Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 180 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 180 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 DEVICE6 -1

T_NO_W 300 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 -2079441.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 566.1524

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2079441.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 180 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 000737,6328.384,-843.315,26,1.9,26,-9.8 TGT_NAME IFRN1K

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.149,0.164

_SM_DEPTHo 1.39 KALMAN_X -128261.0,193.1,1292.2,146778.0,-7022.8

_SM_ANGLEo -46.5 KALMAN_Y 94414.7,249.2,318.3,109103.9,-7123.4

GPS2 001711,6328.422,-842.860,12,2.7,31,-9.8 MHEAD_RNG_PITCHd_Wd 52.1,46638,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.015030 ALTIM_BOTTOM_PING 550.4,84.5

SM_CCo 17460,201.62,0.665,2,0,509,566.15 _24V_AH 23.5,31.076

SM_GC 1.59,0.00,0.00,201.62,0.000,0.000,0.665,71,2395,509,-10.75,-0.14,566.15 _10V_AH 10.2,14.919

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44324,846

TT8_MAMPS 0.023777 CFSIZE 260165632,249233408

HUMID 2048 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,20,2,0

TCM_TEMP 16.70 GPS 141207,051358,6329.792,-837.978,30,3.3,49,-9.7

XPDR_PINGS 70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.23 SBE_CT 613 24 346.22

Roll_motor 193 95 436.98 SBE_O2 589 19 263.35

VBD_pump_during_apogee 318 1169 8762.28 WL_BB2F 511 105 1261.05

VBD_pump_during_surface 201 664 3150.84 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.92 nil 0 0 0.00

Iridium_during_connect 67 160 253.98 nil 0 0 0.00

Iridium_during_xfer 257 223 1347.92

Transponder_ping 22 420 217.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.40

TT8 1568 19 316.81

LPSleep 13475 2 301.02

TT8_Active 754 19 152.42

TT8_Sampling 1874 39 760.85

TT8_CF8 577 45 269.87

TT8_Kalman 33 81 27.84

Analog_circuits 1692 12 207.15

GPS_charging 0 0 0.00

Compass 1815 8 148.15

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -102.07 0.000 2 0.000 0.000 72 2409 3179

127 -0.85 -146.6 4.1 -3.3 5 150 12.20 2.72 -5.22 0.000 4 0.174 0.083 2220 983 3417

279 -0.85 -146.6 23.1 -9.4 11 286 0.00 2.60 0.00 0.000 6 0.000 0.055 2220 2404 3419

595 -0.85 -146.6 47.3 -10.7 27 599 0.00 2.70 0.00 0.000 4 0.000 0.069 2220 976 3419

615 -0.85 -146.6 49.8 -11.6 28 620 0.00 2.62 0.00 0.000 6 0.000 0.058 2220 2404 3418

942 -0.85 -146.6 79.1 -11.7 44 947 0.00 2.70 0.00 0.000 4 0.000 0.073 2220 983 3418

1014 -0.85 -146.6 84.9 -6.8 47 1018 0.00 2.60 0.00 0.000 6 0.000 0.056 2220 2402 3418

1336 -0.85 -146.6 107.7 -7.4 63 1337 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

1647 -0.85 -146.6 153.5 -16.7 78 1651 0.00 2.72 0.00 0.000 4 0.000 0.077 2220 984 3418

1685 -0.85 -146.6 160.0 -16.1 80 1690 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2400 3418

2012 -0.85 -146.6 187.9 -8.5 96 2016 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 982 3418

2038 -0.85 -146.6 190.3 -8.7 97 2043 0.00 2.62 0.00 0.000 6 0.000 0.057 2220 2400 3418

2359 -0.85 -146.6 210.2 -7.0 113 2363 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 982 3418

2414 -0.85 -146.6 212.6 -3.9 115 2420 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2403 3418

2729 -0.85 -146.6 230.3 -4.9 131 2730 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2403 3418

3038 -0.85 -146.6 252.6 -8.7 146 3042 0.00 2.67 0.00 0.000 4 0.000 0.070 2220 981 3418

3070 -0.85 -146.6 255.4 -7.5 147 3077 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2408 3419

3385 -0.85 -146.6 277.1 -5.9 163 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2408 3418

3694 -0.85 -146.6 303.6 -9.2 178 3699 0.00 2.70 0.00 0.000 4 0.000 0.071 2220 976 3419

3778 -0.85 -146.6 311.5 -9.0 182 3783 0.00 2.62 0.00 0.000 6 0.000 0.059 2220 2405 3419

4104 -0.85 -146.6 338.0 -8.2 198 4108 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 982 3419

4176 -0.85 -146.6 344.3 -8.7 201 4181 0.00 2.60 0.00 0.000 6 0.000 0.058 2220 2403 3418

4491 -0.85 -146.6 368.1 -7.3 216 4496 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 981 3418

4523 -0.85 -146.6 370.5 -7.6 217 4529 0.00 2.60 0.00 0.000 6 0.000 0.061 2220 2400 3419

4838 -0.85 -146.6 392.5 -6.4 233 4843 0.00 2.70 0.00 0.000 4 0.000 0.074 2220 975 3419

4904 -0.85 -146.6 396.6 -6.2 236 4908 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2402 3418

5231 -0.85 -146.6 414.0 -5.6 252 5235 0.00 2.70 0.00 0.000 4 0.000 0.077 2220 981 3419

5258 -0.85 -146.6 415.6 -5.5 253 5262 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2404 3419

5573 -0.85 -146.6 433.2 -5.6 268 5574 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3419

5882 -0.85 -146.6 454.1 -7.3 283 5886 0.00 2.70 0.00 0.000 4 0.000 0.077 2220 982 3419

5992 -0.85 -146.6 463.4 -8.8 288 5997 0.00 2.62 0.00 0.000 6 0.000 0.064 2220 2406 3419

6318 -0.85 -146.6 488.4 -7.1 304 6323 0.00 2.72 0.00 0.000 4 0.000 0.080 2220 982 3420

6344 -0.85 -146.6 490.3 -7.0 305 6349 0.00 2.62 0.00 0.000 6 0.000 0.064 2220 2399 3420

6667 -0.85 -146.6 508.9 -5.3 321 6671 0.00 2.72 0.00 0.000 4 0.000 0.078 2220 976 3419

6700 -0.85 -146.6 510.6 -5.5 322 6706 0.00 2.67 0.00 0.000 6 0.000 0.068 2220 2398 3418

7015 -0.85 -146.6 528.5 -5.9 338 7016 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2399 3419

7324 -0.85 -146.6 548.4 -6.8 353 7329 0.00 2.72 0.00 0.000 4 0.000 0.081 2220 984 3418

7367 -0.85 -146.6 551.6 -7.4 355 7372 0.00 2.67 0.00 0.000 6 0.000 0.070 2220 2408 3418

7694 -0.85 -146.6 574.0 -6.8 371 7699 0.00 2.75 0.00 0.000 4 0.000 0.081 2220 982 3416

7733 -0.85 -146.6 577.0 -7.7 373 7737 0.00 2.67 0.00 0.000 6 0.000 0.072 2220 2401 3417

8058 -0.85 -146.6 599.4 -6.4 389 8063 0.00 2.75 0.00 0.000 4 0.000 0.085 2220 982 3414

8119 -0.85 -146.6 603.6 -7.8 392 8123 0.00 2.67 0.00 0.000 6 0.000 0.071 2220 2400 3414

8443 end dive: BOTTOM_OBSTACLE_DETECTED

state 8443 begin apogee

8448 -0.31 0.0 625.4 6.8 408 8572 0.62 0.00 120.45 1.170 6 0.122 0.000 2340 2195 2817

8572 end apogee: CONTROL_FINISHED_OK

state 8573 begin climb

8574 0.85 146.6 630.1 0.0 414 8701 1.25 2.88 119.53 1.144 4 0.107 0.092 2587 3611 2219

8729 0.86 159.3 626.2 5.7 421 8748 0.00 2.72 11.88 0.997 6 0.000 0.073 2588 2196 2167

9064 0.87 170.7 607.5 5.7 438 9079 0.00 2.80 10.55 1.000 4 0.000 0.084 2588 784 2120

9112 0.87 170.7 604.4 6.6 439 9117 0.00 2.70 0.00 0.000 6 0.000 0.065 2588 2199 2119

9427 0.87 170.7 585.1 6.3 454 9428 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2199 2118

9737 0.89 186.3 567.7 5.6 469 9756 0.00 0.00 13.77 1.049 6 0.000 0.000 2588 2199 2057

10066 0.89 186.3 547.2 6.8 485 10070 0.00 2.78 0.00 0.000 4 0.000 0.094 2588 3613 2056

10104 0.89 186.3 544.2 8.7 487 10108 0.00 2.72 0.00 0.000 6 0.000 0.076 2588 2199 2056

10429 0.89 186.3 520.4 7.5 503 10433 0.00 2.75 0.00 0.000 4 0.000 0.087 2588 786 2055

10468 0.89 186.3 517.3 8.9 505 10472 0.00 2.67 0.00 0.000 6 0.000 0.064 2588 2202 2055

10793 0.89 186.3 493.6 7.2 521 10798 0.00 2.78 0.00 0.000 4 0.000 0.094 2588 3613 2054

10854 0.89 186.3 488.9 8.2 524 10858 0.00 2.72 0.00 0.000 6 0.000 0.076 2588 2199 2054

11179 0.89 186.3 466.4 6.3 540 11184 0.00 2.80 0.00 0.000 4 0.000 0.096 2588 3612 2053

11205 0.89 186.3 464.6 6.2 541 11210 0.00 2.72 0.00 0.000 6 0.000 0.077 2588 2196 2053

11526 0.89 186.3 444.1 6.5 557 11531 0.00 2.75 0.00 0.000 4 0.000 0.087 2588 786 2052

11593 0.89 186.3 439.7 6.4 560 11597 0.00 2.65 0.00 0.000 6 0.000 0.063 2588 2203 2052

11914 0.89 186.3 419.2 6.7 576 11918 0.00 2.72 0.00 0.000 4 0.000 0.089 2588 3610 2052

11952 0.89 186.3 416.5 7.1 578 11956 0.00 2.70 0.00 0.000 6 0.000 0.074 2588 2198 2052

12277 0.89 186.3 394.8 6.4 594 12282 0.00 2.75 0.00 0.000 4 0.000 0.089 2588 3608 2051

12361 0.90 195.4 389.6 5.7 598 12375 0.00 2.67 8.05 0.889 6 0.000 0.072 2588 2201 2019

12691 0.90 195.4 369.9 6.5 614 12695 0.00 2.72 0.00 0.000 4 0.000 0.081 2588 783 2018

12756 0.90 195.4 365.0 7.5 617 12760 0.00 2.65 0.00 0.000 6 0.000 0.064 2587 2200 2017

13083 0.90 195.4 340.2 7.5 633 13084 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2200 2018

13393 0.90 195.4 318.8 6.7 648 13397 0.00 2.72 0.00 0.000 4 0.000 0.080 2588 782 2018

13435 0.90 195.4 315.7 7.5 650 13440 0.00 2.65 0.00 0.000 6 0.000 0.061 2588 2207 2018

13763 0.91 201.9 296.7 5.8 666 13777 0.00 2.78 7.12 0.775 4 0.000 0.082 2588 3613 1992

13806 0.91 201.9 294.0 6.3 668 13811 0.00 2.70 0.00 0.000 6 0.000 0.071 2588 2198 1992

14132 0.94 234.6 276.0 5.1 684 14162 0.12 0.00 27.42 0.881 6 0.065 0.000 2619 2197 1860

14461 0.94 234.6 253.2 7.0 700 14465 0.00 2.67 0.00 0.000 4 0.000 0.071 2619 778 1859

14499 0.94 234.6 250.5 6.8 702 14504 0.00 2.62 0.00 0.000 6 0.000 0.051 2619 2210 1859

14824 0.94 234.6 227.2 7.6 718 14829 0.00 2.62 0.00 0.000 4 0.000 0.074 2619 3607 1860

14863 0.94 234.6 223.9 8.5 720 14868 0.00 2.62 0.00 0.000 6 0.000 0.061 2619 2200 1860

15190 0.94 234.6 197.9 8.2 736 15194 0.00 2.67 0.00 0.000 4 0.000 0.074 2619 784 1861

15221 0.94 234.6 195.0 8.3 737 15228 0.00 2.60 0.00 0.000 6 0.000 0.054 2619 2201 1861

15537 0.94 234.6 167.9 8.5 753 15541 0.00 2.65 0.00 0.000 4 0.000 0.074 2619 3607 1862

15569 0.94 234.6 165.1 8.7 754 15575 0.00 2.62 0.00 0.000 6 0.000 0.063 2619 2200 1862

15884 0.94 234.6 138.3 9.2 770 15885 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1862

16195 0.94 234.6 110.9 9.8 785 16196 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1863

16503 0.94 234.6 81.2 9.9 800 16505 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2200 1864

16812 0.94 234.6 50.5 10.2 815 16816 0.00 2.67 0.00 0.000 4 0.000 0.074 2619 784 1864

16851 0.94 234.6 46.8 10.7 817 16855 0.00 2.60 0.00 0.000 6 0.000 0.054 2619 2201 1864

17176 0.94 234.6 19.9 8.3 833 17181 0.00 2.65 0.00 0.000 4 0.000 0.074 2619 3608 1865

17202 0.94 234.6 17.2 10.3 834 17207 0.00 2.62 0.00 0.000 6 0.000 0.061 2619 2199 1866

17419 end climb: SURFACE_DEPTH_REACHED

state 17419 begin surface coast

17441 end surface coast: CONTROL_FINISHED_OK

state 17441 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	180	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	DEVICE6	-1
T_NO_W	300	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	-2079441.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	000737,6328.384,-843.315,26,1.9,26,-9.8	TGT_NAME	IFRN1K
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.149,0.164
_SM_DEPTHo	1.39	KALMAN_X	-128261.0,193.1,1292.2,146778.0,-7022.8
_SM_ANGLEo	-46.5	KALMAN_Y	94414.7,249.2,318.3,109103.9,-7123.4
GPS2	001711,6328.422,-842.860,12,2.7,31,-9.8	MHEAD_RNG_PITCHd_Wd	52.1,46638,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.015030	ALTIM_BOTTOM_PING	550.4,84.5
SM_CCo	17460,201.62,0.665,2,0,509,566.15	_24V_AH	23.5,31.076
SM_GC	1.59,0.00,0.00,201.62,0.000,0.000,0.665,71,2395,509,-10.75,-0.14,566.15	_10V_AH	10.2,14.919
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44324,846
TT8_MAMPS	0.023777	CFSIZE	260165632,249233408
HUMID	2048	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
TCM_TEMP	16.70	GPS	141207,051358,6329.792,-837.978,30,3.3,49,-9.7
XPDR_PINGS	70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.23	SBE_CT	613	24	346.22
Roll_motor	193	95	436.98	SBE_O2	589	19	263.35
VBD_pump_during_apogee	318	1169	8762.28	WL_BB2F	511	105	1261.05
VBD_pump_during_surface	201	664	3150.84	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.92	nil	0	0	0.00
Iridium_during_connect	67	160	253.98	nil	0	0	0.00
Iridium_during_xfer	257	223	1347.92
Transponder_ping	22	420	217.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.40
TT8	1568	19	316.81
LPSleep	13475	2	301.02
TT8_Active	754	19	152.42
TT8_Sampling	1874	39	760.85
TT8_CF8	577	45	269.87
TT8_Kalman	33	81	27.84
Analog_circuits	1692	12	207.15
GPS_charging	0	0	0.00
Compass	1815	8	148.15
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-102.07	0.000	2	0.000	0.000	72	2409	3179
127	-0.85	-146.6	4.1	-3.3	5	150	12.20	2.72	-5.22	0.000	4	0.174	0.083	2220	983	3417
279	-0.85	-146.6	23.1	-9.4	11	286	0.00	2.60	0.00	0.000	6	0.000	0.055	2220	2404	3419
595	-0.85	-146.6	47.3	-10.7	27	599	0.00	2.70	0.00	0.000	4	0.000	0.069	2220	976	3419
615	-0.85	-146.6	49.8	-11.6	28	620	0.00	2.62	0.00	0.000	6	0.000	0.058	2220	2404	3418
942	-0.85	-146.6	79.1	-11.7	44	947	0.00	2.70	0.00	0.000	4	0.000	0.073	2220	983	3418
1014	-0.85	-146.6	84.9	-6.8	47	1018	0.00	2.60	0.00	0.000	6	0.000	0.056	2220	2402	3418
1336	-0.85	-146.6	107.7	-7.4	63	1337	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
1647	-0.85	-146.6	153.5	-16.7	78	1651	0.00	2.72	0.00	0.000	4	0.000	0.077	2220	984	3418
1685	-0.85	-146.6	160.0	-16.1	80	1690	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2400	3418
2012	-0.85	-146.6	187.9	-8.5	96	2016	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	982	3418
2038	-0.85	-146.6	190.3	-8.7	97	2043	0.00	2.62	0.00	0.000	6	0.000	0.057	2220	2400	3418
2359	-0.85	-146.6	210.2	-7.0	113	2363	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	982	3418
2414	-0.85	-146.6	212.6	-3.9	115	2420	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2403	3418
2729	-0.85	-146.6	230.3	-4.9	131	2730	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2403	3418
3038	-0.85	-146.6	252.6	-8.7	146	3042	0.00	2.67	0.00	0.000	4	0.000	0.070	2220	981	3418
3070	-0.85	-146.6	255.4	-7.5	147	3077	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2408	3419
3385	-0.85	-146.6	277.1	-5.9	163	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2408	3418
3694	-0.85	-146.6	303.6	-9.2	178	3699	0.00	2.70	0.00	0.000	4	0.000	0.071	2220	976	3419
3778	-0.85	-146.6	311.5	-9.0	182	3783	0.00	2.62	0.00	0.000	6	0.000	0.059	2220	2405	3419
4104	-0.85	-146.6	338.0	-8.2	198	4108	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	982	3419
4176	-0.85	-146.6	344.3	-8.7	201	4181	0.00	2.60	0.00	0.000	6	0.000	0.058	2220	2403	3418
4491	-0.85	-146.6	368.1	-7.3	216	4496	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	981	3418
4523	-0.85	-146.6	370.5	-7.6	217	4529	0.00	2.60	0.00	0.000	6	0.000	0.061	2220	2400	3419
4838	-0.85	-146.6	392.5	-6.4	233	4843	0.00	2.70	0.00	0.000	4	0.000	0.074	2220	975	3419
4904	-0.85	-146.6	396.6	-6.2	236	4908	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2402	3418
5231	-0.85	-146.6	414.0	-5.6	252	5235	0.00	2.70	0.00	0.000	4	0.000	0.077	2220	981	3419
5258	-0.85	-146.6	415.6	-5.5	253	5262	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2404	3419
5573	-0.85	-146.6	433.2	-5.6	268	5574	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3419
5882	-0.85	-146.6	454.1	-7.3	283	5886	0.00	2.70	0.00	0.000	4	0.000	0.077	2220	982	3419
5992	-0.85	-146.6	463.4	-8.8	288	5997	0.00	2.62	0.00	0.000	6	0.000	0.064	2220	2406	3419
6318	-0.85	-146.6	488.4	-7.1	304	6323	0.00	2.72	0.00	0.000	4	0.000	0.080	2220	982	3420
6344	-0.85	-146.6	490.3	-7.0	305	6349	0.00	2.62	0.00	0.000	6	0.000	0.064	2220	2399	3420
6667	-0.85	-146.6	508.9	-5.3	321	6671	0.00	2.72	0.00	0.000	4	0.000	0.078	2220	976	3419
6700	-0.85	-146.6	510.6	-5.5	322	6706	0.00	2.67	0.00	0.000	6	0.000	0.068	2220	2398	3418
7015	-0.85	-146.6	528.5	-5.9	338	7016	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2399	3419
7324	-0.85	-146.6	548.4	-6.8	353	7329	0.00	2.72	0.00	0.000	4	0.000	0.081	2220	984	3418
7367	-0.85	-146.6	551.6	-7.4	355	7372	0.00	2.67	0.00	0.000	6	0.000	0.070	2220	2408	3418
7694	-0.85	-146.6	574.0	-6.8	371	7699	0.00	2.75	0.00	0.000	4	0.000	0.081	2220	982	3416
7733	-0.85	-146.6	577.0	-7.7	373	7737	0.00	2.67	0.00	0.000	6	0.000	0.072	2220	2401	3417
8058	-0.85	-146.6	599.4	-6.4	389	8063	0.00	2.75	0.00	0.000	4	0.000	0.085	2220	982	3414
8119	-0.85	-146.6	603.6	-7.8	392	8123	0.00	2.67	0.00	0.000	6	0.000	0.071	2220	2400	3414
8443	end dive: BOTTOM_OBSTACLE_DETECTED
state	8443	begin apogee
8448	-0.31	0.0	625.4	6.8	408	8572	0.62	0.00	120.45	1.170	6	0.122	0.000	2340	2195	2817
8572	end apogee: CONTROL_FINISHED_OK
state	8573	begin climb
8574	0.85	146.6	630.1	0.0	414	8701	1.25	2.88	119.53	1.144	4	0.107	0.092	2587	3611	2219
8729	0.86	159.3	626.2	5.7	421	8748	0.00	2.72	11.88	0.997	6	0.000	0.073	2588	2196	2167
9064	0.87	170.7	607.5	5.7	438	9079	0.00	2.80	10.55	1.000	4	0.000	0.084	2588	784	2120
9112	0.87	170.7	604.4	6.6	439	9117	0.00	2.70	0.00	0.000	6	0.000	0.065	2588	2199	2119
9427	0.87	170.7	585.1	6.3	454	9428	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2199	2118
9737	0.89	186.3	567.7	5.6	469	9756	0.00	0.00	13.77	1.049	6	0.000	0.000	2588	2199	2057
10066	0.89	186.3	547.2	6.8	485	10070	0.00	2.78	0.00	0.000	4	0.000	0.094	2588	3613	2056
10104	0.89	186.3	544.2	8.7	487	10108	0.00	2.72	0.00	0.000	6	0.000	0.076	2588	2199	2056
10429	0.89	186.3	520.4	7.5	503	10433	0.00	2.75	0.00	0.000	4	0.000	0.087	2588	786	2055
10468	0.89	186.3	517.3	8.9	505	10472	0.00	2.67	0.00	0.000	6	0.000	0.064	2588	2202	2055
10793	0.89	186.3	493.6	7.2	521	10798	0.00	2.78	0.00	0.000	4	0.000	0.094	2588	3613	2054
10854	0.89	186.3	488.9	8.2	524	10858	0.00	2.72	0.00	0.000	6	0.000	0.076	2588	2199	2054
11179	0.89	186.3	466.4	6.3	540	11184	0.00	2.80	0.00	0.000	4	0.000	0.096	2588	3612	2053
11205	0.89	186.3	464.6	6.2	541	11210	0.00	2.72	0.00	0.000	6	0.000	0.077	2588	2196	2053
11526	0.89	186.3	444.1	6.5	557	11531	0.00	2.75	0.00	0.000	4	0.000	0.087	2588	786	2052
11593	0.89	186.3	439.7	6.4	560	11597	0.00	2.65	0.00	0.000	6	0.000	0.063	2588	2203	2052
11914	0.89	186.3	419.2	6.7	576	11918	0.00	2.72	0.00	0.000	4	0.000	0.089	2588	3610	2052
11952	0.89	186.3	416.5	7.1	578	11956	0.00	2.70	0.00	0.000	6	0.000	0.074	2588	2198	2052
12277	0.89	186.3	394.8	6.4	594	12282	0.00	2.75	0.00	0.000	4	0.000	0.089	2588	3608	2051
12361	0.90	195.4	389.6	5.7	598	12375	0.00	2.67	8.05	0.889	6	0.000	0.072	2588	2201	2019
12691	0.90	195.4	369.9	6.5	614	12695	0.00	2.72	0.00	0.000	4	0.000	0.081	2588	783	2018
12756	0.90	195.4	365.0	7.5	617	12760	0.00	2.65	0.00	0.000	6	0.000	0.064	2587	2200	2017
13083	0.90	195.4	340.2	7.5	633	13084	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2200	2018
13393	0.90	195.4	318.8	6.7	648	13397	0.00	2.72	0.00	0.000	4	0.000	0.080	2588	782	2018
13435	0.90	195.4	315.7	7.5	650	13440	0.00	2.65	0.00	0.000	6	0.000	0.061	2588	2207	2018
13763	0.91	201.9	296.7	5.8	666	13777	0.00	2.78	7.12	0.775	4	0.000	0.082	2588	3613	1992
13806	0.91	201.9	294.0	6.3	668	13811	0.00	2.70	0.00	0.000	6	0.000	0.071	2588	2198	1992
14132	0.94	234.6	276.0	5.1	684	14162	0.12	0.00	27.42	0.881	6	0.065	0.000	2619	2197	1860
14461	0.94	234.6	253.2	7.0	700	14465	0.00	2.67	0.00	0.000	4	0.000	0.071	2619	778	1859
14499	0.94	234.6	250.5	6.8	702	14504	0.00	2.62	0.00	0.000	6	0.000	0.051	2619	2210	1859
14824	0.94	234.6	227.2	7.6	718	14829	0.00	2.62	0.00	0.000	4	0.000	0.074	2619	3607	1860
14863	0.94	234.6	223.9	8.5	720	14868	0.00	2.62	0.00	0.000	6	0.000	0.061	2619	2200	1860
15190	0.94	234.6	197.9	8.2	736	15194	0.00	2.67	0.00	0.000	4	0.000	0.074	2619	784	1861
15221	0.94	234.6	195.0	8.3	737	15228	0.00	2.60	0.00	0.000	6	0.000	0.054	2619	2201	1861
15537	0.94	234.6	167.9	8.5	753	15541	0.00	2.65	0.00	0.000	4	0.000	0.074	2619	3607	1862
15569	0.94	234.6	165.1	8.7	754	15575	0.00	2.62	0.00	0.000	6	0.000	0.063	2619	2200	1862
15884	0.94	234.6	138.3	9.2	770	15885	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1862
16195	0.94	234.6	110.9	9.8	785	16196	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1863
16503	0.94	234.6	81.2	9.9	800	16505	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2200	1864
16812	0.94	234.6	50.5	10.2	815	16816	0.00	2.67	0.00	0.000	4	0.000	0.074	2619	784	1864
16851	0.94	234.6	46.8	10.7	817	16855	0.00	2.60	0.00	0.000	6	0.000	0.054	2619	2201	1864
17176	0.94	234.6	19.9	8.3	833	17181	0.00	2.65	0.00	0.000	4	0.000	0.074	2619	3608	1865
17202	0.94	234.6	17.2	10.3	834	17207	0.00	2.62	0.00	0.000	6	0.000	0.061	2619	2199	1866
17419	end climb: SURFACE_DEPTH_REACHED
state	17419	begin surface coast
17441	end surface coast: CONTROL_FINISHED_OK
state	17441	begin surface