

4446 -0.64 -146.6 349.7 -7.3 214 4447 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

4755 -0.64 -146.6 372.5 -7.2 229 4756 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3381

5064 -0.64 -146.6 394.3 -6.8 244 5069 0.00 2.70 0.00 0.000 4 0.000 0.082 2159 3640 3381

5098 -0.64 -146.6 396.7 -7.3 245 5104 0.00 2.58 0.00 0.000 6 0.000 0.058 2159 2229 3380

5414 -0.64 -146.6 418.3 -6.9 261 5415 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3380

5723 -0.64 -146.6 439.3 -6.8 276 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3380

6033 -0.64 -146.6 460.3 -6.9 291 6034 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3380

6342 -0.64 -146.6 483.2 -7.8 306 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3380

6651 -0.64 -146.6 508.0 -8.5 321 6656 0.00 2.70 0.00 0.000 4 0.000 0.081 2159 3640 3380

6684 -0.64 -146.6 511.0 -9.6 322 6690 0.00 2.58 0.00 0.000 6 0.000 0.055 2159 2227 3380

7000 -0.64 -146.6 536.4 -7.9 338 7001 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2227 3380

7309 -0.64 -146.6 560.6 -7.6 353 7310 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2227 3379

7619 -0.64 -146.6 584.4 -7.5 368 7620 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2227 3379

7928 -0.64 -146.6 606.3 -7.2 383 7932 0.00 2.70 0.00 0.000 4 0.000 0.081 2159 3640 3379

7983 -0.64 -146.6 610.4 -7.4 385 7989 0.00 2.58 0.00 0.000 6 0.000 0.054 2159 2225 3379

8299 -0.64 -146.6 632.2 -7.2 401 8300 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2225 3379

8608 -0.64 -146.6 653.4 -6.7 416 8609 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2225 3378

8917 -0.64 -146.6 675.0 -7.1 431 8918 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2224 3379

9227 -0.64 -146.6 695.8 -6.4 446 9228 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2225 3378

9536 -0.64 -146.6 714.0 -5.5 461 9537 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2225 3378

9845 -0.64 -146.6 730.2 -5.2 476 9850 0.00 2.72 0.00 0.000 4 0.000 0.084 2159 3641 3378

9908 -0.64 -146.6 733.9 -5.9 479 9913 0.00 2.58 0.00 0.000 6 0.000 0.056 2159 2226 3378

10235 -0.64 -146.6 752.0 -5.8 495 10237 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2226 3378

10545 -0.64 -146.6 774.1 -7.7 510 10549 0.00 2.72 0.00 0.000 4 0.000 0.087 2159 3638 3377

10584 -0.64 -146.6 777.3 -8.4 512 10588 0.00 2.60 0.00 0.000 6 0.000 0.059 2159 2225 3378

10910 -0.64 -146.6 800.1 -6.4 528 10911 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2225 3377

11220 -0.64 -146.6 819.1 -5.8 543 11225 0.00 2.72 0.00 0.000 4 0.000 0.089 2159 3637 3377

11261 -0.69 -146.6 821.8 -7.6 545 11265 0.00 2.60 0.00 0.000 6 0.000 0.061 2160 2227 3376

11522 end dive: BOTTOM_OBSTACLE_DETECTED

state 11523 begin apogee

11529 -0.31 0.0 837.9 6.1 558 11666 0.35 0.00 133.15 1.197 6 0.100 0.000 2228 2226 2781

11667 end apogee: CONTROL_FINISHED_OK

state 11667 begin climb

11670 0.85 146.6 842.3 0.0 565 11807 1.20 0.00 132.50 1.175 6 0.078 0.000 2479 2225 2182

12104 0.85 151.0 826.1 5.9 586 12111 0.00 0.00 5.38 0.840 6 0.000 0.000 2479 2226 2165

12412 0.88 179.1 808.3 5.2 601 12441 0.00 0.00 26.58 1.125 6 0.000 0.000 2479 2226 2050

12741 0.92 213.4 790.4 5.1 617 12774 0.00 0.00 31.42 1.130 6 0.000 0.000 2479 2225 1911

13071 1.02 255.6 774.1 4.8 633 13118 0.20 2.83 39.35 1.137 4 0.071 0.084 2523 3648 1738

13154 0.95 255.6 768.3 8.4 637 13158 0.00 2.67 0.00 0.000 6 0.000 0.063 2523 2232 1739

13480 0.95 255.6 741.6 8.6 653 13484 0.00 2.67 0.00 0.000 4 0.000 0.075 2523 830 1737

13530 0.95 255.6 737.5 7.7 655 13534 0.00 2.62 0.00 0.000 6 0.000 0.058 2523 2238 1737

13846 0.91 255.6 713.4 7.4 670 13848 0.12 0.00 0.00 0.000 6 0.097 0.000 2499 2238 1737

14154 0.91 255.6 691.1 7.9 685 14159 0.00 2.72 0.00 0.000 4 0.000 0.084 2499 3653 1736

14194 0.91 255.6 687.6 8.1 687 14199 0.00 2.62 0.00 0.000 6 0.000 0.061 2499 2243 1736

14520 0.91 255.6 661.1 8.1 703 14525 0.00 2.67 0.00 0.000 4 0.000 0.071 2499 826 1736

14565 0.91 255.6 657.3 8.5 705 14569 0.00 2.62 0.00 0.000 6 0.000 0.055 2499 2243 1735

14886 0.91 255.6 634.3 6.6 721 14887 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2243 1736

15195 0.93 274.8 616.3 5.5 736 15215 0.00 0.00 17.77 0.997 6 0.000 0.000 2499 2243 1660

15525 1.01 298.3 598.5 5.4 752 15549 0.00 0.00 22.23 1.002 6 0.000 0.000 2499 2243 1564

15853 1.07 298.3 579.2 6.3 768 15858 0.15 2.67 0.00 0.000 4 0.050 0.066 2534 820 1564

15903 1.07 298.3 575.1 8.4 770 15908 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2241 1563

16220 1.03 298.3 547.8 8.8 785 16221 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2241 1563

16528 1.03 298.3 519.9 9.3 800 16532 0.00 2.65 0.00 0.000 4 0.000 0.065 2534 825 1564

16561 1.03 298.3 516.9 8.5 801 16567 0.00 2.60 0.00 0.000 6 0.000 0.053 2534 2240 1564

16877 1.03 298.3 487.9 9.5 817 16878 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2240 1564

17185 1.03 298.3 458.9 9.4 832 17187 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2240 1564

17495 1.03 298.3 430.9 8.8 847 17499 0.00 2.65 0.00 0.000 4 0.000 0.066 2534 819 1565

17534 1.03 298.3 427.4 9.2 849 17539 0.00 2.62 0.00 0.000 6 0.000 0.054 2534 2242 1565

17861 1.03 298.3 398.6 8.9 865 17862 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2242 1565

18170 1.03 298.3 371.8 8.7 880 18175 0.00 2.65 0.00 0.000 4 0.000 0.066 2534 824 1565

18203 1.03 298.3 368.9 8.1 881 18209 0.00 2.60 0.00 0.000 6 0.000 0.054 2534 2240 1565

18520 0.97 298.3 340.3 9.1 897 18522 0.12 0.00 0.00 0.000 6 0.087 0.000 2508 2240 1566

18828 0.97 298.3 315.2 8.1 912 18829 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2240 1566

19138 0.97 298.3 290.2 8.0 927 19142 0.00 2.65 0.00 0.000 4 0.000 0.067 2508 818 1566

19193 0.97 298.3 285.7 7.7 929 19199 0.00 2.62 0.00 0.000 6 0.000 0.054 2508 2247 1566

19508 0.97 298.3 259.4 8.7 945 19509 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2247 1567

19818 0.97 298.3 231.7 9.0 960 19822 0.00 2.65 0.00 0.000 4 0.000 0.066 2508 824 1567

19857 0.97 298.3 228.0 9.2 962 19862 0.00 2.60 0.00 0.000 6 0.000 0.054 2508 2240 1567

20183 0.97 298.3 199.9 8.4 978 20184 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2240 1567

20493 0.97 298.3 174.4 8.2 993 20494 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2240 1567

20802 0.97 298.3 148.7 7.8 1008 20806 0.00 2.65 0.00 0.000 4 0.000 0.066 2508 817 1567

20846 0.97 298.3 145.0 8.6 1010 20850 0.00 2.60 0.00 0.000 6 0.000 0.053 2508 2246 1569

21167 0.97 298.3 120.0 8.2 1026 21168 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2246 1566

21476 0.97 298.3 92.9 8.5 1041 21477 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2246 1567

21787 0.97 298.3 70.1 7.3 1056 21791 0.00 2.65 0.00 0.000 4 0.000 0.064 2508 818 1567

21842 0.97 298.3 65.6 8.1 1058 21848 0.00 2.58 0.00 0.000 6 0.000 0.053 2508 2238 1567

22158 0.97 298.3 45.1 6.4 1074 22162 0.00 2.62 0.00 0.000 4 0.000 0.064 2508 821 1568

22198 0.97 298.3 42.4 6.6 1076 22202 0.00 2.60 0.00 0.000 6 0.000 0.054 2508 2242 1567

22525 0.97 298.3 18.1 8.0 1092 22526 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2242 1568

22728 end climb: SURFACE_DEPTH_REACHED

state 22728 begin surface coast

22750 end surface coast: CONTROL_FINISHED_OK

state 22750 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	174	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	2230	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	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	-2096629.9	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	183838,6240.079,-1236.735,29,1.0,29,-11.7	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.32	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	184438,6240.050,-1236.732,12,1.8,17,-11.7	MHEAD_RNG_PITCHd_Wd	319.3,30181,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.002080	ALTIM_BOTTOM_PING	750.7,96.9
SM_CCo	22771,125.32,0.615,0,0,508,557.32	_24V_AH	23.5,30.773
SM_GC	1.38,0.00,0.00,125.32,0.000,0.000,0.615,71,2243,508,-10.25,0.37,557.32	_10V_AH	10.2,15.314
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56809,1103
TT8_MAMPS	0.02301	CAP_FILE_SIZE	138822,0
HUMID	1869	CFSIZE	260165632,247918592
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	31	GPS	120708,010807,6240.603,-1245.405,41,1.3,53,-11.7
ALTIM_TOP_PING	19.8,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	171	98.28	SBE_CT	808	24	456.12
Roll_motor	111	88	232.40	SBE_O2	757	19	338.25
VBD_pump_during_apogee	408	1197	11490.14	WL_BB2F	638	105	1576.43
VBD_pump_during_surface	125	615	1811.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.87	nil	0	0	0.00
Iridium_during_connect	27	160	102.61	nil	0	0	0.00
Iridium_during_xfer	177	223	930.39
Transponder_ping	14	420	143.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.94
TT8	1900	19	383.86
LPSleep	17989	2	401.85
TT8_Active	726	19	146.65
TT8_Sampling	2084	39	846.32
TT8_CF8	552	45	258.01
TT8_Kalman	0	81	0.00
Analog_circuits	1726	12	211.32
GPS_charging	0	0	0.00
Compass	2043	8	166.75
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.45	0.000	2	0.000	0.000	74	2231	3024
151	-0.85	-146.6	4.3	-3.6	6	176	11.48	2.70	-7.82	0.000	4	0.171	0.087	2110	3643	3380
356	-0.64	-146.6	34.6	-12.6	15	361	0.25	2.60	0.00	0.000	6	0.094	0.056	2159	2230	3381
678	-0.64	-146.6	62.9	-8.4	31	679	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2230	3381
987	-0.64	-146.6	84.1	-6.1	46	988	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2230	3381
1296	-0.64	-146.6	102.7	-6.4	61	1297	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2230	3381
1605	-0.64	-146.6	124.6	-7.3	76	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2230	3381
1915	-0.64	-146.6	148.5	-7.9	91	1919	0.00	2.72	0.00	0.000	4	0.000	0.080	2159	3645	3381
1955	-0.64	-146.6	151.8	-8.7	93	1959	0.00	2.60	0.00	0.000	6	0.000	0.056	2159	2228	3381
2281	-0.64	-146.6	177.6	-7.7	109	2282	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3382
2594	-0.64	-146.6	200.7	-7.6	124	2595	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
2899	-0.64	-146.6	224.4	-7.8	139	2901	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
3210	-0.64	-146.6	250.5	-8.3	154	3211	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
3521	-0.64	-146.6	275.7	-8.0	169	3522	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
3828	-0.64	-146.6	300.6	-8.2	184	3829	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
4137	-0.64	-146.6	325.6	-8.0	199	4139	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	2228	3381
4446	-0.64	-146.6	349.7	-7.3	214	4447	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
4755	-0.64	-146.6	372.5	-7.2	229	4756	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3381
5064	-0.64	-146.6	394.3	-6.8	244	5069	0.00	2.70	0.00	0.000	4	0.000	0.082	2159	3640	3381
5098	-0.64	-146.6	396.7	-7.3	245	5104	0.00	2.58	0.00	0.000	6	0.000	0.058	2159	2229	3380
5414	-0.64	-146.6	418.3	-6.9	261	5415	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3380
5723	-0.64	-146.6	439.3	-6.8	276	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3380
6033	-0.64	-146.6	460.3	-6.9	291	6034	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3380
6342	-0.64	-146.6	483.2	-7.8	306	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3380
6651	-0.64	-146.6	508.0	-8.5	321	6656	0.00	2.70	0.00	0.000	4	0.000	0.081	2159	3640	3380
6684	-0.64	-146.6	511.0	-9.6	322	6690	0.00	2.58	0.00	0.000	6	0.000	0.055	2159	2227	3380
7000	-0.64	-146.6	536.4	-7.9	338	7001	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2227	3380
7309	-0.64	-146.6	560.6	-7.6	353	7310	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2227	3379
7619	-0.64	-146.6	584.4	-7.5	368	7620	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2227	3379
7928	-0.64	-146.6	606.3	-7.2	383	7932	0.00	2.70	0.00	0.000	4	0.000	0.081	2159	3640	3379
7983	-0.64	-146.6	610.4	-7.4	385	7989	0.00	2.58	0.00	0.000	6	0.000	0.054	2159	2225	3379
8299	-0.64	-146.6	632.2	-7.2	401	8300	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2225	3379
8608	-0.64	-146.6	653.4	-6.7	416	8609	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2225	3378
8917	-0.64	-146.6	675.0	-7.1	431	8918	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2224	3379
9227	-0.64	-146.6	695.8	-6.4	446	9228	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2225	3378
9536	-0.64	-146.6	714.0	-5.5	461	9537	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2225	3378
9845	-0.64	-146.6	730.2	-5.2	476	9850	0.00	2.72	0.00	0.000	4	0.000	0.084	2159	3641	3378
9908	-0.64	-146.6	733.9	-5.9	479	9913	0.00	2.58	0.00	0.000	6	0.000	0.056	2159	2226	3378
10235	-0.64	-146.6	752.0	-5.8	495	10237	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2226	3378
10545	-0.64	-146.6	774.1	-7.7	510	10549	0.00	2.72	0.00	0.000	4	0.000	0.087	2159	3638	3377
10584	-0.64	-146.6	777.3	-8.4	512	10588	0.00	2.60	0.00	0.000	6	0.000	0.059	2159	2225	3378
10910	-0.64	-146.6	800.1	-6.4	528	10911	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2225	3377
11220	-0.64	-146.6	819.1	-5.8	543	11225	0.00	2.72	0.00	0.000	4	0.000	0.089	2159	3637	3377
11261	-0.69	-146.6	821.8	-7.6	545	11265	0.00	2.60	0.00	0.000	6	0.000	0.061	2160	2227	3376
11522	end dive: BOTTOM_OBSTACLE_DETECTED
state	11523	begin apogee
11529	-0.31	0.0	837.9	6.1	558	11666	0.35	0.00	133.15	1.197	6	0.100	0.000	2228	2226	2781
11667	end apogee: CONTROL_FINISHED_OK
state	11667	begin climb
11670	0.85	146.6	842.3	0.0	565	11807	1.20	0.00	132.50	1.175	6	0.078	0.000	2479	2225	2182
12104	0.85	151.0	826.1	5.9	586	12111	0.00	0.00	5.38	0.840	6	0.000	0.000	2479	2226	2165
12412	0.88	179.1	808.3	5.2	601	12441	0.00	0.00	26.58	1.125	6	0.000	0.000	2479	2226	2050
12741	0.92	213.4	790.4	5.1	617	12774	0.00	0.00	31.42	1.130	6	0.000	0.000	2479	2225	1911
13071	1.02	255.6	774.1	4.8	633	13118	0.20	2.83	39.35	1.137	4	0.071	0.084	2523	3648	1738
13154	0.95	255.6	768.3	8.4	637	13158	0.00	2.67	0.00	0.000	6	0.000	0.063	2523	2232	1739
13480	0.95	255.6	741.6	8.6	653	13484	0.00	2.67	0.00	0.000	4	0.000	0.075	2523	830	1737
13530	0.95	255.6	737.5	7.7	655	13534	0.00	2.62	0.00	0.000	6	0.000	0.058	2523	2238	1737
13846	0.91	255.6	713.4	7.4	670	13848	0.12	0.00	0.00	0.000	6	0.097	0.000	2499	2238	1737
14154	0.91	255.6	691.1	7.9	685	14159	0.00	2.72	0.00	0.000	4	0.000	0.084	2499	3653	1736
14194	0.91	255.6	687.6	8.1	687	14199	0.00	2.62	0.00	0.000	6	0.000	0.061	2499	2243	1736
14520	0.91	255.6	661.1	8.1	703	14525	0.00	2.67	0.00	0.000	4	0.000	0.071	2499	826	1736
14565	0.91	255.6	657.3	8.5	705	14569	0.00	2.62	0.00	0.000	6	0.000	0.055	2499	2243	1735
14886	0.91	255.6	634.3	6.6	721	14887	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2243	1736
15195	0.93	274.8	616.3	5.5	736	15215	0.00	0.00	17.77	0.997	6	0.000	0.000	2499	2243	1660
15525	1.01	298.3	598.5	5.4	752	15549	0.00	0.00	22.23	1.002	6	0.000	0.000	2499	2243	1564
15853	1.07	298.3	579.2	6.3	768	15858	0.15	2.67	0.00	0.000	4	0.050	0.066	2534	820	1564
15903	1.07	298.3	575.1	8.4	770	15908	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2241	1563
16220	1.03	298.3	547.8	8.8	785	16221	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2241	1563
16528	1.03	298.3	519.9	9.3	800	16532	0.00	2.65	0.00	0.000	4	0.000	0.065	2534	825	1564
16561	1.03	298.3	516.9	8.5	801	16567	0.00	2.60	0.00	0.000	6	0.000	0.053	2534	2240	1564
16877	1.03	298.3	487.9	9.5	817	16878	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2240	1564
17185	1.03	298.3	458.9	9.4	832	17187	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2240	1564
17495	1.03	298.3	430.9	8.8	847	17499	0.00	2.65	0.00	0.000	4	0.000	0.066	2534	819	1565
17534	1.03	298.3	427.4	9.2	849	17539	0.00	2.62	0.00	0.000	6	0.000	0.054	2534	2242	1565
17861	1.03	298.3	398.6	8.9	865	17862	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2242	1565
18170	1.03	298.3	371.8	8.7	880	18175	0.00	2.65	0.00	0.000	4	0.000	0.066	2534	824	1565
18203	1.03	298.3	368.9	8.1	881	18209	0.00	2.60	0.00	0.000	6	0.000	0.054	2534	2240	1565
18520	0.97	298.3	340.3	9.1	897	18522	0.12	0.00	0.00	0.000	6	0.087	0.000	2508	2240	1566
18828	0.97	298.3	315.2	8.1	912	18829	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2240	1566
19138	0.97	298.3	290.2	8.0	927	19142	0.00	2.65	0.00	0.000	4	0.000	0.067	2508	818	1566
19193	0.97	298.3	285.7	7.7	929	19199	0.00	2.62	0.00	0.000	6	0.000	0.054	2508	2247	1566
19508	0.97	298.3	259.4	8.7	945	19509	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2247	1567
19818	0.97	298.3	231.7	9.0	960	19822	0.00	2.65	0.00	0.000	4	0.000	0.066	2508	824	1567
19857	0.97	298.3	228.0	9.2	962	19862	0.00	2.60	0.00	0.000	6	0.000	0.054	2508	2240	1567
20183	0.97	298.3	199.9	8.4	978	20184	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2240	1567
20493	0.97	298.3	174.4	8.2	993	20494	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2240	1567
20802	0.97	298.3	148.7	7.8	1008	20806	0.00	2.65	0.00	0.000	4	0.000	0.066	2508	817	1567
20846	0.97	298.3	145.0	8.6	1010	20850	0.00	2.60	0.00	0.000	6	0.000	0.053	2508	2246	1569
21167	0.97	298.3	120.0	8.2	1026	21168	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2246	1566
21476	0.97	298.3	92.9	8.5	1041	21477	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2246	1567
21787	0.97	298.3	70.1	7.3	1056	21791	0.00	2.65	0.00	0.000	4	0.000	0.064	2508	818	1567
21842	0.97	298.3	65.6	8.1	1058	21848	0.00	2.58	0.00	0.000	6	0.000	0.053	2508	2238	1567
22158	0.97	298.3	45.1	6.4	1074	22162	0.00	2.62	0.00	0.000	4	0.000	0.064	2508	821	1568
22198	0.97	298.3	42.4	6.6	1076	22202	0.00	2.60	0.00	0.000	6	0.000	0.054	2508	2242	1567
22525	0.97	298.3	18.1	8.0	1092	22526	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2242	1568
22728	end climb: SURFACE_DEPTH_REACHED
state	22728	begin surface coast
22750	end surface coast: CONTROL_FINISHED_OK
state	22750	begin surface