Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 183 * 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 183 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 21 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 -2096837.5 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 -2096837.5

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 21 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 183 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 052458,6257.832,-1310.148,34,4.4,54,-12.1 TGT_NAME IW

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.10 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -51.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 054303,6257.806,-1309.895,18,2.0,18,-12.1 MHEAD_RNG_PITCHd_Wd 4.5,32126,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.020336 ALTIM_BOTTOM_PING 676.3,76.6

SM_CCo 21155,125.40,0.601,0,0,508,557.57 _24V_AH 23.6,32.261

SM_GC 1.14,0.00,0.00,125.40,0.000,0.000,0.601,70,2245,508,-10.26,0.45,557.57 _10V_AH 10.2,16.199

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50568,1021

TT8_MAMPS 0.023777 CAP_FILE_SIZE 142438,0

HUMID 1832 CFSIZE 260165632,247308288

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

XPDR_PINGS 52 GPS 140708,113931,6300.059,-1310.520,39,1.4,46,-12.1

ALTIM_TOP_PING 19.6,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 171 106.84 SBE_CT 748 24 424.05

Roll_motor 109 79 206.14 SBE_O2 703 19 315.63

VBD_pump_during_apogee 397 1122 10537.21 WL_BB2F 609 105 1511.26

VBD_pump_during_surface 125 600 1777.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 92 103 225.82 nil 0 0 0.00

Iridium_during_connect 166 160 626.99 nil 0 0 0.00

Iridium_during_xfer 424 223 2234.89

Transponder_ping 19 420 188.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.31

TT8 1782 19 360.02

LPSleep 16856 2 376.54

TT8_Active 714 19 144.26

TT8_Sampling 1987 39 806.85

TT8_CF8 1027 45 479.89

TT8_Kalman 0 81 0.00

Analog_circuits 1680 12 205.67

GPS_charging 0 0 0.00

Compass 1947 8 158.91

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 -140.88 0.000 6 0.000 0.000 70 2229 3379

171 -0.85 -146.6 6.1 -5.4 7 192 11.50 2.67 0.00 0.000 4 0.172 0.064 2111 815 3381

271 -0.71 -146.6 29.6 -11.8 11 277 0.17 2.60 0.00 0.000 6 0.095 0.054 2146 2228 3381

588 -0.62 -146.6 58.6 -8.7 26 592 0.00 2.67 0.00 0.000 4 0.000 0.073 2146 3648 3381

628 -0.53 -146.6 61.9 -8.1 28 633 0.20 2.58 0.00 0.000 6 0.090 0.052 2185 2230 3381

955 -0.53 -146.6 87.4 -7.9 44 959 0.00 2.60 0.00 0.000 4 0.000 0.062 2185 816 3380

1022 -0.62 -146.6 92.9 -8.0 47 1026 0.00 2.60 0.00 0.000 6 0.000 0.051 2185 2239 3381

1344 -0.67 -146.6 116.3 -6.9 63 1349 0.15 2.65 0.00 0.000 4 0.041 0.074 2131 3643 3380

1400 -0.54 -146.6 122.0 -10.3 65 1407 0.25 2.58 0.00 0.000 6 0.084 0.052 2181 2222 3380

1716 -0.54 -146.6 144.9 -7.5 81 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2222 3380

2025 -0.54 -146.6 165.2 -6.0 96 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2222 3380

2335 -0.54 -146.6 184.0 -5.9 111 2336 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2222 3380

2645 -0.54 -146.6 202.2 -5.9 126 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2221 3380

2953 -0.54 -146.6 221.1 -6.2 141 2954 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2222 3381

3262 -0.58 -146.6 240.2 -6.1 156 3264 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2221 3381

3573 -0.63 -146.6 258.6 -6.0 171 3574 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2222 3380

3881 -0.67 -146.6 279.7 -7.2 186 3883 0.12 0.00 0.00 0.000 6 0.046 0.000 2139 2222 3380

4190 -0.59 -146.6 308.3 -9.2 201 4192 0.15 0.00 0.00 0.000 6 0.085 0.000 2169 2222 3380

4499 -0.59 -146.6 334.0 -8.3 216 4501 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2221 3380

4809 -0.59 -146.6 357.8 -7.3 231 4810 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2222 3380

5118 -0.59 -146.6 379.6 -6.8 246 5119 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3379

5428 -0.59 -146.6 400.7 -6.8 261 5429 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2222 3379

5736 -0.59 -146.6 420.3 -6.1 276 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3379

6046 -0.59 -146.6 439.6 -6.2 291 6047 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3380

6355 -0.59 -146.6 459.0 -6.5 306 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2221 3380

6664 -0.59 -146.6 480.0 -6.7 321 6665 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3379

6973 -0.59 -146.6 503.2 -7.4 336 6974 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2222 3379

7283 -0.59 -146.6 526.7 -7.4 351 7288 0.00 2.58 0.00 0.000 4 0.000 0.061 2168 811 3379

7339 -0.66 -146.6 531.1 -7.8 353 7345 0.00 2.58 0.00 0.000 6 0.000 0.052 2169 2231 3379

7655 -0.66 -146.6 552.5 -6.3 369 7656 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2232 3379

7964 -0.66 -146.6 572.0 -6.4 384 7969 0.00 2.65 0.00 0.000 4 0.000 0.077 2168 3641 3379

8010 -0.66 -146.6 575.1 -7.6 386 8014 0.00 2.55 0.00 0.000 6 0.000 0.049 2168 2220 3379

8330 -0.66 -146.6 595.8 -6.2 402 8331 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2220 3377

8640 -0.66 -146.6 615.4 -6.6 417 8641 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2220 3378

8949 -0.66 -146.6 636.0 -6.4 432 8950 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2220 3378

9258 -0.66 -146.6 656.3 -6.7 447 9259 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2220 3378

9572 -0.71 -146.6 676.3 -6.9 462 9577 0.12 2.67 0.00 0.000 4 0.047 0.078 2128 3641 3378

9612 -0.60 -146.6 680.1 -9.6 464 9618 0.20 2.55 0.00 0.000 6 0.087 0.052 2167 2231 3378

9940 -0.65 -146.6 701.7 -6.0 480 9941 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2231 3377

10249 -0.70 -146.6 720.5 -6.1 495 10253 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 820 3377

10298 -0.80 -146.6 724.3 -8.0 497 10304 0.20 2.58 0.00 0.000 6 0.041 0.056 2110 2232 3377

10508 end dive: BOTTOM_OBSTACLE_DETECTED

state 10508 begin apogee

10515 -0.31 0.0 743.5 8.6 507 10651 0.60 0.00 131.60 1.122 6 0.095 0.000 2230 2231 2781

10652 end apogee: CONTROL_FINISHED_OK

state 10652 begin climb

10655 0.85 146.6 749.9 0.0 514 10790 1.17 0.00 131.07 1.102 6 0.075 0.000 2480 2231 2183

11086 0.92 212.3 738.0 4.2 535 11148 0.00 0.00 58.72 1.085 6 0.000 0.000 2480 2232 1915

11460 0.98 212.3 716.9 6.9 553 11465 0.15 2.62 0.00 0.000 4 0.056 0.066 2522 830 1914

11568 0.92 212.3 707.4 8.4 558 11572 0.00 2.62 0.00 0.000 6 0.000 0.057 2522 2243 1913

11895 0.87 212.3 683.9 6.5 574 11900 0.17 2.67 0.00 0.000 4 0.091 0.067 2484 824 1914

11968 0.93 212.3 679.4 6.4 577 11972 0.00 2.62 0.00 0.000 6 0.000 0.057 2484 2243 1912

12284 0.99 212.3 660.3 6.2 592 12285 0.15 0.00 0.00 0.000 6 0.051 0.000 2522 2243 1912

12593 0.95 212.3 638.5 6.6 607 12597 0.00 2.65 0.00 0.000 4 0.000 0.080 2522 3649 1911

12649 0.87 212.3 634.4 7.2 609 12655 0.17 2.60 0.00 0.000 6 0.094 0.057 2488 2235 1911

12965 0.93 269.4 619.1 4.4 625 13017 0.00 0.00 50.75 1.045 6 0.000 0.000 2488 2235 1682

13314 1.03 276.7 600.7 5.8 642 13328 0.17 2.70 7.80 0.871 4 0.053 0.065 2530 827 1654

13380 1.03 276.7 595.6 7.7 645 13385 0.00 2.60 0.00 0.000 6 0.000 0.054 2530 2240 1652

13707 1.03 276.7 570.3 7.8 661 13709 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2240 1652

14017 1.03 276.7 544.8 8.4 676 14018 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2240 1652

14326 1.03 276.7 519.6 8.0 691 14327 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2240 1652

14635 1.03 276.7 495.3 7.6 706 14640 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 820 1652

14691 1.03 276.7 491.1 7.6 708 14697 0.00 2.60 0.00 0.000 6 0.000 0.051 2530 2245 1652

15007 1.03 276.7 467.3 7.6 724 15008 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2245 1653

15316 1.03 276.7 443.0 8.2 739 15317 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2245 1653

15626 1.03 276.7 418.7 8.1 754 15630 0.00 2.65 0.00 0.000 4 0.000 0.076 2530 3651 1653

15665 1.03 276.7 415.4 8.5 756 15670 0.00 2.58 0.00 0.000 6 0.000 0.054 2530 2243 1654

15992 1.03 276.7 389.4 7.8 772 15996 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 818 1654

16036 1.03 276.7 385.5 9.1 774 16040 0.00 2.60 0.00 0.000 6 0.000 0.051 2530 2247 1654

16357 1.03 276.7 359.3 8.1 790 16358 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2247 1654

16666 1.03 276.7 333.4 8.3 805 16667 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2247 1655

16975 1.03 276.7 308.2 8.1 820 16979 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 823 1655

17019 1.03 276.7 304.6 7.8 822 17023 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2241 1655

17340 1.03 276.7 278.8 8.2 838 17341 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2240 1655

17649 1.03 276.7 253.6 8.2 853 17650 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 2240 1655

17959 1.03 276.7 229.5 7.6 868 17960 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2240 1656

18267 1.03 276.7 206.3 7.5 883 18272 0.00 2.60 0.00 0.000 4 0.000 0.061 2530 824 1656

18318 1.03 276.7 202.4 8.1 885 18322 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2245 1656

18634 1.03 276.7 178.3 8.0 900 18635 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2244 1655

18942 1.03 276.7 154.5 7.5 915 18944 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2244 1656

19252 1.03 276.7 131.4 7.8 930 19256 0.00 2.62 0.00 0.000 4 0.000 0.061 2530 823 1656

19296 1.03 276.7 127.6 8.3 932 19301 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2247 1656

19618 1.03 276.7 103.0 7.5 948 19619 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2247 1656

19927 1.03 276.7 79.3 7.2 963 19931 0.00 2.62 0.00 0.000 4 0.000 0.073 2530 3651 1656

19971 1.03 276.7 75.8 8.7 965 19976 0.00 2.55 0.00 0.000 6 0.000 0.053 2530 2238 1657

20293 1.03 276.7 53.6 6.2 981 20297 0.00 2.58 0.00 0.000 4 0.000 0.062 2530 827 1658

20365 1.03 276.7 49.2 6.2 984 20369 0.00 2.55 0.00 0.000 6 0.000 0.050 2530 2240 1656

20683 1.03 276.7 31.3 7.2 999 20687 0.00 2.60 0.00 0.000 4 0.000 0.060 2530 826 1657

20746 1.03 276.7 26.7 7.4 1002 20751 0.00 2.58 0.00 0.000 6 0.000 0.050 2530 2245 1656

21076 1.06 297.4 4.8 5.4 1018 21096 0.00 0.00 17.95 0.595 6 0.000 0.000 2530 2245 1567

21111 end climb: SURFACE_DEPTH_REACHED

state 21111 begin surface coast

21133 end surface coast: CONTROL_FINISHED_OK

state 21133 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	183	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	21	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	-2096837.5	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	052458,6257.832,-1310.148,34,4.4,54,-12.1	TGT_NAME	IW
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.10	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-51.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	054303,6257.806,-1309.895,18,2.0,18,-12.1	MHEAD_RNG_PITCHd_Wd	4.5,32126,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.020336	ALTIM_BOTTOM_PING	676.3,76.6
SM_CCo	21155,125.40,0.601,0,0,508,557.57	_24V_AH	23.6,32.261
SM_GC	1.14,0.00,0.00,125.40,0.000,0.000,0.601,70,2245,508,-10.26,0.45,557.57	_10V_AH	10.2,16.199
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50568,1021
TT8_MAMPS	0.023777	CAP_FILE_SIZE	142438,0
HUMID	1832	CFSIZE	260165632,247308288
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	52	GPS	140708,113931,6300.059,-1310.520,39,1.4,46,-12.1
ALTIM_TOP_PING	19.6,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	171	106.84	SBE_CT	748	24	424.05
Roll_motor	109	79	206.14	SBE_O2	703	19	315.63
VBD_pump_during_apogee	397	1122	10537.21	WL_BB2F	609	105	1511.26
VBD_pump_during_surface	125	600	1777.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	92	103	225.82	nil	0	0	0.00
Iridium_during_connect	166	160	626.99	nil	0	0	0.00
Iridium_during_xfer	424	223	2234.89
Transponder_ping	19	420	188.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.31
TT8	1782	19	360.02
LPSleep	16856	2	376.54
TT8_Active	714	19	144.26
TT8_Sampling	1987	39	806.85
TT8_CF8	1027	45	479.89
TT8_Kalman	0	81	0.00
Analog_circuits	1680	12	205.67
GPS_charging	0	0	0.00
Compass	1947	8	158.91
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	-140.88	0.000	6	0.000	0.000	70	2229	3379
171	-0.85	-146.6	6.1	-5.4	7	192	11.50	2.67	0.00	0.000	4	0.172	0.064	2111	815	3381
271	-0.71	-146.6	29.6	-11.8	11	277	0.17	2.60	0.00	0.000	6	0.095	0.054	2146	2228	3381
588	-0.62	-146.6	58.6	-8.7	26	592	0.00	2.67	0.00	0.000	4	0.000	0.073	2146	3648	3381
628	-0.53	-146.6	61.9	-8.1	28	633	0.20	2.58	0.00	0.000	6	0.090	0.052	2185	2230	3381
955	-0.53	-146.6	87.4	-7.9	44	959	0.00	2.60	0.00	0.000	4	0.000	0.062	2185	816	3380
1022	-0.62	-146.6	92.9	-8.0	47	1026	0.00	2.60	0.00	0.000	6	0.000	0.051	2185	2239	3381
1344	-0.67	-146.6	116.3	-6.9	63	1349	0.15	2.65	0.00	0.000	4	0.041	0.074	2131	3643	3380
1400	-0.54	-146.6	122.0	-10.3	65	1407	0.25	2.58	0.00	0.000	6	0.084	0.052	2181	2222	3380
1716	-0.54	-146.6	144.9	-7.5	81	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2222	3380
2025	-0.54	-146.6	165.2	-6.0	96	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2222	3380
2335	-0.54	-146.6	184.0	-5.9	111	2336	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2222	3380
2645	-0.54	-146.6	202.2	-5.9	126	2646	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2221	3380
2953	-0.54	-146.6	221.1	-6.2	141	2954	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2222	3381
3262	-0.58	-146.6	240.2	-6.1	156	3264	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2221	3381
3573	-0.63	-146.6	258.6	-6.0	171	3574	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2222	3380
3881	-0.67	-146.6	279.7	-7.2	186	3883	0.12	0.00	0.00	0.000	6	0.046	0.000	2139	2222	3380
4190	-0.59	-146.6	308.3	-9.2	201	4192	0.15	0.00	0.00	0.000	6	0.085	0.000	2169	2222	3380
4499	-0.59	-146.6	334.0	-8.3	216	4501	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2221	3380
4809	-0.59	-146.6	357.8	-7.3	231	4810	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2222	3380
5118	-0.59	-146.6	379.6	-6.8	246	5119	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3379
5428	-0.59	-146.6	400.7	-6.8	261	5429	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2222	3379
5736	-0.59	-146.6	420.3	-6.1	276	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3379
6046	-0.59	-146.6	439.6	-6.2	291	6047	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3380
6355	-0.59	-146.6	459.0	-6.5	306	6356	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2221	3380
6664	-0.59	-146.6	480.0	-6.7	321	6665	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3379
6973	-0.59	-146.6	503.2	-7.4	336	6974	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2222	3379
7283	-0.59	-146.6	526.7	-7.4	351	7288	0.00	2.58	0.00	0.000	4	0.000	0.061	2168	811	3379
7339	-0.66	-146.6	531.1	-7.8	353	7345	0.00	2.58	0.00	0.000	6	0.000	0.052	2169	2231	3379
7655	-0.66	-146.6	552.5	-6.3	369	7656	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2232	3379
7964	-0.66	-146.6	572.0	-6.4	384	7969	0.00	2.65	0.00	0.000	4	0.000	0.077	2168	3641	3379
8010	-0.66	-146.6	575.1	-7.6	386	8014	0.00	2.55	0.00	0.000	6	0.000	0.049	2168	2220	3379
8330	-0.66	-146.6	595.8	-6.2	402	8331	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2220	3377
8640	-0.66	-146.6	615.4	-6.6	417	8641	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2220	3378
8949	-0.66	-146.6	636.0	-6.4	432	8950	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2220	3378
9258	-0.66	-146.6	656.3	-6.7	447	9259	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2220	3378
9572	-0.71	-146.6	676.3	-6.9	462	9577	0.12	2.67	0.00	0.000	4	0.047	0.078	2128	3641	3378
9612	-0.60	-146.6	680.1	-9.6	464	9618	0.20	2.55	0.00	0.000	6	0.087	0.052	2167	2231	3378
9940	-0.65	-146.6	701.7	-6.0	480	9941	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2231	3377
10249	-0.70	-146.6	720.5	-6.1	495	10253	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	820	3377
10298	-0.80	-146.6	724.3	-8.0	497	10304	0.20	2.58	0.00	0.000	6	0.041	0.056	2110	2232	3377
10508	end dive: BOTTOM_OBSTACLE_DETECTED
state	10508	begin apogee
10515	-0.31	0.0	743.5	8.6	507	10651	0.60	0.00	131.60	1.122	6	0.095	0.000	2230	2231	2781
10652	end apogee: CONTROL_FINISHED_OK
state	10652	begin climb
10655	0.85	146.6	749.9	0.0	514	10790	1.17	0.00	131.07	1.102	6	0.075	0.000	2480	2231	2183
11086	0.92	212.3	738.0	4.2	535	11148	0.00	0.00	58.72	1.085	6	0.000	0.000	2480	2232	1915
11460	0.98	212.3	716.9	6.9	553	11465	0.15	2.62	0.00	0.000	4	0.056	0.066	2522	830	1914
11568	0.92	212.3	707.4	8.4	558	11572	0.00	2.62	0.00	0.000	6	0.000	0.057	2522	2243	1913
11895	0.87	212.3	683.9	6.5	574	11900	0.17	2.67	0.00	0.000	4	0.091	0.067	2484	824	1914
11968	0.93	212.3	679.4	6.4	577	11972	0.00	2.62	0.00	0.000	6	0.000	0.057	2484	2243	1912
12284	0.99	212.3	660.3	6.2	592	12285	0.15	0.00	0.00	0.000	6	0.051	0.000	2522	2243	1912
12593	0.95	212.3	638.5	6.6	607	12597	0.00	2.65	0.00	0.000	4	0.000	0.080	2522	3649	1911
12649	0.87	212.3	634.4	7.2	609	12655	0.17	2.60	0.00	0.000	6	0.094	0.057	2488	2235	1911
12965	0.93	269.4	619.1	4.4	625	13017	0.00	0.00	50.75	1.045	6	0.000	0.000	2488	2235	1682
13314	1.03	276.7	600.7	5.8	642	13328	0.17	2.70	7.80	0.871	4	0.053	0.065	2530	827	1654
13380	1.03	276.7	595.6	7.7	645	13385	0.00	2.60	0.00	0.000	6	0.000	0.054	2530	2240	1652
13707	1.03	276.7	570.3	7.8	661	13709	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2240	1652
14017	1.03	276.7	544.8	8.4	676	14018	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2240	1652
14326	1.03	276.7	519.6	8.0	691	14327	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2240	1652
14635	1.03	276.7	495.3	7.6	706	14640	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	820	1652
14691	1.03	276.7	491.1	7.6	708	14697	0.00	2.60	0.00	0.000	6	0.000	0.051	2530	2245	1652
15007	1.03	276.7	467.3	7.6	724	15008	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2245	1653
15316	1.03	276.7	443.0	8.2	739	15317	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2245	1653
15626	1.03	276.7	418.7	8.1	754	15630	0.00	2.65	0.00	0.000	4	0.000	0.076	2530	3651	1653
15665	1.03	276.7	415.4	8.5	756	15670	0.00	2.58	0.00	0.000	6	0.000	0.054	2530	2243	1654
15992	1.03	276.7	389.4	7.8	772	15996	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	818	1654
16036	1.03	276.7	385.5	9.1	774	16040	0.00	2.60	0.00	0.000	6	0.000	0.051	2530	2247	1654
16357	1.03	276.7	359.3	8.1	790	16358	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2247	1654
16666	1.03	276.7	333.4	8.3	805	16667	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2247	1655
16975	1.03	276.7	308.2	8.1	820	16979	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	823	1655
17019	1.03	276.7	304.6	7.8	822	17023	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2241	1655
17340	1.03	276.7	278.8	8.2	838	17341	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2240	1655
17649	1.03	276.7	253.6	8.2	853	17650	0.00	0.00	0.00	0.000	6	0.000	0.000	2529	2240	1655
17959	1.03	276.7	229.5	7.6	868	17960	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2240	1656
18267	1.03	276.7	206.3	7.5	883	18272	0.00	2.60	0.00	0.000	4	0.000	0.061	2530	824	1656
18318	1.03	276.7	202.4	8.1	885	18322	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2245	1656
18634	1.03	276.7	178.3	8.0	900	18635	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2244	1655
18942	1.03	276.7	154.5	7.5	915	18944	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2244	1656
19252	1.03	276.7	131.4	7.8	930	19256	0.00	2.62	0.00	0.000	4	0.000	0.061	2530	823	1656
19296	1.03	276.7	127.6	8.3	932	19301	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2247	1656
19618	1.03	276.7	103.0	7.5	948	19619	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2247	1656
19927	1.03	276.7	79.3	7.2	963	19931	0.00	2.62	0.00	0.000	4	0.000	0.073	2530	3651	1656
19971	1.03	276.7	75.8	8.7	965	19976	0.00	2.55	0.00	0.000	6	0.000	0.053	2530	2238	1657
20293	1.03	276.7	53.6	6.2	981	20297	0.00	2.58	0.00	0.000	4	0.000	0.062	2530	827	1658
20365	1.03	276.7	49.2	6.2	984	20369	0.00	2.55	0.00	0.000	6	0.000	0.050	2530	2240	1656
20683	1.03	276.7	31.3	7.2	999	20687	0.00	2.60	0.00	0.000	4	0.000	0.060	2530	826	1657
20746	1.03	276.7	26.7	7.4	1002	20751	0.00	2.58	0.00	0.000	6	0.000	0.050	2530	2245	1656
21076	1.06	297.4	4.8	5.4	1018	21096	0.00	0.00	17.95	0.595	6	0.000	0.000	2530	2245	1567
21111	end climb: SURFACE_DEPTH_REACHED
state	21111	begin surface coast
21133	end surface coast: CONTROL_FINISHED_OK
state	21133	begin surface