Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 182 * 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 182 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2096818.6 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 -2096818.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 19 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 182 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 231408,6255.147,-1309.518,34,1.1,35,-12.1 TGT_NAME IW

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.11 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -52.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 233139,6255.088,-1309.207,15,1.8,15,-12.1 MHEAD_RNG_PITCHd_Wd 4.6,37192,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027192 ALTIM_BOTTOM_PING 725.9,52.3

SM_CCo 20948,136.75,0.598,0,0,509,557.32 _24V_AH 23.6,32.080

SM_GC 1.01,0.00,0.00,136.75,0.000,0.000,0.598,72,2230,509,-10.24,0.00,557.32 _10V_AH 10.1,16.101

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50453,1013

TT8_MAMPS 0.023777 CAP_FILE_SIZE 134462,0

HUMID 1856 CFSIZE 260165632,247386112

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

XPDR_PINGS 31 GPS 140708,052458,6257.832,-1310.148,34,4.4,54,-12.1

ALTIM_TOP_PING 19.7,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 100.16 SBE_CT 745 24 422.07

Roll_motor 104 79 194.74 SBE_O2 696 19 312.43

VBD_pump_during_apogee 377 1142 10184.75 WL_BB2F 602 105 1493.94

VBD_pump_during_surface 136 598 1930.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 120 103 293.39 nil 0 0 0.00

Iridium_during_connect 349 160 1318.61 nil 0 0 0.00

Iridium_during_xfer 209 223 1100.29

Transponder_ping 14 420 146.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.99

TT8 1768 19 353.70

LPSleep 16724 2 369.92

TT8_Active 674 19 134.91

TT8_Sampling 1974 39 793.83

TT8_CF8 993 45 459.64

TT8_Kalman 0 81 0.00

Analog_circuits 1643 12 199.13

GPS_charging 0 0 0.00

Compass 1932 8 156.16

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 0 148 0.00 0.00 -121.40 0.000 2 0.000 0.000 71 2251 2883

151 -0.85 -146.6 3.1 -2.3 6 182 11.38 2.67 -13.60 0.000 4 0.166 0.071 2110 808 3381

341 -0.67 -146.6 26.8 -11.5 14 348 0.22 2.60 0.00 0.000 6 0.094 0.052 2154 2236 3381

658 -0.61 -146.6 53.4 -8.0 30 659 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2236 3381

968 -0.56 -146.6 79.8 -9.2 45 973 0.12 2.62 0.00 0.000 4 0.100 0.059 2177 813 3381

1013 -0.63 -146.6 83.8 -8.0 47 1018 0.00 2.58 0.00 0.000 6 0.000 0.052 2177 2229 3381

1335 -0.63 -146.6 108.9 -7.9 63 1336 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2229 3381

1644 -0.63 -146.6 133.4 -8.1 78 1649 0.00 2.60 0.00 0.000 4 0.000 0.059 2177 814 3381

1685 -0.71 -146.6 136.7 -8.1 80 1690 0.15 2.58 0.00 0.000 6 0.041 0.053 2129 2235 3381

2012 -0.59 -146.6 168.8 -9.7 96 2014 0.20 0.00 0.00 0.000 6 0.082 0.000 2169 2235 3381

2322 -0.59 -146.6 191.4 -7.2 111 2323 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3381

2631 -0.59 -146.6 214.8 -7.6 126 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3381

2940 -0.59 -146.6 238.3 -7.9 141 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2236 3381

3250 -0.59 -146.6 262.7 -8.0 156 3251 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

3558 -0.59 -146.6 285.9 -7.2 171 3559 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

3868 -0.59 -146.6 306.5 -6.9 186 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

4177 -0.59 -146.6 327.5 -6.8 201 4178 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2236 3380

4486 -0.59 -146.6 348.7 -7.1 216 4487 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2236 3380

4795 -0.59 -146.6 370.5 -7.1 231 4796 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2235 3380

5105 -0.59 -146.6 393.7 -7.8 246 5106 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

5414 -0.59 -146.6 418.1 -7.8 261 5415 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

5723 -0.59 -146.6 441.4 -7.3 276 5724 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3379

6033 -0.59 -146.6 463.4 -6.9 291 6034 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3380

6342 -0.59 -146.6 484.6 -6.9 306 6343 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2235 3379

6651 -0.59 -146.6 505.9 -6.8 321 6652 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2236 3379

6963 -0.59 -146.6 526.3 -6.3 336 6967 0.00 2.65 0.00 0.000 4 0.000 0.075 2169 3649 3379

7002 -0.59 -146.6 529.2 -7.6 338 7007 0.00 2.58 0.00 0.000 6 0.000 0.050 2169 2220 3379

7329 -0.59 -146.6 549.4 -6.1 354 7330 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2220 3378

7639 -0.59 -146.6 567.4 -5.6 369 7640 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2220 3378

7948 -0.59 -146.6 584.1 -5.2 384 7949 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2220 3378

8257 -0.59 -146.6 599.3 -4.8 399 8262 0.00 2.67 0.00 0.000 4 0.000 0.074 2169 3643 3378

8303 -0.59 -146.6 601.8 -5.9 401 8308 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2221 3378

8624 -0.59 -146.6 618.1 -5.2 417 8625 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3378

8933 -0.59 -146.6 635.5 -5.4 432 8935 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

9243 -0.59 -146.6 652.5 -5.8 447 9244 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

9552 -0.59 -146.6 669.2 -5.7 462 9553 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

9861 -0.64 -146.6 688.6 -6.4 477 9862 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3377

10171 -0.69 -146.6 707.3 -5.9 492 10172 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2221 3377

10480 -0.74 -146.6 727.2 -6.5 507 10485 0.15 2.67 0.00 0.000 4 0.047 0.078 2120 3640 3377

10514 -0.62 -146.6 730.1 -8.1 508 10520 0.22 2.55 0.00 0.000 6 0.084 0.055 2165 2233 3376

10830 -0.67 -146.6 751.2 -7.3 524 10834 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 818 3376

10879 -0.77 -146.6 755.3 -7.9 526 10884 0.15 2.58 0.00 0.000 6 0.050 0.055 2120 2230 3376

11048 end dive: BOTTOM_OBSTACLE_DETECTED

state 11048 begin apogee

11055 -0.31 0.0 770.0 8.7 534 11192 0.52 0.00 132.07 1.142 6 0.087 0.000 2227 2230 2781

11192 end apogee: CONTROL_FINISHED_OK

state 11192 begin climb

11195 0.85 146.6 774.4 0.0 541 11339 1.20 2.75 131.38 1.121 4 0.070 0.064 2484 816 2183

11420 0.94 230.7 765.9 3.7 551 11501 0.00 2.65 75.80 1.100 6 0.000 0.054 2484 2242 1840

11819 1.03 272.5 746.6 4.9 571 11860 0.17 0.00 38.62 1.077 6 0.051 0.000 2531 2242 1669

12166 1.03 272.5 719.0 8.1 588 12168 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2242 1667

12476 1.03 272.5 692.8 8.8 603 12480 0.00 2.65 0.00 0.000 4 0.000 0.067 2531 829 1666

12515 1.03 272.5 689.3 9.0 605 12520 0.00 2.60 0.00 0.000 6 0.000 0.055 2531 2241 1666

12842 1.03 272.5 660.5 8.9 621 12847 0.00 2.67 0.00 0.000 4 0.000 0.079 2532 3650 1666

12886 1.03 272.5 655.9 10.9 623 12891 0.00 2.60 0.00 0.000 6 0.000 0.057 2531 2238 1666

13208 0.99 272.5 627.8 8.4 639 13213 0.00 2.62 0.00 0.000 4 0.000 0.067 2531 830 1665

13309 0.99 272.5 618.8 8.5 643 13315 0.00 2.58 0.00 0.000 6 0.000 0.052 2530 2239 1665

13624 0.99 272.5 593.5 7.9 659 13629 0.00 2.65 0.00 0.000 4 0.000 0.075 2531 3650 1665

13675 0.94 272.5 589.2 8.8 661 13681 0.12 2.55 0.00 0.000 6 0.093 0.054 2507 2242 1665

13991 0.94 272.5 566.9 6.9 676 13996 0.00 2.62 0.00 0.000 4 0.000 0.066 2507 827 1665

14054 0.99 272.5 562.3 7.3 679 14058 0.00 2.58 0.00 0.000 6 0.000 0.051 2506 2241 1664

14381 0.99 272.5 538.4 7.4 695 14382 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2241 1664

14689 0.99 272.5 517.1 6.8 710 14694 0.00 2.62 0.00 0.000 4 0.000 0.063 2506 827 1664

14740 1.04 272.5 513.2 7.5 712 14745 0.00 2.58 0.00 0.000 6 0.000 0.051 2506 2242 1664

15056 1.04 272.5 490.4 7.4 727 15060 0.00 2.65 0.00 0.000 4 0.000 0.076 2506 3653 1665

15089 1.09 272.5 487.7 8.1 728 15095 0.15 2.58 0.00 0.000 6 0.048 0.055 2552 2240 1665

15405 1.01 272.5 457.5 9.6 744 15410 0.15 2.60 0.00 0.000 4 0.086 0.064 2518 827 1665

15445 1.01 272.5 453.9 8.8 746 15450 0.00 2.58 0.00 0.000 6 0.000 0.051 2518 2240 1665

15772 1.01 272.5 424.8 9.0 762 15773 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1665

16082 1.01 272.5 397.9 8.8 777 16086 0.00 2.65 0.00 0.000 4 0.000 0.077 2518 3650 1666

16121 1.01 272.5 394.3 8.8 779 16125 0.00 2.58 0.00 0.000 6 0.000 0.056 2518 2240 1666

16447 1.01 272.5 365.4 8.8 795 16451 0.00 2.60 0.00 0.000 4 0.000 0.065 2518 827 1666

16491 1.01 272.5 361.5 9.2 797 16496 0.00 2.58 0.00 0.000 6 0.000 0.053 2518 2241 1666

16812 1.01 272.5 334.6 8.2 813 16814 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1666

17122 1.01 272.5 309.2 8.1 828 17123 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

17431 1.01 272.5 282.4 9.1 843 17436 0.00 2.62 0.00 0.000 4 0.000 0.064 2518 818 1667

17476 1.01 272.5 277.9 9.9 845 17480 0.00 2.58 0.00 0.000 6 0.000 0.052 2518 2240 1667

17797 1.01 272.5 247.7 9.5 861 17798 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

18106 1.01 272.5 219.3 9.0 876 18108 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

18415 1.01 272.5 192.9 8.1 891 18416 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

18725 1.01 272.5 166.9 9.1 906 18726 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

19034 1.01 272.5 139.5 8.4 921 19035 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1667

19343 1.01 272.5 116.5 7.0 936 19344 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1668

19654 1.01 272.5 95.1 7.0 951 19655 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2240 1668

19962 1.01 272.5 71.2 7.8 966 19963 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2241 1668

20271 1.01 272.5 48.4 7.5 981 20276 0.00 2.65 0.00 0.000 4 0.000 0.074 2518 3653 1668

20311 1.01 272.5 45.3 7.3 983 20316 0.00 2.58 0.00 0.000 6 0.000 0.055 2518 2233 1669

20639 1.01 272.5 21.7 6.8 999 20640 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2233 1669

20904 end climb: SURFACE_DEPTH_REACHED

state 20904 begin surface coast

20926 end surface coast: CONTROL_FINISHED_OK

state 20926 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	182	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2096818.6	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	231408,6255.147,-1309.518,34,1.1,35,-12.1	TGT_NAME	IW
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.11	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-52.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	233139,6255.088,-1309.207,15,1.8,15,-12.1	MHEAD_RNG_PITCHd_Wd	4.6,37192,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027192	ALTIM_BOTTOM_PING	725.9,52.3
SM_CCo	20948,136.75,0.598,0,0,509,557.32	_24V_AH	23.6,32.080
SM_GC	1.01,0.00,0.00,136.75,0.000,0.000,0.598,72,2230,509,-10.24,0.00,557.32	_10V_AH	10.1,16.101
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50453,1013
TT8_MAMPS	0.023777	CAP_FILE_SIZE	134462,0
HUMID	1856	CFSIZE	260165632,247386112
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	31	GPS	140708,052458,6257.832,-1310.148,34,4.4,54,-12.1
ALTIM_TOP_PING	19.7,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	100.16	SBE_CT	745	24	422.07
Roll_motor	104	79	194.74	SBE_O2	696	19	312.43
VBD_pump_during_apogee	377	1142	10184.75	WL_BB2F	602	105	1493.94
VBD_pump_during_surface	136	598	1930.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	120	103	293.39	nil	0	0	0.00
Iridium_during_connect	349	160	1318.61	nil	0	0	0.00
Iridium_during_xfer	209	223	1100.29
Transponder_ping	14	420	146.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.99
TT8	1768	19	353.70
LPSleep	16724	2	369.92
TT8_Active	674	19	134.91
TT8_Sampling	1974	39	793.83
TT8_CF8	993	45	459.64
TT8_Kalman	0	81	0.00
Analog_circuits	1643	12	199.13
GPS_charging	0	0	0.00
Compass	1932	8	156.16
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	148	0.00	0.00	-121.40	0.000	2	0.000	0.000	71	2251	2883
151	-0.85	-146.6	3.1	-2.3	6	182	11.38	2.67	-13.60	0.000	4	0.166	0.071	2110	808	3381
341	-0.67	-146.6	26.8	-11.5	14	348	0.22	2.60	0.00	0.000	6	0.094	0.052	2154	2236	3381
658	-0.61	-146.6	53.4	-8.0	30	659	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2236	3381
968	-0.56	-146.6	79.8	-9.2	45	973	0.12	2.62	0.00	0.000	4	0.100	0.059	2177	813	3381
1013	-0.63	-146.6	83.8	-8.0	47	1018	0.00	2.58	0.00	0.000	6	0.000	0.052	2177	2229	3381
1335	-0.63	-146.6	108.9	-7.9	63	1336	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2229	3381
1644	-0.63	-146.6	133.4	-8.1	78	1649	0.00	2.60	0.00	0.000	4	0.000	0.059	2177	814	3381
1685	-0.71	-146.6	136.7	-8.1	80	1690	0.15	2.58	0.00	0.000	6	0.041	0.053	2129	2235	3381
2012	-0.59	-146.6	168.8	-9.7	96	2014	0.20	0.00	0.00	0.000	6	0.082	0.000	2169	2235	3381
2322	-0.59	-146.6	191.4	-7.2	111	2323	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3381
2631	-0.59	-146.6	214.8	-7.6	126	2632	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3381
2940	-0.59	-146.6	238.3	-7.9	141	2941	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2236	3381
3250	-0.59	-146.6	262.7	-8.0	156	3251	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
3558	-0.59	-146.6	285.9	-7.2	171	3559	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
3868	-0.59	-146.6	306.5	-6.9	186	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
4177	-0.59	-146.6	327.5	-6.8	201	4178	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2236	3380
4486	-0.59	-146.6	348.7	-7.1	216	4487	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2236	3380
4795	-0.59	-146.6	370.5	-7.1	231	4796	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2235	3380
5105	-0.59	-146.6	393.7	-7.8	246	5106	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
5414	-0.59	-146.6	418.1	-7.8	261	5415	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
5723	-0.59	-146.6	441.4	-7.3	276	5724	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3379
6033	-0.59	-146.6	463.4	-6.9	291	6034	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3380
6342	-0.59	-146.6	484.6	-6.9	306	6343	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2235	3379
6651	-0.59	-146.6	505.9	-6.8	321	6652	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2236	3379
6963	-0.59	-146.6	526.3	-6.3	336	6967	0.00	2.65	0.00	0.000	4	0.000	0.075	2169	3649	3379
7002	-0.59	-146.6	529.2	-7.6	338	7007	0.00	2.58	0.00	0.000	6	0.000	0.050	2169	2220	3379
7329	-0.59	-146.6	549.4	-6.1	354	7330	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2220	3378
7639	-0.59	-146.6	567.4	-5.6	369	7640	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2220	3378
7948	-0.59	-146.6	584.1	-5.2	384	7949	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2220	3378
8257	-0.59	-146.6	599.3	-4.8	399	8262	0.00	2.67	0.00	0.000	4	0.000	0.074	2169	3643	3378
8303	-0.59	-146.6	601.8	-5.9	401	8308	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2221	3378
8624	-0.59	-146.6	618.1	-5.2	417	8625	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3378
8933	-0.59	-146.6	635.5	-5.4	432	8935	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
9243	-0.59	-146.6	652.5	-5.8	447	9244	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
9552	-0.59	-146.6	669.2	-5.7	462	9553	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
9861	-0.64	-146.6	688.6	-6.4	477	9862	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3377
10171	-0.69	-146.6	707.3	-5.9	492	10172	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2221	3377
10480	-0.74	-146.6	727.2	-6.5	507	10485	0.15	2.67	0.00	0.000	4	0.047	0.078	2120	3640	3377
10514	-0.62	-146.6	730.1	-8.1	508	10520	0.22	2.55	0.00	0.000	6	0.084	0.055	2165	2233	3376
10830	-0.67	-146.6	751.2	-7.3	524	10834	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	818	3376
10879	-0.77	-146.6	755.3	-7.9	526	10884	0.15	2.58	0.00	0.000	6	0.050	0.055	2120	2230	3376
11048	end dive: BOTTOM_OBSTACLE_DETECTED
state	11048	begin apogee
11055	-0.31	0.0	770.0	8.7	534	11192	0.52	0.00	132.07	1.142	6	0.087	0.000	2227	2230	2781
11192	end apogee: CONTROL_FINISHED_OK
state	11192	begin climb
11195	0.85	146.6	774.4	0.0	541	11339	1.20	2.75	131.38	1.121	4	0.070	0.064	2484	816	2183
11420	0.94	230.7	765.9	3.7	551	11501	0.00	2.65	75.80	1.100	6	0.000	0.054	2484	2242	1840
11819	1.03	272.5	746.6	4.9	571	11860	0.17	0.00	38.62	1.077	6	0.051	0.000	2531	2242	1669
12166	1.03	272.5	719.0	8.1	588	12168	0.00	0.00	0.00	0.000	6	0.000	0.000	2531	2242	1667
12476	1.03	272.5	692.8	8.8	603	12480	0.00	2.65	0.00	0.000	4	0.000	0.067	2531	829	1666
12515	1.03	272.5	689.3	9.0	605	12520	0.00	2.60	0.00	0.000	6	0.000	0.055	2531	2241	1666
12842	1.03	272.5	660.5	8.9	621	12847	0.00	2.67	0.00	0.000	4	0.000	0.079	2532	3650	1666
12886	1.03	272.5	655.9	10.9	623	12891	0.00	2.60	0.00	0.000	6	0.000	0.057	2531	2238	1666
13208	0.99	272.5	627.8	8.4	639	13213	0.00	2.62	0.00	0.000	4	0.000	0.067	2531	830	1665
13309	0.99	272.5	618.8	8.5	643	13315	0.00	2.58	0.00	0.000	6	0.000	0.052	2530	2239	1665
13624	0.99	272.5	593.5	7.9	659	13629	0.00	2.65	0.00	0.000	4	0.000	0.075	2531	3650	1665
13675	0.94	272.5	589.2	8.8	661	13681	0.12	2.55	0.00	0.000	6	0.093	0.054	2507	2242	1665
13991	0.94	272.5	566.9	6.9	676	13996	0.00	2.62	0.00	0.000	4	0.000	0.066	2507	827	1665
14054	0.99	272.5	562.3	7.3	679	14058	0.00	2.58	0.00	0.000	6	0.000	0.051	2506	2241	1664
14381	0.99	272.5	538.4	7.4	695	14382	0.00	0.00	0.00	0.000	6	0.000	0.000	2506	2241	1664
14689	0.99	272.5	517.1	6.8	710	14694	0.00	2.62	0.00	0.000	4	0.000	0.063	2506	827	1664
14740	1.04	272.5	513.2	7.5	712	14745	0.00	2.58	0.00	0.000	6	0.000	0.051	2506	2242	1664
15056	1.04	272.5	490.4	7.4	727	15060	0.00	2.65	0.00	0.000	4	0.000	0.076	2506	3653	1665
15089	1.09	272.5	487.7	8.1	728	15095	0.15	2.58	0.00	0.000	6	0.048	0.055	2552	2240	1665
15405	1.01	272.5	457.5	9.6	744	15410	0.15	2.60	0.00	0.000	4	0.086	0.064	2518	827	1665
15445	1.01	272.5	453.9	8.8	746	15450	0.00	2.58	0.00	0.000	6	0.000	0.051	2518	2240	1665
15772	1.01	272.5	424.8	9.0	762	15773	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1665
16082	1.01	272.5	397.9	8.8	777	16086	0.00	2.65	0.00	0.000	4	0.000	0.077	2518	3650	1666
16121	1.01	272.5	394.3	8.8	779	16125	0.00	2.58	0.00	0.000	6	0.000	0.056	2518	2240	1666
16447	1.01	272.5	365.4	8.8	795	16451	0.00	2.60	0.00	0.000	4	0.000	0.065	2518	827	1666
16491	1.01	272.5	361.5	9.2	797	16496	0.00	2.58	0.00	0.000	6	0.000	0.053	2518	2241	1666
16812	1.01	272.5	334.6	8.2	813	16814	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1666
17122	1.01	272.5	309.2	8.1	828	17123	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
17431	1.01	272.5	282.4	9.1	843	17436	0.00	2.62	0.00	0.000	4	0.000	0.064	2518	818	1667
17476	1.01	272.5	277.9	9.9	845	17480	0.00	2.58	0.00	0.000	6	0.000	0.052	2518	2240	1667
17797	1.01	272.5	247.7	9.5	861	17798	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
18106	1.01	272.5	219.3	9.0	876	18108	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
18415	1.01	272.5	192.9	8.1	891	18416	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
18725	1.01	272.5	166.9	9.1	906	18726	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
19034	1.01	272.5	139.5	8.4	921	19035	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1667
19343	1.01	272.5	116.5	7.0	936	19344	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1668
19654	1.01	272.5	95.1	7.0	951	19655	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2240	1668
19962	1.01	272.5	71.2	7.8	966	19963	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2241	1668
20271	1.01	272.5	48.4	7.5	981	20276	0.00	2.65	0.00	0.000	4	0.000	0.074	2518	3653	1668
20311	1.01	272.5	45.3	7.3	983	20316	0.00	2.58	0.00	0.000	6	0.000	0.055	2518	2233	1669
20639	1.01	272.5	21.7	6.8	999	20640	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2233	1669
20904	end climb: SURFACE_DEPTH_REACHED
state	20904	begin surface coast
20926	end surface coast: CONTROL_FINISHED_OK
state	20926	begin surface