Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 179 * 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 179 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 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 -2096731.9 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 -2096731.9

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 18 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 179 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 041738,6247.350,-1304.973,34,1.6,34,-12.0 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.13 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -53.2 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 042737,6247.356,-1304.705,11,1.7,16,-12.0 MHEAD_RNG_PITCHd_Wd 2.5,51911,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027155 ALTIM_BOTTOM_PING 750.0,40.3

SM_CCo 21956,119.25,0.604,0,0,508,557.32 _24V_AH 23.6,31.582

SM_GC 1.14,0.00,0.00,119.25,0.000,0.000,0.604,71,2237,508,-10.25,0.20,557.32 _10V_AH 10.2,15.812

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53697,1060

TT8_MAMPS 0.023777 CAP_FILE_SIZE 144203,0

HUMID 1842 CFSIZE 260165632,247570432

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 25 GPS 130708,103727,6249.894,-1305.957,35,2.7,55,-12.0

ALTIM_TOP_PING 19.5,19.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 103.68 SBE_CT 777 24 440.22

Roll_motor 125 82 243.65 SBE_O2 725 19 325.46

VBD_pump_during_apogee 414 1138 11153.97 WL_BB2F 604 105 1497.09

VBD_pump_during_surface 119 604 1700.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.76 nil 0 0 0.00

Iridium_during_connect 72 160 272.30 nil 0 0 0.00

Iridium_during_xfer 292 223 1537.58

Transponder_ping 13 420 131.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.63

TT8 1852 19 374.19

LPSleep 17271 2 385.82

TT8_Active 740 19 149.49

TT8_Sampling 2076 39 842.82

TT8_CF8 730 45 341.31

TT8_Kalman 0 81 0.00

Analog_circuits 1758 12 215.25

GPS_charging 0 0 0.00

Compass 2030 8 165.66

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 167 0.00 0.00 -139.23 0.000 6 0.000 0.000 70 2245 3379

170 -0.85 -146.6 6.7 -6.0 7 192 11.48 2.72 0.00 0.000 4 0.170 0.064 2108 809 3381

383 -0.67 -146.6 42.4 -10.0 16 388 0.22 2.60 0.00 0.000 6 0.097 0.053 2152 2229 3381

701 -0.60 -146.6 68.6 -9.1 31 702 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2229 3381

1009 -0.53 -146.6 100.6 -9.3 46 1011 0.15 0.00 0.00 0.000 6 0.097 0.000 2181 2229 3381

1317 -0.53 -146.6 121.1 -6.2 61 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2229 3381

1627 -0.53 -146.6 137.2 -4.7 76 1631 0.00 2.62 0.00 0.000 4 0.000 0.061 2181 813 3381

1683 -0.63 -146.6 139.9 -5.1 78 1689 0.00 2.60 0.00 0.000 6 0.000 0.054 2181 2237 3381

1999 -0.63 -146.6 157.1 -6.1 94 2000 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2237 3381

2308 -0.63 -146.6 178.5 -7.3 109 2309 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2237 3381

2621 -0.63 -146.6 200.5 -7.0 124 2625 0.00 2.65 0.00 0.000 4 0.000 0.078 2181 3641 3381

2653 -0.63 -146.6 203.2 -8.0 125 2660 0.00 2.58 0.00 0.000 6 0.000 0.056 2181 2228 3381

2970 -0.68 -146.6 224.8 -6.9 141 2972 0.12 0.00 0.00 0.000 6 0.044 0.000 2138 2228 3381

3279 -0.58 -146.6 252.9 -9.1 156 3281 0.17 0.00 0.00 0.000 6 0.086 0.000 2173 2227 3380

3589 -0.58 -146.6 275.3 -7.1 171 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2227 3380

3897 -0.58 -146.6 296.4 -6.5 186 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2227 3380

4207 -0.58 -146.6 315.3 -6.1 201 4211 0.00 2.70 0.00 0.000 4 0.000 0.080 2173 3646 3380

4240 -0.58 -146.6 317.7 -6.5 202 4246 0.00 2.58 0.00 0.000 6 0.000 0.057 2173 2230 3380

4555 -0.58 -146.6 338.1 -6.5 218 4556 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3379

4865 -0.58 -146.6 358.6 -6.7 233 4866 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3379

5174 -0.58 -146.6 379.8 -7.0 248 5175 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3380

5484 -0.58 -146.6 401.1 -6.7 263 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3380

5793 -0.58 -146.6 421.0 -6.5 278 5794 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2230 3379

6102 -0.58 -146.6 440.6 -6.4 293 6106 0.00 2.65 0.00 0.000 4 0.000 0.080 2173 3641 3379

6134 -0.58 -146.6 442.9 -7.3 294 6140 0.00 2.58 0.00 0.000 6 0.000 0.057 2173 2228 3379

6450 -0.58 -146.6 463.8 -6.8 310 6451 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3379

6759 -0.58 -146.6 485.2 -7.1 325 6760 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2228 3379

7068 -0.58 -146.6 505.4 -6.3 340 7069 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2228 3379

7378 -0.58 -146.6 524.0 -6.0 355 7382 0.00 2.67 0.00 0.000 4 0.000 0.079 2173 3640 3378

7417 -0.58 -146.6 526.6 -6.9 357 7422 0.00 2.55 0.00 0.000 6 0.000 0.055 2173 2229 3378

7744 -0.58 -146.6 548.1 -6.7 373 7745 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2229 3378

8054 -0.63 -146.6 568.6 -6.6 388 8055 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2229 3378

8363 -0.67 -146.6 587.9 -5.9 403 8365 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2229 3378

8673 -0.72 -146.6 604.3 -5.1 418 8678 0.15 2.65 0.00 0.000 4 0.044 0.078 2125 3641 3378

8718 -0.59 -146.6 607.7 -8.3 420 8723 0.22 2.58 0.00 0.000 6 0.086 0.055 2169 2221 3378

9040 -0.59 -146.6 625.5 -5.4 436 9041 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2221 3378

9348 -0.59 -146.6 645.0 -6.7 451 9349 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3379

9658 -0.59 -146.6 666.4 -6.5 466 9659 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2221 3378

9967 -0.59 -146.6 684.6 -5.9 481 9969 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

10277 -0.63 -146.6 703.2 -6.5 496 10278 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

10586 -0.68 -146.6 722.4 -6.0 511 10590 0.00 2.70 0.00 0.000 4 0.000 0.081 2169 3642 3377

10636 -0.74 -146.6 725.6 -6.0 513 10641 0.15 2.55 0.00 0.000 6 0.045 0.056 2125 2228 3377

10952 -0.65 -146.6 747.8 -7.2 528 10954 0.17 0.00 0.00 0.000 6 0.087 0.000 2159 2228 3377

11261 -0.65 -146.6 764.7 -5.6 543 11262 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2228 3376

11505 end dive: BOTTOM_OBSTACLE_DETECTED

state 11506 begin apogee

11512 -0.31 0.0 780.5 6.3 555 11648 0.35 0.00 131.43 1.139 6 0.085 0.000 2231 2228 2781

11649 end apogee: CONTROL_FINISHED_OK

state 11649 begin climb

11652 0.85 146.6 785.8 0.0 562 11789 1.20 0.00 131.38 1.118 6 0.076 0.000 2482 2228 2183

12098 0.90 200.8 769.1 4.5 584 12153 0.00 2.72 48.97 1.090 4 0.000 0.068 2482 831 1962

12199 1.01 250.8 764.0 4.6 588 12251 0.17 2.62 45.92 1.084 6 0.048 0.058 2530 2240 1758

12573 0.97 250.8 734.0 8.4 607 12574 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2241 1757

12883 0.92 250.8 707.5 8.5 622 12888 0.15 2.72 0.00 0.000 4 0.091 0.082 2497 3654 1756

12939 0.97 250.8 703.0 7.2 624 12945 0.00 2.62 0.00 0.000 6 0.000 0.061 2496 2243 1756

13256 1.02 250.8 681.3 6.7 640 13261 0.12 2.65 0.00 0.000 4 0.051 0.068 2533 821 1754

13334 0.94 250.8 675.0 8.1 643 13341 0.15 2.62 0.00 0.000 6 0.088 0.056 2502 2245 1754

13649 0.94 250.8 652.7 7.0 659 13650 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2245 1753

13959 0.94 250.8 629.8 7.5 674 13963 0.00 2.65 0.00 0.000 4 0.000 0.066 2502 821 1753

14003 0.94 250.8 626.4 8.0 676 14007 0.00 2.60 0.00 0.000 6 0.000 0.053 2502 2242 1753

14323 0.94 250.8 603.7 7.3 692 14324 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2242 1753

14633 0.94 250.8 581.9 7.1 707 14634 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2242 1753

14942 0.94 250.8 561.1 6.7 722 14943 0.00 0.00 0.00 0.000 6 0.000 0.000 2502 2242 1753

15251 0.96 263.1 542.4 5.7 737 15265 0.00 0.00 11.65 0.884 6 0.000 0.000 2502 2242 1708

15561 0.97 275.9 524.9 5.7 752 15582 0.00 2.70 12.38 0.884 4 0.000 0.063 2502 826 1656

15611 1.04 289.2 521.9 5.6 754 15630 0.10 2.60 13.30 0.885 6 0.051 0.051 2536 2238 1602

15960 1.04 289.2 495.7 7.9 771 15961 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2239 1601

16267 1.04 289.2 469.9 8.5 786 16271 0.00 2.62 0.00 0.000 4 0.000 0.064 2535 825 1602

16329 1.04 289.2 464.5 8.4 789 16333 0.00 2.58 0.00 0.000 6 0.000 0.051 2536 2243 1601

16655 1.04 289.2 436.9 8.4 805 16657 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2243 1602

16964 1.04 289.2 410.1 8.7 820 16969 0.00 2.65 0.00 0.000 4 0.000 0.064 2536 818 1602

17031 1.04 289.2 404.0 8.7 823 17036 0.00 2.60 0.00 0.000 6 0.000 0.052 2536 2244 1602

17352 1.04 289.2 376.4 8.6 839 17353 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2245 1602

17661 1.04 289.2 350.2 8.2 854 17665 0.00 2.62 0.00 0.000 4 0.000 0.064 2536 824 1602

17710 1.04 289.2 346.0 9.1 856 17715 0.00 2.58 0.00 0.000 6 0.000 0.051 2535 2240 1602

18027 1.04 289.2 321.4 7.4 871 18028 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2239 1603

18335 1.04 289.2 300.0 6.5 886 18340 0.00 2.62 0.00 0.000 4 0.000 0.064 2536 823 1603

18369 1.06 310.9 297.6 5.4 887 18395 0.00 2.58 19.92 0.785 6 0.000 0.053 2535 2239 1513

18705 1.06 310.9 275.4 6.6 904 18706 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2240 1513

19014 1.06 310.9 250.7 8.4 919 19018 0.00 2.62 0.00 0.000 4 0.000 0.064 2536 824 1513

19080 1.06 310.9 244.7 9.5 922 19084 0.00 2.58 0.00 0.000 6 0.000 0.052 2536 2239 1512

19401 1.06 310.9 215.7 9.4 938 19402 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2239 1512

19710 1.06 310.9 186.8 9.5 953 19714 0.00 2.62 0.00 0.000 4 0.000 0.064 2536 822 1513

19754 1.06 310.9 182.5 9.6 955 19758 0.00 2.58 0.00 0.000 6 0.000 0.052 2535 2242 1512

20075 1.06 310.9 155.5 7.9 971 20076 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2242 1513

20384 1.06 310.9 132.4 7.6 986 20388 0.00 2.62 0.00 0.000 4 0.000 0.064 2535 823 1513

20446 1.06 310.9 127.4 8.0 989 20450 0.00 2.58 0.00 0.000 6 0.000 0.053 2536 2241 1513

20773 1.06 310.9 99.9 8.5 1005 20777 0.00 2.62 0.00 0.000 4 0.000 0.064 2536 821 1513

20823 1.06 310.9 95.4 8.1 1007 20827 0.00 2.58 0.00 0.000 6 0.000 0.053 2536 2241 1513

21139 1.06 310.9 66.8 8.7 1022 21143 0.00 2.62 0.00 0.000 4 0.000 0.064 2535 820 1513

21172 1.06 310.9 63.6 9.5 1023 21178 0.00 2.58 0.00 0.000 6 0.000 0.053 2536 2241 1513

21489 1.06 310.9 36.6 8.8 1039 21493 0.00 2.62 0.00 0.000 4 0.000 0.064 2535 820 1513

21516 1.06 310.9 34.0 8.7 1040 21521 0.00 2.58 0.00 0.000 6 0.000 0.052 2536 2240 1513

21833 1.06 310.9 8.2 7.9 1055 21837 0.00 2.65 0.00 0.000 4 0.000 0.076 2536 3657 1513

21888 1.06 310.9 2.9 10.1 1057 21894 0.00 2.60 0.00 0.000 6 0.000 0.062 2535 2239 1514

21912 end climb: SURFACE_DEPTH_REACHED

state 21912 begin surface coast

21934 end surface coast: CONTROL_FINISHED_OK

state 21934 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	179	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	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	-2096731.9	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	041738,6247.350,-1304.973,34,1.6,34,-12.0	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.13	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-53.2	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	042737,6247.356,-1304.705,11,1.7,16,-12.0	MHEAD_RNG_PITCHd_Wd	2.5,51911,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027155	ALTIM_BOTTOM_PING	750.0,40.3
SM_CCo	21956,119.25,0.604,0,0,508,557.32	_24V_AH	23.6,31.582
SM_GC	1.14,0.00,0.00,119.25,0.000,0.000,0.604,71,2237,508,-10.25,0.20,557.32	_10V_AH	10.2,15.812
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53697,1060
TT8_MAMPS	0.023777	CAP_FILE_SIZE	144203,0
HUMID	1842	CFSIZE	260165632,247570432
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	25	GPS	130708,103727,6249.894,-1305.957,35,2.7,55,-12.0
ALTIM_TOP_PING	19.5,19.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	103.68	SBE_CT	777	24	440.22
Roll_motor	125	82	243.65	SBE_O2	725	19	325.46
VBD_pump_during_apogee	414	1138	11153.97	WL_BB2F	604	105	1497.09
VBD_pump_during_surface	119	604	1700.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.76	nil	0	0	0.00
Iridium_during_connect	72	160	272.30	nil	0	0	0.00
Iridium_during_xfer	292	223	1537.58
Transponder_ping	13	420	131.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.63
TT8	1852	19	374.19
LPSleep	17271	2	385.82
TT8_Active	740	19	149.49
TT8_Sampling	2076	39	842.82
TT8_CF8	730	45	341.31
TT8_Kalman	0	81	0.00
Analog_circuits	1758	12	215.25
GPS_charging	0	0	0.00
Compass	2030	8	165.66
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	167	0.00	0.00	-139.23	0.000	6	0.000	0.000	70	2245	3379
170	-0.85	-146.6	6.7	-6.0	7	192	11.48	2.72	0.00	0.000	4	0.170	0.064	2108	809	3381
383	-0.67	-146.6	42.4	-10.0	16	388	0.22	2.60	0.00	0.000	6	0.097	0.053	2152	2229	3381
701	-0.60	-146.6	68.6	-9.1	31	702	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2229	3381
1009	-0.53	-146.6	100.6	-9.3	46	1011	0.15	0.00	0.00	0.000	6	0.097	0.000	2181	2229	3381
1317	-0.53	-146.6	121.1	-6.2	61	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2229	3381
1627	-0.53	-146.6	137.2	-4.7	76	1631	0.00	2.62	0.00	0.000	4	0.000	0.061	2181	813	3381
1683	-0.63	-146.6	139.9	-5.1	78	1689	0.00	2.60	0.00	0.000	6	0.000	0.054	2181	2237	3381
1999	-0.63	-146.6	157.1	-6.1	94	2000	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2237	3381
2308	-0.63	-146.6	178.5	-7.3	109	2309	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2237	3381
2621	-0.63	-146.6	200.5	-7.0	124	2625	0.00	2.65	0.00	0.000	4	0.000	0.078	2181	3641	3381
2653	-0.63	-146.6	203.2	-8.0	125	2660	0.00	2.58	0.00	0.000	6	0.000	0.056	2181	2228	3381
2970	-0.68	-146.6	224.8	-6.9	141	2972	0.12	0.00	0.00	0.000	6	0.044	0.000	2138	2228	3381
3279	-0.58	-146.6	252.9	-9.1	156	3281	0.17	0.00	0.00	0.000	6	0.086	0.000	2173	2227	3380
3589	-0.58	-146.6	275.3	-7.1	171	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2227	3380
3897	-0.58	-146.6	296.4	-6.5	186	3898	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2227	3380
4207	-0.58	-146.6	315.3	-6.1	201	4211	0.00	2.70	0.00	0.000	4	0.000	0.080	2173	3646	3380
4240	-0.58	-146.6	317.7	-6.5	202	4246	0.00	2.58	0.00	0.000	6	0.000	0.057	2173	2230	3380
4555	-0.58	-146.6	338.1	-6.5	218	4556	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3379
4865	-0.58	-146.6	358.6	-6.7	233	4866	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3379
5174	-0.58	-146.6	379.8	-7.0	248	5175	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3380
5484	-0.58	-146.6	401.1	-6.7	263	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3380
5793	-0.58	-146.6	421.0	-6.5	278	5794	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2230	3379
6102	-0.58	-146.6	440.6	-6.4	293	6106	0.00	2.65	0.00	0.000	4	0.000	0.080	2173	3641	3379
6134	-0.58	-146.6	442.9	-7.3	294	6140	0.00	2.58	0.00	0.000	6	0.000	0.057	2173	2228	3379
6450	-0.58	-146.6	463.8	-6.8	310	6451	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3379
6759	-0.58	-146.6	485.2	-7.1	325	6760	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2228	3379
7068	-0.58	-146.6	505.4	-6.3	340	7069	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2228	3379
7378	-0.58	-146.6	524.0	-6.0	355	7382	0.00	2.67	0.00	0.000	4	0.000	0.079	2173	3640	3378
7417	-0.58	-146.6	526.6	-6.9	357	7422	0.00	2.55	0.00	0.000	6	0.000	0.055	2173	2229	3378
7744	-0.58	-146.6	548.1	-6.7	373	7745	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2229	3378
8054	-0.63	-146.6	568.6	-6.6	388	8055	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2229	3378
8363	-0.67	-146.6	587.9	-5.9	403	8365	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2229	3378
8673	-0.72	-146.6	604.3	-5.1	418	8678	0.15	2.65	0.00	0.000	4	0.044	0.078	2125	3641	3378
8718	-0.59	-146.6	607.7	-8.3	420	8723	0.22	2.58	0.00	0.000	6	0.086	0.055	2169	2221	3378
9040	-0.59	-146.6	625.5	-5.4	436	9041	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2221	3378
9348	-0.59	-146.6	645.0	-6.7	451	9349	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3379
9658	-0.59	-146.6	666.4	-6.5	466	9659	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2221	3378
9967	-0.59	-146.6	684.6	-5.9	481	9969	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
10277	-0.63	-146.6	703.2	-6.5	496	10278	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
10586	-0.68	-146.6	722.4	-6.0	511	10590	0.00	2.70	0.00	0.000	4	0.000	0.081	2169	3642	3377
10636	-0.74	-146.6	725.6	-6.0	513	10641	0.15	2.55	0.00	0.000	6	0.045	0.056	2125	2228	3377
10952	-0.65	-146.6	747.8	-7.2	528	10954	0.17	0.00	0.00	0.000	6	0.087	0.000	2159	2228	3377
11261	-0.65	-146.6	764.7	-5.6	543	11262	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2228	3376
11505	end dive: BOTTOM_OBSTACLE_DETECTED
state	11506	begin apogee
11512	-0.31	0.0	780.5	6.3	555	11648	0.35	0.00	131.43	1.139	6	0.085	0.000	2231	2228	2781
11649	end apogee: CONTROL_FINISHED_OK
state	11649	begin climb
11652	0.85	146.6	785.8	0.0	562	11789	1.20	0.00	131.38	1.118	6	0.076	0.000	2482	2228	2183
12098	0.90	200.8	769.1	4.5	584	12153	0.00	2.72	48.97	1.090	4	0.000	0.068	2482	831	1962
12199	1.01	250.8	764.0	4.6	588	12251	0.17	2.62	45.92	1.084	6	0.048	0.058	2530	2240	1758
12573	0.97	250.8	734.0	8.4	607	12574	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2241	1757
12883	0.92	250.8	707.5	8.5	622	12888	0.15	2.72	0.00	0.000	4	0.091	0.082	2497	3654	1756
12939	0.97	250.8	703.0	7.2	624	12945	0.00	2.62	0.00	0.000	6	0.000	0.061	2496	2243	1756
13256	1.02	250.8	681.3	6.7	640	13261	0.12	2.65	0.00	0.000	4	0.051	0.068	2533	821	1754
13334	0.94	250.8	675.0	8.1	643	13341	0.15	2.62	0.00	0.000	6	0.088	0.056	2502	2245	1754
13649	0.94	250.8	652.7	7.0	659	13650	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2245	1753
13959	0.94	250.8	629.8	7.5	674	13963	0.00	2.65	0.00	0.000	4	0.000	0.066	2502	821	1753
14003	0.94	250.8	626.4	8.0	676	14007	0.00	2.60	0.00	0.000	6	0.000	0.053	2502	2242	1753
14323	0.94	250.8	603.7	7.3	692	14324	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2242	1753
14633	0.94	250.8	581.9	7.1	707	14634	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2242	1753
14942	0.94	250.8	561.1	6.7	722	14943	0.00	0.00	0.00	0.000	6	0.000	0.000	2502	2242	1753
15251	0.96	263.1	542.4	5.7	737	15265	0.00	0.00	11.65	0.884	6	0.000	0.000	2502	2242	1708
15561	0.97	275.9	524.9	5.7	752	15582	0.00	2.70	12.38	0.884	4	0.000	0.063	2502	826	1656
15611	1.04	289.2	521.9	5.6	754	15630	0.10	2.60	13.30	0.885	6	0.051	0.051	2536	2238	1602
15960	1.04	289.2	495.7	7.9	771	15961	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2239	1601
16267	1.04	289.2	469.9	8.5	786	16271	0.00	2.62	0.00	0.000	4	0.000	0.064	2535	825	1602
16329	1.04	289.2	464.5	8.4	789	16333	0.00	2.58	0.00	0.000	6	0.000	0.051	2536	2243	1601
16655	1.04	289.2	436.9	8.4	805	16657	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2243	1602
16964	1.04	289.2	410.1	8.7	820	16969	0.00	2.65	0.00	0.000	4	0.000	0.064	2536	818	1602
17031	1.04	289.2	404.0	8.7	823	17036	0.00	2.60	0.00	0.000	6	0.000	0.052	2536	2244	1602
17352	1.04	289.2	376.4	8.6	839	17353	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2245	1602
17661	1.04	289.2	350.2	8.2	854	17665	0.00	2.62	0.00	0.000	4	0.000	0.064	2536	824	1602
17710	1.04	289.2	346.0	9.1	856	17715	0.00	2.58	0.00	0.000	6	0.000	0.051	2535	2240	1602
18027	1.04	289.2	321.4	7.4	871	18028	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2239	1603
18335	1.04	289.2	300.0	6.5	886	18340	0.00	2.62	0.00	0.000	4	0.000	0.064	2536	823	1603
18369	1.06	310.9	297.6	5.4	887	18395	0.00	2.58	19.92	0.785	6	0.000	0.053	2535	2239	1513
18705	1.06	310.9	275.4	6.6	904	18706	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2240	1513
19014	1.06	310.9	250.7	8.4	919	19018	0.00	2.62	0.00	0.000	4	0.000	0.064	2536	824	1513
19080	1.06	310.9	244.7	9.5	922	19084	0.00	2.58	0.00	0.000	6	0.000	0.052	2536	2239	1512
19401	1.06	310.9	215.7	9.4	938	19402	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2239	1512
19710	1.06	310.9	186.8	9.5	953	19714	0.00	2.62	0.00	0.000	4	0.000	0.064	2536	822	1513
19754	1.06	310.9	182.5	9.6	955	19758	0.00	2.58	0.00	0.000	6	0.000	0.052	2535	2242	1512
20075	1.06	310.9	155.5	7.9	971	20076	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2242	1513
20384	1.06	310.9	132.4	7.6	986	20388	0.00	2.62	0.00	0.000	4	0.000	0.064	2535	823	1513
20446	1.06	310.9	127.4	8.0	989	20450	0.00	2.58	0.00	0.000	6	0.000	0.053	2536	2241	1513
20773	1.06	310.9	99.9	8.5	1005	20777	0.00	2.62	0.00	0.000	4	0.000	0.064	2536	821	1513
20823	1.06	310.9	95.4	8.1	1007	20827	0.00	2.58	0.00	0.000	6	0.000	0.053	2536	2241	1513
21139	1.06	310.9	66.8	8.7	1022	21143	0.00	2.62	0.00	0.000	4	0.000	0.064	2535	820	1513
21172	1.06	310.9	63.6	9.5	1023	21178	0.00	2.58	0.00	0.000	6	0.000	0.053	2536	2241	1513
21489	1.06	310.9	36.6	8.8	1039	21493	0.00	2.62	0.00	0.000	4	0.000	0.064	2535	820	1513
21516	1.06	310.9	34.0	8.7	1040	21521	0.00	2.58	0.00	0.000	6	0.000	0.052	2536	2240	1513
21833	1.06	310.9	8.2	7.9	1055	21837	0.00	2.65	0.00	0.000	4	0.000	0.076	2536	3657	1513
21888	1.06	310.9	2.9	10.1	1057	21894	0.00	2.60	0.00	0.000	6	0.000	0.062	2535	2239	1514
21912	end climb: SURFACE_DEPTH_REACHED
state	21912	begin surface coast
21934	end surface coast: CONTROL_FINISHED_OK
state	21934	begin surface