Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 181 * 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 181 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -2096802.1 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 -2096802.1

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 20 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 181 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 170428,6252.330,-1308.732,24,2.2,44,-12.0 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.00 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -48.1 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 171017,6252.301,-1308.605,17,2.5,36,-12.0 MHEAD_RNG_PITCHd_Wd 4.8,42374,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027170 ALTIM_BOTTOM_PING 700.3,85.0

SM_CCo 21608,130.98,0.596,0,0,508,557.32 _24V_AH 23.6,31.904

SM_GC 1.11,0.00,0.00,130.98,0.000,0.000,0.596,74,2247,508,-10.24,0.48,557.32 _10V_AH 10.1,16.005

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53650,1046

TT8_MAMPS 0.023777 CAP_FILE_SIZE 137724,0

HUMID 1847 CFSIZE 260165632,247439360

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 24 GPS 130708,231408,6255.147,-1309.518,34,1.1,35,-12.1

ALTIM_TOP_PING 20.0,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 169 97.11 SBE_CT 767 24 434.87

Roll_motor 136 84 271.34 SBE_O2 716 19 321.29

VBD_pump_during_apogee 384 1143 10383.98 WL_BB2F 623 105 1544.54

VBD_pump_during_surface 130 595 1842.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.88 nil 0 0 0.00

Iridium_during_connect 28 160 107.88 nil 0 0 0.00

Iridium_during_xfer 148 223 782.38

Transponder_ping 12 420 123.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 37 50 18.81

TT8 1825 19 364.98

LPSleep 16896 2 373.73

TT8_Active 685 19 137.00

TT8_Sampling 2153 39 865.73

TT8_CF8 524 45 242.80

TT8_Kalman 0 81 0.00

Analog_circuits 1742 12 211.20

GPS_charging 0 0 0.00

Compass 2085 8 168.53

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 154 0.00 0.00 -125.55 0.000 2 0.000 0.000 71 2223 3019

158 -0.85 -146.6 4.0 -3.4 7 183 11.45 2.60 -8.20 0.000 4 0.170 0.074 2108 813 3380

337 -0.69 -146.6 28.0 -10.4 15 342 0.20 2.60 0.00 0.000 6 0.097 0.052 2147 2228 3380

664 -0.60 -146.6 56.0 -8.3 31 669 0.10 2.62 0.00 0.000 4 0.101 0.058 2165 808 3380

731 -0.60 -146.6 61.2 -7.1 34 735 0.00 2.60 0.00 0.000 6 0.000 0.052 2165 2232 3380

1052 -0.60 -146.6 83.7 -6.9 50 1056 0.00 2.65 0.00 0.000 4 0.000 0.074 2165 3644 3381

1085 -0.60 -146.6 86.5 -8.5 51 1091 0.00 2.58 0.00 0.000 6 0.000 0.052 2165 2225 3381

1402 -0.60 -146.6 112.4 -8.4 67 1404 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2224 3381

1710 -0.60 -146.6 137.1 -8.1 82 1711 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3381

2019 -0.60 -146.6 162.2 -8.0 97 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3381

2328 -0.60 -146.6 184.7 -6.8 112 2333 0.00 2.70 0.00 0.000 4 0.000 0.078 2165 3645 3381

2362 -0.60 -146.6 187.1 -6.8 113 2368 0.00 2.58 0.00 0.000 6 0.000 0.052 2165 2223 3381

2677 -0.60 -146.6 207.1 -6.2 129 2678 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2223 3381

2988 -0.60 -146.6 225.3 -6.0 144 2989 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2223 3381

3296 -0.60 -146.6 246.4 -7.2 159 3297 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2223 3381

3605 -0.60 -146.6 269.0 -7.1 174 3606 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2223 3381

3914 -0.60 -146.6 291.1 -7.2 189 3915 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2223 3380

4223 -0.60 -146.6 313.3 -7.0 204 4225 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2222 3380

4533 -0.60 -146.6 334.6 -6.9 219 4537 0.00 2.70 0.00 0.000 4 0.000 0.079 2165 3645 3380

4572 -0.60 -146.6 337.5 -7.1 221 4577 0.00 2.58 0.00 0.000 6 0.000 0.053 2165 2225 3380

4899 -0.60 -146.6 360.1 -7.0 237 4901 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3380

5208 -0.60 -146.6 381.7 -7.0 252 5209 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3380

5518 -0.60 -146.6 404.1 -7.3 267 5519 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3380

5827 -0.60 -146.6 426.5 -7.1 282 5828 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3380

6136 -0.60 -146.6 448.4 -7.0 297 6141 0.00 2.67 0.00 0.000 4 0.000 0.078 2165 3641 3380

6175 -0.60 -146.6 451.4 -7.5 299 6180 0.00 2.55 0.00 0.000 6 0.000 0.052 2165 2230 3380

6503 -0.60 -146.6 474.0 -6.9 315 6504 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

6811 -0.60 -146.6 495.0 -6.7 330 6812 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

7121 -0.60 -146.6 516.4 -7.0 345 7122 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

7430 -0.60 -146.6 538.9 -7.5 360 7431 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3380

7739 -0.60 -146.6 560.4 -6.8 375 7743 0.00 2.67 0.00 0.000 4 0.000 0.077 2165 3646 3379

7783 -0.60 -146.6 563.8 -7.8 377 7787 0.00 2.55 0.00 0.000 6 0.000 0.053 2165 2230 3379

8104 -0.60 -146.6 585.3 -6.8 393 8105 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

8413 -0.60 -146.6 606.7 -6.8 408 8414 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

8722 -0.60 -146.6 627.9 -6.9 423 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

9032 -0.60 -146.6 650.3 -7.4 438 9034 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3378

9341 -0.60 -146.6 672.7 -6.7 453 9342 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3378

9650 -0.60 -146.6 692.5 -6.6 468 9651 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3378

9960 -0.60 -146.6 709.0 -3.9 483 9964 0.00 2.67 0.00 0.000 4 0.000 0.080 2165 3646 3378

10010 -0.60 -146.6 710.4 -2.5 485 10014 0.00 2.55 0.00 0.000 6 0.000 0.053 2165 2228 3378

10327 -0.65 -146.6 720.9 -4.4 500 10331 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 822 3378

10377 -0.74 -146.6 723.4 -5.2 502 10382 0.12 2.55 0.00 0.000 6 0.051 0.055 2125 2231 3378

10693 -0.66 -146.6 746.4 -8.1 517 10695 0.15 0.00 0.00 0.000 6 0.089 0.000 2154 2231 3377

11002 -0.66 -146.6 767.3 -6.8 532 11006 0.00 2.62 0.00 0.000 4 0.000 0.067 2154 822 3377

11046 -0.71 -146.6 770.5 -6.8 534 11051 0.00 2.60 0.00 0.000 6 0.000 0.059 2154 2235 3376

11137 end dive: BOTTOM_OBSTACLE_DETECTED

state 11137 begin apogee

11144 -0.31 0.0 776.7 6.9 539 11281 0.38 0.00 131.98 1.144 6 0.090 0.000 2230 2235 2781

11281 end apogee: CONTROL_FINISHED_OK

state 11282 begin climb

11285 0.85 146.6 783.3 0.0 546 11428 1.17 2.85 130.82 1.127 4 0.077 0.084 2480 3650 2183

11499 1.00 283.7 779.6 2.2 556 11630 0.17 2.62 121.95 1.114 6 0.048 0.058 2528 2241 1625

11954 1.00 283.7 744.0 8.9 578 11958 0.00 2.67 0.00 0.000 4 0.000 0.071 2527 824 1624

12020 1.00 283.7 737.4 10.5 581 12025 0.00 2.62 0.00 0.000 6 0.000 0.059 2528 2242 1623

12341 1.00 283.7 709.9 7.2 597 12345 0.00 2.67 0.00 0.000 4 0.000 0.070 2528 828 1623

12418 1.00 283.7 705.0 6.2 600 12425 0.00 2.62 0.00 0.000 6 0.000 0.058 2528 2244 1622

12735 1.00 283.7 681.8 7.9 616 12739 0.00 2.70 0.00 0.000 4 0.000 0.082 2528 3654 1621

12796 1.00 283.7 676.5 8.9 619 12801 0.00 2.62 0.00 0.000 6 0.000 0.060 2528 2239 1622

13123 1.00 283.7 650.4 7.2 635 13127 0.00 2.65 0.00 0.000 4 0.000 0.070 2528 823 1620

13162 1.00 283.7 647.7 7.3 637 13167 0.00 2.62 0.00 0.000 6 0.000 0.056 2528 2243 1620

13489 1.00 283.7 624.0 7.5 653 13490 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2243 1620

13798 1.00 283.7 599.1 8.3 668 13803 0.00 2.65 0.00 0.000 4 0.000 0.066 2528 825 1620

13862 1.00 283.7 594.2 8.1 671 13866 0.00 2.60 0.00 0.000 6 0.000 0.053 2528 2246 1620

14188 1.00 283.7 569.7 7.5 687 14189 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2245 1620

14497 1.00 283.7 545.8 7.6 702 14498 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2246 1620

14807 1.00 283.7 522.3 7.7 717 14811 0.00 2.65 0.00 0.000 4 0.000 0.064 2528 821 1620

14868 1.00 283.7 517.5 7.5 720 14873 0.00 2.60 0.00 0.000 6 0.000 0.053 2528 2246 1620

15196 1.00 283.7 493.5 7.1 736 15197 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2246 1620

15505 1.00 283.7 470.7 7.7 751 15510 0.00 2.65 0.00 0.000 4 0.000 0.064 2528 820 1620

15578 1.00 283.7 464.6 8.8 754 15582 0.00 2.60 0.00 0.000 6 0.000 0.052 2529 2246 1620

15893 1.00 283.7 439.5 8.1 769 15894 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2245 1621

16203 1.00 283.7 414.0 8.3 784 16207 0.00 2.62 0.00 0.000 4 0.000 0.063 2528 825 1621

16260 1.00 283.7 409.2 8.5 786 16265 0.00 2.58 0.00 0.000 6 0.000 0.052 2527 2240 1621

16575 1.00 283.7 382.5 8.4 802 16576 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1620

16885 1.00 283.7 355.3 8.7 817 16889 0.00 2.62 0.00 0.000 4 0.000 0.064 2528 819 1621

16946 1.00 283.7 350.0 7.6 820 16951 0.00 2.60 0.00 0.000 6 0.000 0.053 2528 2245 1621

17274 1.00 283.7 323.0 8.1 836 17275 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2245 1621

17583 1.00 283.7 297.8 8.3 851 17588 0.00 2.62 0.00 0.000 4 0.000 0.063 2528 824 1621

17639 1.00 283.7 293.0 9.1 853 17645 0.00 2.58 0.00 0.000 6 0.000 0.053 2528 2240 1621

17954 1.00 283.7 268.3 8.0 869 17955 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2239 1622

18264 1.00 283.7 243.8 8.2 884 18268 0.00 2.62 0.00 0.000 4 0.000 0.064 2528 818 1622

18308 1.00 283.7 240.2 8.0 886 18312 0.00 2.60 0.00 0.000 6 0.000 0.053 2528 2242 1622

18628 1.00 283.7 216.1 7.3 902 18629 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2242 1622

18938 1.00 283.7 194.8 7.0 917 18942 0.00 2.62 0.00 0.000 4 0.000 0.064 2528 819 1622

18993 1.00 283.7 190.4 6.9 919 18999 0.00 2.58 0.00 0.000 6 0.000 0.052 2528 2240 1622

19308 1.00 283.7 166.6 7.8 935 19310 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1623

19619 1.00 283.7 143.1 7.5 950 19623 0.00 2.62 0.00 0.000 4 0.000 0.063 2528 818 1623

19663 1.00 283.7 139.6 7.5 952 19667 0.00 2.58 0.00 0.000 6 0.000 0.051 2528 2240 1623

19984 1.00 283.7 114.7 7.5 968 19985 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2240 1623

20295 1.00 283.7 93.0 6.9 983 20299 0.00 2.62 0.00 0.000 4 0.000 0.062 2528 820 1623

20327 1.00 283.7 90.3 6.9 984 20334 0.00 2.58 0.00 0.000 6 0.000 0.052 2527 2239 1623

20643 1.00 283.7 68.0 6.8 1000 20644 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1623

20955 1.00 283.7 46.7 7.1 1015 20956 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2240 1623

21262 1.00 283.7 22.5 8.8 1030 21266 0.00 2.60 0.00 0.000 4 0.000 0.061 2528 823 1623

21328 1.00 283.7 17.0 7.9 1033 21332 0.00 2.58 0.00 0.000 6 0.000 0.051 2528 2245 1623

21564 end climb: SURFACE_DEPTH_REACHED

state 21564 begin surface coast

21586 end surface coast: CONTROL_FINISHED_OK

state 21586 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	181	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-2096802.1	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	170428,6252.330,-1308.732,24,2.2,44,-12.0	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.00	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-48.1	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	171017,6252.301,-1308.605,17,2.5,36,-12.0	MHEAD_RNG_PITCHd_Wd	4.8,42374,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027170	ALTIM_BOTTOM_PING	700.3,85.0
SM_CCo	21608,130.98,0.596,0,0,508,557.32	_24V_AH	23.6,31.904
SM_GC	1.11,0.00,0.00,130.98,0.000,0.000,0.596,74,2247,508,-10.24,0.48,557.32	_10V_AH	10.1,16.005
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53650,1046
TT8_MAMPS	0.023777	CAP_FILE_SIZE	137724,0
HUMID	1847	CFSIZE	260165632,247439360
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	24	GPS	130708,231408,6255.147,-1309.518,34,1.1,35,-12.1
ALTIM_TOP_PING	20.0,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	169	97.11	SBE_CT	767	24	434.87
Roll_motor	136	84	271.34	SBE_O2	716	19	321.29
VBD_pump_during_apogee	384	1143	10383.98	WL_BB2F	623	105	1544.54
VBD_pump_during_surface	130	595	1842.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.88	nil	0	0	0.00
Iridium_during_connect	28	160	107.88	nil	0	0	0.00
Iridium_during_xfer	148	223	782.38
Transponder_ping	12	420	123.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	37	50	18.81
TT8	1825	19	364.98
LPSleep	16896	2	373.73
TT8_Active	685	19	137.00
TT8_Sampling	2153	39	865.73
TT8_CF8	524	45	242.80
TT8_Kalman	0	81	0.00
Analog_circuits	1742	12	211.20
GPS_charging	0	0	0.00
Compass	2085	8	168.53
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	154	0.00	0.00	-125.55	0.000	2	0.000	0.000	71	2223	3019
158	-0.85	-146.6	4.0	-3.4	7	183	11.45	2.60	-8.20	0.000	4	0.170	0.074	2108	813	3380
337	-0.69	-146.6	28.0	-10.4	15	342	0.20	2.60	0.00	0.000	6	0.097	0.052	2147	2228	3380
664	-0.60	-146.6	56.0	-8.3	31	669	0.10	2.62	0.00	0.000	4	0.101	0.058	2165	808	3380
731	-0.60	-146.6	61.2	-7.1	34	735	0.00	2.60	0.00	0.000	6	0.000	0.052	2165	2232	3380
1052	-0.60	-146.6	83.7	-6.9	50	1056	0.00	2.65	0.00	0.000	4	0.000	0.074	2165	3644	3381
1085	-0.60	-146.6	86.5	-8.5	51	1091	0.00	2.58	0.00	0.000	6	0.000	0.052	2165	2225	3381
1402	-0.60	-146.6	112.4	-8.4	67	1404	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2224	3381
1710	-0.60	-146.6	137.1	-8.1	82	1711	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3381
2019	-0.60	-146.6	162.2	-8.0	97	2020	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3381
2328	-0.60	-146.6	184.7	-6.8	112	2333	0.00	2.70	0.00	0.000	4	0.000	0.078	2165	3645	3381
2362	-0.60	-146.6	187.1	-6.8	113	2368	0.00	2.58	0.00	0.000	6	0.000	0.052	2165	2223	3381
2677	-0.60	-146.6	207.1	-6.2	129	2678	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2223	3381
2988	-0.60	-146.6	225.3	-6.0	144	2989	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2223	3381
3296	-0.60	-146.6	246.4	-7.2	159	3297	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2223	3381
3605	-0.60	-146.6	269.0	-7.1	174	3606	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2223	3381
3914	-0.60	-146.6	291.1	-7.2	189	3915	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2223	3380
4223	-0.60	-146.6	313.3	-7.0	204	4225	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2222	3380
4533	-0.60	-146.6	334.6	-6.9	219	4537	0.00	2.70	0.00	0.000	4	0.000	0.079	2165	3645	3380
4572	-0.60	-146.6	337.5	-7.1	221	4577	0.00	2.58	0.00	0.000	6	0.000	0.053	2165	2225	3380
4899	-0.60	-146.6	360.1	-7.0	237	4901	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3380
5208	-0.60	-146.6	381.7	-7.0	252	5209	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3380
5518	-0.60	-146.6	404.1	-7.3	267	5519	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3380
5827	-0.60	-146.6	426.5	-7.1	282	5828	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3380
6136	-0.60	-146.6	448.4	-7.0	297	6141	0.00	2.67	0.00	0.000	4	0.000	0.078	2165	3641	3380
6175	-0.60	-146.6	451.4	-7.5	299	6180	0.00	2.55	0.00	0.000	6	0.000	0.052	2165	2230	3380
6503	-0.60	-146.6	474.0	-6.9	315	6504	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
6811	-0.60	-146.6	495.0	-6.7	330	6812	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
7121	-0.60	-146.6	516.4	-7.0	345	7122	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
7430	-0.60	-146.6	538.9	-7.5	360	7431	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3380
7739	-0.60	-146.6	560.4	-6.8	375	7743	0.00	2.67	0.00	0.000	4	0.000	0.077	2165	3646	3379
7783	-0.60	-146.6	563.8	-7.8	377	7787	0.00	2.55	0.00	0.000	6	0.000	0.053	2165	2230	3379
8104	-0.60	-146.6	585.3	-6.8	393	8105	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
8413	-0.60	-146.6	606.7	-6.8	408	8414	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
8722	-0.60	-146.6	627.9	-6.9	423	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
9032	-0.60	-146.6	650.3	-7.4	438	9034	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3378
9341	-0.60	-146.6	672.7	-6.7	453	9342	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3378
9650	-0.60	-146.6	692.5	-6.6	468	9651	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3378
9960	-0.60	-146.6	709.0	-3.9	483	9964	0.00	2.67	0.00	0.000	4	0.000	0.080	2165	3646	3378
10010	-0.60	-146.6	710.4	-2.5	485	10014	0.00	2.55	0.00	0.000	6	0.000	0.053	2165	2228	3378
10327	-0.65	-146.6	720.9	-4.4	500	10331	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	822	3378
10377	-0.74	-146.6	723.4	-5.2	502	10382	0.12	2.55	0.00	0.000	6	0.051	0.055	2125	2231	3378
10693	-0.66	-146.6	746.4	-8.1	517	10695	0.15	0.00	0.00	0.000	6	0.089	0.000	2154	2231	3377
11002	-0.66	-146.6	767.3	-6.8	532	11006	0.00	2.62	0.00	0.000	4	0.000	0.067	2154	822	3377
11046	-0.71	-146.6	770.5	-6.8	534	11051	0.00	2.60	0.00	0.000	6	0.000	0.059	2154	2235	3376
11137	end dive: BOTTOM_OBSTACLE_DETECTED
state	11137	begin apogee
11144	-0.31	0.0	776.7	6.9	539	11281	0.38	0.00	131.98	1.144	6	0.090	0.000	2230	2235	2781
11281	end apogee: CONTROL_FINISHED_OK
state	11282	begin climb
11285	0.85	146.6	783.3	0.0	546	11428	1.17	2.85	130.82	1.127	4	0.077	0.084	2480	3650	2183
11499	1.00	283.7	779.6	2.2	556	11630	0.17	2.62	121.95	1.114	6	0.048	0.058	2528	2241	1625
11954	1.00	283.7	744.0	8.9	578	11958	0.00	2.67	0.00	0.000	4	0.000	0.071	2527	824	1624
12020	1.00	283.7	737.4	10.5	581	12025	0.00	2.62	0.00	0.000	6	0.000	0.059	2528	2242	1623
12341	1.00	283.7	709.9	7.2	597	12345	0.00	2.67	0.00	0.000	4	0.000	0.070	2528	828	1623
12418	1.00	283.7	705.0	6.2	600	12425	0.00	2.62	0.00	0.000	6	0.000	0.058	2528	2244	1622
12735	1.00	283.7	681.8	7.9	616	12739	0.00	2.70	0.00	0.000	4	0.000	0.082	2528	3654	1621
12796	1.00	283.7	676.5	8.9	619	12801	0.00	2.62	0.00	0.000	6	0.000	0.060	2528	2239	1622
13123	1.00	283.7	650.4	7.2	635	13127	0.00	2.65	0.00	0.000	4	0.000	0.070	2528	823	1620
13162	1.00	283.7	647.7	7.3	637	13167	0.00	2.62	0.00	0.000	6	0.000	0.056	2528	2243	1620
13489	1.00	283.7	624.0	7.5	653	13490	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2243	1620
13798	1.00	283.7	599.1	8.3	668	13803	0.00	2.65	0.00	0.000	4	0.000	0.066	2528	825	1620
13862	1.00	283.7	594.2	8.1	671	13866	0.00	2.60	0.00	0.000	6	0.000	0.053	2528	2246	1620
14188	1.00	283.7	569.7	7.5	687	14189	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2245	1620
14497	1.00	283.7	545.8	7.6	702	14498	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2246	1620
14807	1.00	283.7	522.3	7.7	717	14811	0.00	2.65	0.00	0.000	4	0.000	0.064	2528	821	1620
14868	1.00	283.7	517.5	7.5	720	14873	0.00	2.60	0.00	0.000	6	0.000	0.053	2528	2246	1620
15196	1.00	283.7	493.5	7.1	736	15197	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2246	1620
15505	1.00	283.7	470.7	7.7	751	15510	0.00	2.65	0.00	0.000	4	0.000	0.064	2528	820	1620
15578	1.00	283.7	464.6	8.8	754	15582	0.00	2.60	0.00	0.000	6	0.000	0.052	2529	2246	1620
15893	1.00	283.7	439.5	8.1	769	15894	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2245	1621
16203	1.00	283.7	414.0	8.3	784	16207	0.00	2.62	0.00	0.000	4	0.000	0.063	2528	825	1621
16260	1.00	283.7	409.2	8.5	786	16265	0.00	2.58	0.00	0.000	6	0.000	0.052	2527	2240	1621
16575	1.00	283.7	382.5	8.4	802	16576	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1620
16885	1.00	283.7	355.3	8.7	817	16889	0.00	2.62	0.00	0.000	4	0.000	0.064	2528	819	1621
16946	1.00	283.7	350.0	7.6	820	16951	0.00	2.60	0.00	0.000	6	0.000	0.053	2528	2245	1621
17274	1.00	283.7	323.0	8.1	836	17275	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2245	1621
17583	1.00	283.7	297.8	8.3	851	17588	0.00	2.62	0.00	0.000	4	0.000	0.063	2528	824	1621
17639	1.00	283.7	293.0	9.1	853	17645	0.00	2.58	0.00	0.000	6	0.000	0.053	2528	2240	1621
17954	1.00	283.7	268.3	8.0	869	17955	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2239	1622
18264	1.00	283.7	243.8	8.2	884	18268	0.00	2.62	0.00	0.000	4	0.000	0.064	2528	818	1622
18308	1.00	283.7	240.2	8.0	886	18312	0.00	2.60	0.00	0.000	6	0.000	0.053	2528	2242	1622
18628	1.00	283.7	216.1	7.3	902	18629	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2242	1622
18938	1.00	283.7	194.8	7.0	917	18942	0.00	2.62	0.00	0.000	4	0.000	0.064	2528	819	1622
18993	1.00	283.7	190.4	6.9	919	18999	0.00	2.58	0.00	0.000	6	0.000	0.052	2528	2240	1622
19308	1.00	283.7	166.6	7.8	935	19310	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1623
19619	1.00	283.7	143.1	7.5	950	19623	0.00	2.62	0.00	0.000	4	0.000	0.063	2528	818	1623
19663	1.00	283.7	139.6	7.5	952	19667	0.00	2.58	0.00	0.000	6	0.000	0.051	2528	2240	1623
19984	1.00	283.7	114.7	7.5	968	19985	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2240	1623
20295	1.00	283.7	93.0	6.9	983	20299	0.00	2.62	0.00	0.000	4	0.000	0.062	2528	820	1623
20327	1.00	283.7	90.3	6.9	984	20334	0.00	2.58	0.00	0.000	6	0.000	0.052	2527	2239	1623
20643	1.00	283.7	68.0	6.8	1000	20644	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1623
20955	1.00	283.7	46.7	7.1	1015	20956	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2240	1623
21262	1.00	283.7	22.5	8.8	1030	21266	0.00	2.60	0.00	0.000	4	0.000	0.061	2528	823	1623
21328	1.00	283.7	17.0	7.9	1033	21332	0.00	2.58	0.00	0.000	6	0.000	0.051	2528	2245	1623
21564	end climb: SURFACE_DEPTH_REACHED
state	21564	begin surface coast
21586	end surface coast: CONTROL_FINISHED_OK
state	21586	begin surface