Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 176 * 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 176 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 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 -2096663.8 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 -2096663.8

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 18 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 176 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 080408,6241.560,-1250.829,33,1.3,33,-11.8 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 080945,6241.538,-1250.808,15,1.8,15,-11.8 MHEAD_RNG_PITCHd_Wd 334.4,19739,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027113 ALTIM_BOTTOM_PING 726.1,92.5

SM_CCo 23370,147.45,0.599,0,0,509,557.32 _24V_AH 23.6,31.089

SM_GC 1.23,0.00,0.00,147.45,0.000,0.000,0.599,72,2233,509,-10.24,0.08,557.32 _10V_AH 10.2,15.513

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56722,1131

TT8_MAMPS 0.02301 CAP_FILE_SIZE 137445,0

HUMID 1844 CFSIZE 260165632,247783424

TCM_TEMP 16.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 26 GPS 120708,144346,6242.297,-1258.933,43,2.9,63,-11.9

ALTIM_TOP_PING 19.6,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 171 98.49 SBE_CT 826 24 468.40

Roll_motor 100 85 203.75 SBE_O2 777 19 348.76

VBD_pump_during_apogee 359 1164 9867.90 WL_BB2F 649 105 1608.76

VBD_pump_during_surface 147 599 2084.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.81 nil 0 0 0.00

Iridium_during_connect 29 160 112.73 nil 0 0 0.00

Iridium_during_xfer 159 223 840.27

Transponder_ping 13 420 128.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.81

TT8 1931 19 390.00

LPSleep 18585 2 415.17

TT8_Active 696 19 140.58

TT8_Sampling 2106 39 854.99

TT8_CF8 532 45 248.86

TT8_Kalman 0 81 0.00

Analog_circuits 1701 12 208.26

GPS_charging 0 0 0.00

Compass 2069 8 168.89

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -121.07 0.000 2 0.000 0.000 70 2243 2996

153 -0.85 -146.6 4.2 -3.5 6 180 11.50 2.70 -8.77 0.000 4 0.171 0.076 2111 807 3382

366 -0.70 -146.6 32.9 -11.4 15 373 0.17 2.62 0.00 0.000 6 0.098 0.054 2144 2236 3382

684 -0.60 -146.6 64.1 -9.7 31 686 0.12 0.00 0.00 0.000 6 0.100 0.000 2168 2236 3383

991 -0.60 -146.6 88.1 -7.0 46 996 0.00 2.65 0.00 0.000 4 0.000 0.063 2168 810 3382

1032 -0.60 -146.6 90.7 -7.0 48 1036 0.00 2.60 0.00 0.000 6 0.000 0.054 2168 2230 3382

1358 -0.60 -146.6 114.2 -7.7 64 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

1668 -0.60 -146.6 136.1 -6.8 79 1669 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

1976 -0.60 -146.6 160.6 -8.6 94 1981 0.00 2.67 0.00 0.000 4 0.000 0.077 2168 3645 3383

2017 -0.60 -146.6 164.3 -9.7 96 2021 0.00 2.60 0.00 0.000 6 0.000 0.058 2168 2230 3382

2343 -0.60 -146.6 192.2 -8.0 112 2344 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

2652 -0.60 -146.6 214.3 -6.6 127 2653 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3382

2961 -0.60 -146.6 233.7 -6.3 142 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

3271 -0.60 -146.6 255.3 -7.1 157 3272 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3382

3580 -0.60 -146.6 277.2 -6.8 172 3581 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

3889 -0.60 -146.6 296.5 -5.9 187 3891 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

4199 -0.60 -146.6 315.3 -6.1 202 4203 0.00 2.70 0.00 0.000 4 0.000 0.083 2168 3647 3382

4231 -0.60 -146.6 317.5 -7.0 203 4237 0.00 2.60 0.00 0.000 6 0.000 0.059 2168 2229 3382

4547 -0.60 -146.6 336.9 -6.4 219 4548 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3382

4856 -0.60 -146.6 356.6 -6.4 234 4858 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3382

5165 -0.60 -146.6 377.2 -6.9 249 5166 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3382

5475 -0.60 -146.6 398.4 -6.6 264 5476 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3382

5784 -0.60 -146.6 418.7 -6.4 279 5789 0.00 2.70 0.00 0.000 4 0.000 0.083 2168 3643 3382

5818 -0.60 -146.6 421.1 -7.1 280 5824 0.00 2.58 0.00 0.000 6 0.000 0.060 2168 2230 3382

6134 -0.60 -146.6 441.2 -6.4 296 6135 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3382

6444 -0.60 -146.6 461.8 -6.7 311 6445 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3381

6752 -0.60 -146.6 482.4 -6.6 326 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3381

7061 -0.60 -146.6 501.8 -6.1 341 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3381

7372 -0.60 -146.6 520.4 -5.8 356 7373 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2229 3381

7681 -0.60 -146.6 537.8 -5.5 371 7685 0.00 2.70 0.00 0.000 4 0.000 0.082 2168 3644 3381

7714 -0.60 -146.6 539.9 -6.4 372 7720 0.00 2.58 0.00 0.000 6 0.000 0.058 2168 2228 3381

8029 -0.60 -146.6 559.2 -6.3 388 8031 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3381

8338 -0.60 -146.6 579.6 -6.9 403 8339 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2228 3381

8648 -0.60 -146.6 602.6 -7.7 418 8652 0.00 2.70 0.00 0.000 4 0.000 0.082 2169 3641 3381

8692 -0.60 -146.6 606.4 -8.2 420 8696 0.00 2.58 0.00 0.000 6 0.000 0.056 2168 2226 3380

9013 -0.60 -146.6 631.3 -7.9 436 9014 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2226 3380

9322 -0.60 -146.6 655.0 -7.5 451 9323 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2226 3380

9632 -0.60 -146.6 676.7 -6.7 466 9633 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2226 3380

9941 -0.60 -146.6 695.5 -5.6 481 9945 0.00 2.70 0.00 0.000 4 0.000 0.083 2168 3641 3380

9991 -0.64 -146.6 698.5 -5.9 483 9996 0.00 2.58 0.00 0.000 6 0.000 0.055 2168 2221 3380

10307 -0.64 -146.6 713.2 -4.4 498 10308 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2221 3379

10616 -0.69 -146.6 729.9 -6.2 513 10617 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2221 3379

10926 -0.74 -146.6 748.7 -5.9 528 10931 0.15 2.72 0.00 0.000 4 0.048 0.084 2121 3643 3379

10954 -0.66 -146.6 750.9 -8.5 529 10959 0.17 2.58 0.00 0.000 6 0.088 0.059 2156 2232 3379

11270 -0.66 -146.6 771.3 -6.7 544 11271 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2233 3379

11579 -0.66 -146.6 791.6 -6.3 559 11580 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3378

11844 end dive: BOTTOM_OBSTACLE_DETECTED

state 11844 begin apogee

11851 -0.31 0.0 809.8 6.7 572 11987 0.38 0.00 133.00 1.164 6 0.086 0.000 2233 2232 2781

11988 end apogee: CONTROL_FINISHED_OK

state 11988 begin climb

11991 0.85 146.6 815.1 0.0 579 12129 1.17 0.00 130.90 1.141 6 0.067 0.000 2484 2232 2183

12439 0.88 175.8 796.8 5.2 601 12468 0.00 0.00 27.12 1.087 6 0.000 0.000 2484 2232 2064

12768 0.91 202.9 778.0 5.3 617 12795 0.00 0.00 25.45 1.083 6 0.000 0.000 2484 2232 1953

13098 1.00 249.7 761.7 4.7 633 13143 0.15 0.00 42.65 1.108 6 0.052 0.000 2522 2232 1762

13446 1.00 249.7 734.8 8.7 650 13450 0.00 2.75 0.00 0.000 4 0.000 0.086 2522 3650 1762

13501 1.00 249.7 729.4 9.5 652 13507 0.00 2.62 0.00 0.000 6 0.000 0.062 2522 2240 1762

13817 1.00 249.7 703.5 7.4 668 13821 0.00 2.65 0.00 0.000 4 0.000 0.071 2522 821 1762

13879 1.00 249.7 698.7 7.1 671 13883 0.00 2.62 0.00 0.000 6 0.000 0.057 2522 2240 1761

14205 1.00 249.7 676.7 6.5 687 14207 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1761

14514 1.00 249.7 657.7 6.1 702 14519 0.00 2.70 0.00 0.000 4 0.000 0.081 2522 3651 1761

14559 1.00 249.7 654.5 6.9 704 14563 0.00 2.60 0.00 0.000 6 0.000 0.059 2522 2241 1761

14880 1.00 249.7 632.2 7.2 720 14884 0.00 2.62 0.00 0.000 4 0.000 0.069 2522 825 1761

14919 1.00 249.7 629.2 8.1 722 14923 0.00 2.60 0.00 0.000 6 0.000 0.054 2522 2241 1760

15245 1.00 249.7 603.1 8.5 738 15246 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1761

15555 1.00 249.7 577.9 8.1 753 15559 0.00 2.67 0.00 0.000 4 0.000 0.079 2522 3652 1761

15610 0.95 249.7 573.2 8.5 755 15616 0.00 2.60 0.00 0.000 6 0.000 0.059 2522 2240 1761

15926 0.95 249.7 548.6 7.5 771 15927 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1761

16236 0.95 249.7 525.8 7.5 786 16237 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1762

16544 0.95 249.7 502.7 7.6 801 16549 0.00 2.70 0.00 0.000 4 0.000 0.080 2522 3654 1762

16578 0.95 249.7 500.0 7.6 802 16584 0.00 2.60 0.00 0.000 6 0.000 0.060 2522 2241 1762

16893 0.95 249.7 476.9 7.3 818 16895 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1762

17202 0.95 249.7 454.1 7.7 833 17203 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1762

17512 0.95 249.7 430.3 7.6 848 17516 0.00 2.70 0.00 0.000 4 0.000 0.080 2522 3651 1763

17551 0.95 249.7 426.9 9.4 850 17555 0.00 2.62 0.00 0.000 6 0.000 0.061 2522 2235 1763

17878 0.95 249.7 400.2 8.2 866 17879 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1763

18187 0.95 249.7 376.8 7.5 881 18188 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1763

18496 0.95 249.7 355.0 6.8 896 18497 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1763

18806 0.95 249.7 334.4 6.4 911 18807 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1763

19114 0.95 249.7 314.0 6.5 926 19116 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2235 1763

19424 0.95 249.7 292.8 7.0 941 19428 0.00 2.70 0.00 0.000 4 0.000 0.080 2522 3652 1763

19474 0.95 249.7 288.8 8.7 943 19478 0.00 2.60 0.00 0.000 6 0.000 0.061 2522 2241 1764

19789 0.95 249.7 266.0 7.1 958 19790 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1764

20099 0.95 249.7 244.2 7.1 973 20100 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1764

20408 0.95 249.7 221.7 7.4 988 20409 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1764

20717 0.95 249.7 197.3 8.0 1003 20722 0.00 2.70 0.00 0.000 4 0.000 0.080 2523 3654 1764

20756 0.95 249.7 193.9 8.3 1005 20761 0.00 2.60 0.00 0.000 6 0.000 0.061 2522 2241 1765

21084 0.95 249.7 166.8 8.2 1021 21085 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2240 1764

21393 0.95 249.7 140.2 8.7 1036 21394 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1765

21702 0.95 249.7 116.1 7.0 1051 21703 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1765

22012 0.95 249.7 96.1 6.1 1066 22013 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2240 1765

22321 0.95 249.7 76.2 6.9 1081 22322 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2241 1765

22630 0.95 249.7 50.1 8.5 1096 22634 0.00 2.67 0.00 0.000 4 0.000 0.078 2522 3653 1765

22692 0.95 249.7 44.5 9.3 1099 22697 0.00 2.60 0.00 0.000 6 0.000 0.060 2522 2237 1765

23020 0.95 250.3 22.3 6.0 1115 23021 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2238 1765

23326 end climb: SURFACE_DEPTH_REACHED

state 23326 begin surface coast

23348 end surface coast: CONTROL_FINISHED_OK

state 23348 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	176	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	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	-2096663.8	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	080408,6241.560,-1250.829,33,1.3,33,-11.8	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	080945,6241.538,-1250.808,15,1.8,15,-11.8	MHEAD_RNG_PITCHd_Wd	334.4,19739,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027113	ALTIM_BOTTOM_PING	726.1,92.5
SM_CCo	23370,147.45,0.599,0,0,509,557.32	_24V_AH	23.6,31.089
SM_GC	1.23,0.00,0.00,147.45,0.000,0.000,0.599,72,2233,509,-10.24,0.08,557.32	_10V_AH	10.2,15.513
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56722,1131
TT8_MAMPS	0.02301	CAP_FILE_SIZE	137445,0
HUMID	1844	CFSIZE	260165632,247783424
TCM_TEMP	16.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	26	GPS	120708,144346,6242.297,-1258.933,43,2.9,63,-11.9
ALTIM_TOP_PING	19.6,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	171	98.49	SBE_CT	826	24	468.40
Roll_motor	100	85	203.75	SBE_O2	777	19	348.76
VBD_pump_during_apogee	359	1164	9867.90	WL_BB2F	649	105	1608.76
VBD_pump_during_surface	147	599	2084.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.81	nil	0	0	0.00
Iridium_during_connect	29	160	112.73	nil	0	0	0.00
Iridium_during_xfer	159	223	840.27
Transponder_ping	13	420	128.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.81
TT8	1931	19	390.00
LPSleep	18585	2	415.17
TT8_Active	696	19	140.58
TT8_Sampling	2106	39	854.99
TT8_CF8	532	45	248.86
TT8_Kalman	0	81	0.00
Analog_circuits	1701	12	208.26
GPS_charging	0	0	0.00
Compass	2069	8	168.89
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-121.07	0.000	2	0.000	0.000	70	2243	2996
153	-0.85	-146.6	4.2	-3.5	6	180	11.50	2.70	-8.77	0.000	4	0.171	0.076	2111	807	3382
366	-0.70	-146.6	32.9	-11.4	15	373	0.17	2.62	0.00	0.000	6	0.098	0.054	2144	2236	3382
684	-0.60	-146.6	64.1	-9.7	31	686	0.12	0.00	0.00	0.000	6	0.100	0.000	2168	2236	3383
991	-0.60	-146.6	88.1	-7.0	46	996	0.00	2.65	0.00	0.000	4	0.000	0.063	2168	810	3382
1032	-0.60	-146.6	90.7	-7.0	48	1036	0.00	2.60	0.00	0.000	6	0.000	0.054	2168	2230	3382
1358	-0.60	-146.6	114.2	-7.7	64	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
1668	-0.60	-146.6	136.1	-6.8	79	1669	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
1976	-0.60	-146.6	160.6	-8.6	94	1981	0.00	2.67	0.00	0.000	4	0.000	0.077	2168	3645	3383
2017	-0.60	-146.6	164.3	-9.7	96	2021	0.00	2.60	0.00	0.000	6	0.000	0.058	2168	2230	3382
2343	-0.60	-146.6	192.2	-8.0	112	2344	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
2652	-0.60	-146.6	214.3	-6.6	127	2653	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3382
2961	-0.60	-146.6	233.7	-6.3	142	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
3271	-0.60	-146.6	255.3	-7.1	157	3272	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3382
3580	-0.60	-146.6	277.2	-6.8	172	3581	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
3889	-0.60	-146.6	296.5	-5.9	187	3891	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
4199	-0.60	-146.6	315.3	-6.1	202	4203	0.00	2.70	0.00	0.000	4	0.000	0.083	2168	3647	3382
4231	-0.60	-146.6	317.5	-7.0	203	4237	0.00	2.60	0.00	0.000	6	0.000	0.059	2168	2229	3382
4547	-0.60	-146.6	336.9	-6.4	219	4548	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3382
4856	-0.60	-146.6	356.6	-6.4	234	4858	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3382
5165	-0.60	-146.6	377.2	-6.9	249	5166	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3382
5475	-0.60	-146.6	398.4	-6.6	264	5476	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3382
5784	-0.60	-146.6	418.7	-6.4	279	5789	0.00	2.70	0.00	0.000	4	0.000	0.083	2168	3643	3382
5818	-0.60	-146.6	421.1	-7.1	280	5824	0.00	2.58	0.00	0.000	6	0.000	0.060	2168	2230	3382
6134	-0.60	-146.6	441.2	-6.4	296	6135	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3382
6444	-0.60	-146.6	461.8	-6.7	311	6445	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3381
6752	-0.60	-146.6	482.4	-6.6	326	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3381
7061	-0.60	-146.6	501.8	-6.1	341	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3381
7372	-0.60	-146.6	520.4	-5.8	356	7373	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2229	3381
7681	-0.60	-146.6	537.8	-5.5	371	7685	0.00	2.70	0.00	0.000	4	0.000	0.082	2168	3644	3381
7714	-0.60	-146.6	539.9	-6.4	372	7720	0.00	2.58	0.00	0.000	6	0.000	0.058	2168	2228	3381
8029	-0.60	-146.6	559.2	-6.3	388	8031	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3381
8338	-0.60	-146.6	579.6	-6.9	403	8339	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2228	3381
8648	-0.60	-146.6	602.6	-7.7	418	8652	0.00	2.70	0.00	0.000	4	0.000	0.082	2169	3641	3381
8692	-0.60	-146.6	606.4	-8.2	420	8696	0.00	2.58	0.00	0.000	6	0.000	0.056	2168	2226	3380
9013	-0.60	-146.6	631.3	-7.9	436	9014	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2226	3380
9322	-0.60	-146.6	655.0	-7.5	451	9323	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2226	3380
9632	-0.60	-146.6	676.7	-6.7	466	9633	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2226	3380
9941	-0.60	-146.6	695.5	-5.6	481	9945	0.00	2.70	0.00	0.000	4	0.000	0.083	2168	3641	3380
9991	-0.64	-146.6	698.5	-5.9	483	9996	0.00	2.58	0.00	0.000	6	0.000	0.055	2168	2221	3380
10307	-0.64	-146.6	713.2	-4.4	498	10308	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2221	3379
10616	-0.69	-146.6	729.9	-6.2	513	10617	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2221	3379
10926	-0.74	-146.6	748.7	-5.9	528	10931	0.15	2.72	0.00	0.000	4	0.048	0.084	2121	3643	3379
10954	-0.66	-146.6	750.9	-8.5	529	10959	0.17	2.58	0.00	0.000	6	0.088	0.059	2156	2232	3379
11270	-0.66	-146.6	771.3	-6.7	544	11271	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2233	3379
11579	-0.66	-146.6	791.6	-6.3	559	11580	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3378
11844	end dive: BOTTOM_OBSTACLE_DETECTED
state	11844	begin apogee
11851	-0.31	0.0	809.8	6.7	572	11987	0.38	0.00	133.00	1.164	6	0.086	0.000	2233	2232	2781
11988	end apogee: CONTROL_FINISHED_OK
state	11988	begin climb
11991	0.85	146.6	815.1	0.0	579	12129	1.17	0.00	130.90	1.141	6	0.067	0.000	2484	2232	2183
12439	0.88	175.8	796.8	5.2	601	12468	0.00	0.00	27.12	1.087	6	0.000	0.000	2484	2232	2064
12768	0.91	202.9	778.0	5.3	617	12795	0.00	0.00	25.45	1.083	6	0.000	0.000	2484	2232	1953
13098	1.00	249.7	761.7	4.7	633	13143	0.15	0.00	42.65	1.108	6	0.052	0.000	2522	2232	1762
13446	1.00	249.7	734.8	8.7	650	13450	0.00	2.75	0.00	0.000	4	0.000	0.086	2522	3650	1762
13501	1.00	249.7	729.4	9.5	652	13507	0.00	2.62	0.00	0.000	6	0.000	0.062	2522	2240	1762
13817	1.00	249.7	703.5	7.4	668	13821	0.00	2.65	0.00	0.000	4	0.000	0.071	2522	821	1762
13879	1.00	249.7	698.7	7.1	671	13883	0.00	2.62	0.00	0.000	6	0.000	0.057	2522	2240	1761
14205	1.00	249.7	676.7	6.5	687	14207	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1761
14514	1.00	249.7	657.7	6.1	702	14519	0.00	2.70	0.00	0.000	4	0.000	0.081	2522	3651	1761
14559	1.00	249.7	654.5	6.9	704	14563	0.00	2.60	0.00	0.000	6	0.000	0.059	2522	2241	1761
14880	1.00	249.7	632.2	7.2	720	14884	0.00	2.62	0.00	0.000	4	0.000	0.069	2522	825	1761
14919	1.00	249.7	629.2	8.1	722	14923	0.00	2.60	0.00	0.000	6	0.000	0.054	2522	2241	1760
15245	1.00	249.7	603.1	8.5	738	15246	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1761
15555	1.00	249.7	577.9	8.1	753	15559	0.00	2.67	0.00	0.000	4	0.000	0.079	2522	3652	1761
15610	0.95	249.7	573.2	8.5	755	15616	0.00	2.60	0.00	0.000	6	0.000	0.059	2522	2240	1761
15926	0.95	249.7	548.6	7.5	771	15927	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1761
16236	0.95	249.7	525.8	7.5	786	16237	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1762
16544	0.95	249.7	502.7	7.6	801	16549	0.00	2.70	0.00	0.000	4	0.000	0.080	2522	3654	1762
16578	0.95	249.7	500.0	7.6	802	16584	0.00	2.60	0.00	0.000	6	0.000	0.060	2522	2241	1762
16893	0.95	249.7	476.9	7.3	818	16895	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1762
17202	0.95	249.7	454.1	7.7	833	17203	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1762
17512	0.95	249.7	430.3	7.6	848	17516	0.00	2.70	0.00	0.000	4	0.000	0.080	2522	3651	1763
17551	0.95	249.7	426.9	9.4	850	17555	0.00	2.62	0.00	0.000	6	0.000	0.061	2522	2235	1763
17878	0.95	249.7	400.2	8.2	866	17879	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1763
18187	0.95	249.7	376.8	7.5	881	18188	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1763
18496	0.95	249.7	355.0	6.8	896	18497	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1763
18806	0.95	249.7	334.4	6.4	911	18807	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1763
19114	0.95	249.7	314.0	6.5	926	19116	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2235	1763
19424	0.95	249.7	292.8	7.0	941	19428	0.00	2.70	0.00	0.000	4	0.000	0.080	2522	3652	1763
19474	0.95	249.7	288.8	8.7	943	19478	0.00	2.60	0.00	0.000	6	0.000	0.061	2522	2241	1764
19789	0.95	249.7	266.0	7.1	958	19790	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1764
20099	0.95	249.7	244.2	7.1	973	20100	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1764
20408	0.95	249.7	221.7	7.4	988	20409	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1764
20717	0.95	249.7	197.3	8.0	1003	20722	0.00	2.70	0.00	0.000	4	0.000	0.080	2523	3654	1764
20756	0.95	249.7	193.9	8.3	1005	20761	0.00	2.60	0.00	0.000	6	0.000	0.061	2522	2241	1765
21084	0.95	249.7	166.8	8.2	1021	21085	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2240	1764
21393	0.95	249.7	140.2	8.7	1036	21394	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1765
21702	0.95	249.7	116.1	7.0	1051	21703	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1765
22012	0.95	249.7	96.1	6.1	1066	22013	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2240	1765
22321	0.95	249.7	76.2	6.9	1081	22322	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2241	1765
22630	0.95	249.7	50.1	8.5	1096	22634	0.00	2.67	0.00	0.000	4	0.000	0.078	2522	3653	1765
22692	0.95	249.7	44.5	9.3	1099	22697	0.00	2.60	0.00	0.000	6	0.000	0.060	2522	2237	1765
23020	0.95	250.3	22.3	6.0	1115	23021	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2238	1765
23326	end climb: SURFACE_DEPTH_REACHED
state	23326	begin surface coast
23348	end surface coast: CONTROL_FINISHED_OK
state	23348	begin surface