Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 183 * 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 183 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 18 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 -2079565 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 -2079565

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 18 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 183 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 160937,6335.892,-834.907,60,1.5,60,-9.7 TGT_NAME IFRN1K

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.068,0.211

_SM_DEPTHo 1.40 KALMAN_X -120236.7,515.5,-448.5,147240.2,4734.4

_SM_ANGLEo -48.0 KALMAN_Y 91729.4,531.8,94.0,125651.4,-5586.0

GPS2 161932,6335.935,-834.829,37,1.5,54,-9.7 MHEAD_RNG_PITCHd_Wd 351.8,33102,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027405 ALTIM_BOTTOM_PING 676.3,31.7

SM_CCo 20219,195.43,0.675,2,0,508,566.15 _24V_AH 23.4,31.580

SM_GC 1.42,0.00,0.00,195.43,0.000,0.000,0.675,73,2403,508,-10.75,0.08,566.15 _10V_AH 10.1,15.191

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50569,979

TT8_MAMPS 0.023777 CFSIZE 260165632,249024512

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

TCM_TEMP 16.70 GPS 141207,220202,6338.677,-835.734,39,1.5,40,-9.8

XPDR_PINGS 79

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 100.13 SBE_CT 724 24 406.60

Roll_motor 161 95 360.03 SBE_O2 673 19 299.47

VBD_pump_during_apogee 324 1241 9437.87 WL_BB2F 590 105 1450.03

VBD_pump_during_surface 195 674 3086.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 157.25 nil 0 0 0.00

Iridium_during_connect 81 160 305.16 nil 0 0 0.00

Iridium_during_xfer 236 223 1236.46

Transponder_ping 25 420 250.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 54 50 27.31

TT8 1760 19 352.13

LPSleep 15862 2 350.86

TT8_Active 746 19 149.25

TT8_Sampling 2066 39 830.61

TT8_CF8 584 45 270.36

TT8_Kalman 33 81 27.57

Analog_circuits 1747 12 211.75

GPS_charging 0 0 0.00

Compass 1984 8 160.38

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

20 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -102.30 0.000 2 0.000 0.000 74 2404 3104

128 -0.85 -146.6 3.4 -2.4 5 154 12.02 2.70 -8.30 0.000 4 0.168 0.081 2221 979 3416

405 -0.85 -146.6 29.9 -9.8 17 413 0.00 2.65 0.00 0.000 6 0.000 0.058 2221 2397 3417

722 -0.85 -146.6 50.1 -6.0 33 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3417

1032 -0.85 -146.6 74.4 -8.2 48 1036 0.00 2.67 0.00 0.000 4 0.000 0.067 2221 974 3417

1071 -0.85 -146.6 77.0 -6.6 50 1075 0.00 2.65 0.00 0.000 6 0.000 0.059 2221 2406 3417

1396 -0.85 -146.6 100.5 -7.4 66 1398 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2406 3417

1705 -0.85 -146.6 133.0 -12.5 81 1707 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2407 3417

2015 -0.85 -146.6 158.4 -6.2 96 2019 0.00 2.70 0.00 0.000 4 0.000 0.071 2221 975 3417

2064 -0.85 -146.6 161.6 -6.2 98 2068 0.00 2.62 0.00 0.000 6 0.000 0.059 2221 2401 3417

2379 -0.85 -146.6 184.9 -7.3 113 2380 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3417

2688 -0.85 -146.6 206.8 -6.5 128 2692 0.00 2.67 0.00 0.000 4 0.000 0.069 2221 979 3417

2750 -0.85 -146.6 211.5 -7.7 131 2754 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2400 3417

3075 -0.85 -146.6 234.3 -7.4 147 3080 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 979 3417

3119 -0.85 -146.6 237.8 -7.8 149 3123 0.00 2.62 0.00 0.000 6 0.000 0.059 2221 2404 3417

3446 -0.85 -146.6 264.8 -8.1 165 3450 0.00 2.70 0.00 0.000 4 0.000 0.071 2221 973 3417

3466 -0.85 -146.6 266.6 -8.3 166 3470 0.00 2.62 0.00 0.000 6 0.000 0.059 2221 2401 3417

3793 -0.85 -146.6 291.7 -7.5 182 3794 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3417

4102 -0.85 -146.6 314.0 -7.1 197 4107 0.00 2.67 0.00 0.000 4 0.000 0.072 2221 980 3417

4168 -0.85 -146.6 318.9 -7.5 200 4173 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2403 3417

4495 -0.85 -146.6 340.9 -6.8 216 4496 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3417

4805 -0.85 -146.6 361.1 -6.3 231 4809 0.00 2.70 0.00 0.000 4 0.000 0.074 2221 975 3417

4866 -0.85 -146.6 364.9 -6.4 234 4870 0.00 2.62 0.00 0.000 6 0.000 0.061 2221 2400 3417

5191 -0.85 -146.6 388.7 -7.7 250 5195 0.00 2.62 0.00 0.000 4 0.000 0.085 2221 3766 3417

5256 -0.85 -146.6 394.1 -7.9 253 5261 0.00 2.55 0.00 0.000 6 0.000 0.060 2221 2390 3418

5583 -0.85 -146.6 416.1 -6.1 269 5584 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2390 3418

5893 -0.85 -146.6 432.5 -5.1 284 5897 0.00 2.67 0.00 0.000 4 0.000 0.078 2221 983 3418

5919 -0.85 -146.6 434.1 -5.8 285 5923 0.00 2.62 0.00 0.000 6 0.000 0.064 2221 2401 3418

6240 -0.85 -146.6 452.6 -6.5 301 6245 0.00 2.70 0.00 0.000 4 0.000 0.076 2221 985 3418

6267 -0.85 -146.6 454.7 -7.8 302 6271 0.00 2.65 0.00 0.000 6 0.000 0.066 2221 2406 3418

6590 -0.85 -146.6 476.0 -6.6 318 6592 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2406 3417

6897 -0.85 -146.6 495.7 -6.2 333 6902 0.00 2.72 0.00 0.000 4 0.000 0.078 2221 983 3417

6974 -0.85 -146.6 500.8 -6.3 336 6980 0.00 2.65 0.00 0.000 6 0.000 0.068 2222 2399 3417

7289 -0.85 -146.6 520.6 -6.4 352 7293 0.00 2.72 0.00 0.000 4 0.000 0.080 2221 983 3416

7321 -0.85 -146.6 522.7 -6.7 353 7327 0.00 2.67 0.00 0.000 6 0.000 0.069 2221 2405 3415

7636 -0.85 -146.6 542.2 -6.2 369 7641 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 985 3414

7668 -0.85 -146.6 544.2 -6.4 370 7675 0.00 2.67 0.00 0.000 6 0.000 0.071 2221 2404 3414

7984 -0.85 -146.6 563.7 -6.2 386 7988 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 986 3413

8015 -0.85 -146.6 565.8 -6.5 387 8022 0.00 2.67 0.00 0.000 6 0.000 0.071 2221 2400 3412

8331 -0.85 -146.6 586.0 -6.6 403 8335 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 984 3411

8357 -0.85 -146.6 587.8 -6.9 404 8362 0.00 2.70 0.00 0.000 6 0.000 0.072 2221 2395 3411

8678 -0.85 -146.6 609.9 -6.9 420 8682 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 984 3410

8721 -0.85 -146.6 613.0 -7.6 422 8726 0.00 2.67 0.00 0.000 6 0.000 0.072 2221 2400 3409

9047 -0.85 -146.6 636.4 -7.3 438 9049 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3408

9357 -0.85 -146.6 657.5 -6.7 453 9361 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 985 3407

9401 -0.85 -146.6 660.6 -6.7 455 9406 0.00 2.70 0.00 0.000 6 0.000 0.072 2221 2400 3407

9722 -0.85 -146.6 681.5 -6.2 471 9723 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3407

9988 end dive: BOTTOM_OBSTACLE_DETECTED

state 9988 begin apogee

9993 -0.31 0.0 699.1 6.8 484 10117 0.60 0.00 120.30 1.242 6 0.123 0.000 2336 2192 2817

10117 end apogee: CONTROL_FINISHED_OK

state 10118 begin climb

10119 0.85 146.6 703.5 0.0 490 10252 1.30 2.80 120.47 1.211 4 0.108 0.079 2588 785 2219

10275 0.85 148.0 698.8 6.0 498 10280 0.00 2.70 0.00 0.000 6 0.000 0.065 2588 2200 2219

10602 0.86 157.7 679.6 5.7 514 10617 0.00 2.85 10.43 1.061 4 0.000 0.095 2588 3613 2174

10685 0.86 157.7 674.3 6.5 517 10690 0.00 2.70 0.00 0.000 6 0.000 0.070 2587 2203 2174

11010 0.86 157.7 654.7 6.3 533 11012 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2203 2173

11319 0.86 157.7 635.7 6.6 548 11321 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2172

11629 0.87 167.7 617.1 5.7 563 11641 0.00 0.00 9.88 1.048 6 0.000 0.000 2587 2203 2133

11938 0.87 167.7 599.0 6.3 578 11939 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2203 2131

12247 0.89 185.8 580.4 5.5 593 12268 0.00 0.00 15.88 1.098 6 0.000 0.000 2587 2203 2057

12576 0.89 185.8 561.3 6.2 609 12578 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2057

12886 0.89 185.8 542.7 6.2 624 12887 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2203 2057

13195 0.89 185.8 522.9 6.8 639 13199 0.00 2.75 0.00 0.000 4 0.000 0.085 2588 787 2057

13238 0.89 185.8 519.8 7.7 641 13242 0.00 2.67 0.00 0.000 6 0.000 0.064 2588 2201 2056

13565 0.89 185.8 496.9 6.9 657 13569 0.00 2.75 0.00 0.000 4 0.000 0.081 2587 785 2057

13603 0.89 185.8 494.1 7.3 659 13608 0.00 2.67 0.00 0.000 6 0.000 0.064 2588 2201 2057

13928 0.89 185.8 471.3 6.9 675 13929 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2056

14238 0.89 185.8 450.7 6.4 690 14239 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2201 2056

14547 0.89 185.8 429.7 7.1 705 14551 0.00 2.72 0.00 0.000 4 0.000 0.079 2587 785 2056

14612 0.89 185.8 424.8 7.4 708 14616 0.00 2.67 0.00 0.000 6 0.000 0.064 2587 2203 2055

14939 0.89 185.8 401.9 6.9 724 14940 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2055

15248 0.89 185.8 381.9 6.4 739 15249 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2056

15557 0.91 201.7 364.1 5.6 754 15577 0.00 0.00 13.80 0.968 6 0.000 0.000 2587 2203 1993

15886 0.91 201.7 344.0 6.3 770 15887 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 1992

16195 0.95 243.1 327.0 4.9 785 16238 0.15 2.80 34.05 0.981 4 0.077 0.086 2622 3615 1825

16260 0.95 243.1 323.0 6.7 788 16265 0.00 2.75 0.00 0.000 6 0.000 0.071 2622 2194 1826

16586 0.95 243.1 300.0 7.3 804 16591 0.00 2.70 0.00 0.000 4 0.000 0.077 2622 783 1824

16663 0.95 243.1 293.6 8.9 807 16670 0.00 2.65 0.00 0.000 6 0.000 0.058 2621 2202 1824

16978 0.95 243.1 266.8 8.3 823 16983 0.00 2.70 0.00 0.000 4 0.000 0.074 2622 784 1824

17028 0.95 243.1 262.2 9.6 825 17032 0.00 2.62 0.00 0.000 6 0.000 0.057 2622 2201 1824

17343 0.95 243.1 234.0 8.6 840 17344 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1825

17652 0.95 243.1 206.1 9.6 855 17653 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1826

17962 0.95 243.1 177.5 9.4 870 17966 0.00 2.70 0.00 0.000 4 0.000 0.078 2622 3616 1827

18004 0.95 243.1 173.7 8.7 872 18009 0.00 2.67 0.00 0.000 6 0.000 0.062 2622 2193 1827

18332 0.95 243.1 146.4 8.5 888 18336 0.00 2.67 0.00 0.000 4 0.000 0.073 2621 780 1829

18386 0.95 243.1 141.4 9.3 890 18393 0.00 2.62 0.00 0.000 6 0.000 0.054 2622 2205 1829

18702 0.95 243.1 116.7 7.5 906 18706 0.00 2.70 0.00 0.000 4 0.000 0.071 2622 782 1829

18756 0.95 243.1 112.4 7.2 908 18763 0.00 2.62 0.00 0.000 6 0.000 0.052 2622 2195 1830

19072 0.95 243.1 91.3 6.2 924 19073 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2195 1830

19382 0.95 243.1 71.8 8.3 939 19383 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2195 1831

19690 0.95 243.1 44.7 10.0 954 19695 0.00 2.67 0.00 0.000 4 0.000 0.071 2622 782 1832

19730 0.95 243.1 41.6 7.2 956 19734 0.00 2.60 0.00 0.000 6 0.000 0.052 2622 2203 1832

20055 0.95 243.1 15.0 10.7 972 20057 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2203 1833

20177 end climb: SURFACE_DEPTH_REACHED

state 20177 begin surface coast

20199 end surface coast: CONTROL_FINISHED_OK

state 20199 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	183	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	18	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	-2079565	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	160937,6335.892,-834.907,60,1.5,60,-9.7	TGT_NAME	IFRN1K
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.068,0.211
_SM_DEPTHo	1.40	KALMAN_X	-120236.7,515.5,-448.5,147240.2,4734.4
_SM_ANGLEo	-48.0	KALMAN_Y	91729.4,531.8,94.0,125651.4,-5586.0
GPS2	161932,6335.935,-834.829,37,1.5,54,-9.7	MHEAD_RNG_PITCHd_Wd	351.8,33102,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027405	ALTIM_BOTTOM_PING	676.3,31.7
SM_CCo	20219,195.43,0.675,2,0,508,566.15	_24V_AH	23.4,31.580
SM_GC	1.42,0.00,0.00,195.43,0.000,0.000,0.675,73,2403,508,-10.75,0.08,566.15	_10V_AH	10.1,15.191
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50569,979
TT8_MAMPS	0.023777	CFSIZE	260165632,249024512
HUMID	2048	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,20,2,0
TCM_TEMP	16.70	GPS	141207,220202,6338.677,-835.734,39,1.5,40,-9.8
XPDR_PINGS	79

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	100.13	SBE_CT	724	24	406.60
Roll_motor	161	95	360.03	SBE_O2	673	19	299.47
VBD_pump_during_apogee	324	1241	9437.87	WL_BB2F	590	105	1450.03
VBD_pump_during_surface	195	674	3086.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	157.25	nil	0	0	0.00
Iridium_during_connect	81	160	305.16	nil	0	0	0.00
Iridium_during_xfer	236	223	1236.46
Transponder_ping	25	420	250.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	54	50	27.31
TT8	1760	19	352.13
LPSleep	15862	2	350.86
TT8_Active	746	19	149.25
TT8_Sampling	2066	39	830.61
TT8_CF8	584	45	270.36
TT8_Kalman	33	81	27.57
Analog_circuits	1747	12	211.75
GPS_charging	0	0	0.00
Compass	1984	8	160.38
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
20	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-102.30	0.000	2	0.000	0.000	74	2404	3104
128	-0.85	-146.6	3.4	-2.4	5	154	12.02	2.70	-8.30	0.000	4	0.168	0.081	2221	979	3416
405	-0.85	-146.6	29.9	-9.8	17	413	0.00	2.65	0.00	0.000	6	0.000	0.058	2221	2397	3417
722	-0.85	-146.6	50.1	-6.0	33	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3417
1032	-0.85	-146.6	74.4	-8.2	48	1036	0.00	2.67	0.00	0.000	4	0.000	0.067	2221	974	3417
1071	-0.85	-146.6	77.0	-6.6	50	1075	0.00	2.65	0.00	0.000	6	0.000	0.059	2221	2406	3417
1396	-0.85	-146.6	100.5	-7.4	66	1398	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2406	3417
1705	-0.85	-146.6	133.0	-12.5	81	1707	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2407	3417
2015	-0.85	-146.6	158.4	-6.2	96	2019	0.00	2.70	0.00	0.000	4	0.000	0.071	2221	975	3417
2064	-0.85	-146.6	161.6	-6.2	98	2068	0.00	2.62	0.00	0.000	6	0.000	0.059	2221	2401	3417
2379	-0.85	-146.6	184.9	-7.3	113	2380	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3417
2688	-0.85	-146.6	206.8	-6.5	128	2692	0.00	2.67	0.00	0.000	4	0.000	0.069	2221	979	3417
2750	-0.85	-146.6	211.5	-7.7	131	2754	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2400	3417
3075	-0.85	-146.6	234.3	-7.4	147	3080	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	979	3417
3119	-0.85	-146.6	237.8	-7.8	149	3123	0.00	2.62	0.00	0.000	6	0.000	0.059	2221	2404	3417
3446	-0.85	-146.6	264.8	-8.1	165	3450	0.00	2.70	0.00	0.000	4	0.000	0.071	2221	973	3417
3466	-0.85	-146.6	266.6	-8.3	166	3470	0.00	2.62	0.00	0.000	6	0.000	0.059	2221	2401	3417
3793	-0.85	-146.6	291.7	-7.5	182	3794	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3417
4102	-0.85	-146.6	314.0	-7.1	197	4107	0.00	2.67	0.00	0.000	4	0.000	0.072	2221	980	3417
4168	-0.85	-146.6	318.9	-7.5	200	4173	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2403	3417
4495	-0.85	-146.6	340.9	-6.8	216	4496	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3417
4805	-0.85	-146.6	361.1	-6.3	231	4809	0.00	2.70	0.00	0.000	4	0.000	0.074	2221	975	3417
4866	-0.85	-146.6	364.9	-6.4	234	4870	0.00	2.62	0.00	0.000	6	0.000	0.061	2221	2400	3417
5191	-0.85	-146.6	388.7	-7.7	250	5195	0.00	2.62	0.00	0.000	4	0.000	0.085	2221	3766	3417
5256	-0.85	-146.6	394.1	-7.9	253	5261	0.00	2.55	0.00	0.000	6	0.000	0.060	2221	2390	3418
5583	-0.85	-146.6	416.1	-6.1	269	5584	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2390	3418
5893	-0.85	-146.6	432.5	-5.1	284	5897	0.00	2.67	0.00	0.000	4	0.000	0.078	2221	983	3418
5919	-0.85	-146.6	434.1	-5.8	285	5923	0.00	2.62	0.00	0.000	6	0.000	0.064	2221	2401	3418
6240	-0.85	-146.6	452.6	-6.5	301	6245	0.00	2.70	0.00	0.000	4	0.000	0.076	2221	985	3418
6267	-0.85	-146.6	454.7	-7.8	302	6271	0.00	2.65	0.00	0.000	6	0.000	0.066	2221	2406	3418
6590	-0.85	-146.6	476.0	-6.6	318	6592	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2406	3417
6897	-0.85	-146.6	495.7	-6.2	333	6902	0.00	2.72	0.00	0.000	4	0.000	0.078	2221	983	3417
6974	-0.85	-146.6	500.8	-6.3	336	6980	0.00	2.65	0.00	0.000	6	0.000	0.068	2222	2399	3417
7289	-0.85	-146.6	520.6	-6.4	352	7293	0.00	2.72	0.00	0.000	4	0.000	0.080	2221	983	3416
7321	-0.85	-146.6	522.7	-6.7	353	7327	0.00	2.67	0.00	0.000	6	0.000	0.069	2221	2405	3415
7636	-0.85	-146.6	542.2	-6.2	369	7641	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	985	3414
7668	-0.85	-146.6	544.2	-6.4	370	7675	0.00	2.67	0.00	0.000	6	0.000	0.071	2221	2404	3414
7984	-0.85	-146.6	563.7	-6.2	386	7988	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	986	3413
8015	-0.85	-146.6	565.8	-6.5	387	8022	0.00	2.67	0.00	0.000	6	0.000	0.071	2221	2400	3412
8331	-0.85	-146.6	586.0	-6.6	403	8335	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	984	3411
8357	-0.85	-146.6	587.8	-6.9	404	8362	0.00	2.70	0.00	0.000	6	0.000	0.072	2221	2395	3411
8678	-0.85	-146.6	609.9	-6.9	420	8682	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	984	3410
8721	-0.85	-146.6	613.0	-7.6	422	8726	0.00	2.67	0.00	0.000	6	0.000	0.072	2221	2400	3409
9047	-0.85	-146.6	636.4	-7.3	438	9049	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3408
9357	-0.85	-146.6	657.5	-6.7	453	9361	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	985	3407
9401	-0.85	-146.6	660.6	-6.7	455	9406	0.00	2.70	0.00	0.000	6	0.000	0.072	2221	2400	3407
9722	-0.85	-146.6	681.5	-6.2	471	9723	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3407
9988	end dive: BOTTOM_OBSTACLE_DETECTED
state	9988	begin apogee
9993	-0.31	0.0	699.1	6.8	484	10117	0.60	0.00	120.30	1.242	6	0.123	0.000	2336	2192	2817
10117	end apogee: CONTROL_FINISHED_OK
state	10118	begin climb
10119	0.85	146.6	703.5	0.0	490	10252	1.30	2.80	120.47	1.211	4	0.108	0.079	2588	785	2219
10275	0.85	148.0	698.8	6.0	498	10280	0.00	2.70	0.00	0.000	6	0.000	0.065	2588	2200	2219
10602	0.86	157.7	679.6	5.7	514	10617	0.00	2.85	10.43	1.061	4	0.000	0.095	2588	3613	2174
10685	0.86	157.7	674.3	6.5	517	10690	0.00	2.70	0.00	0.000	6	0.000	0.070	2587	2203	2174
11010	0.86	157.7	654.7	6.3	533	11012	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2203	2173
11319	0.86	157.7	635.7	6.6	548	11321	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2172
11629	0.87	167.7	617.1	5.7	563	11641	0.00	0.00	9.88	1.048	6	0.000	0.000	2587	2203	2133
11938	0.87	167.7	599.0	6.3	578	11939	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2203	2131
12247	0.89	185.8	580.4	5.5	593	12268	0.00	0.00	15.88	1.098	6	0.000	0.000	2587	2203	2057
12576	0.89	185.8	561.3	6.2	609	12578	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2057
12886	0.89	185.8	542.7	6.2	624	12887	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2203	2057
13195	0.89	185.8	522.9	6.8	639	13199	0.00	2.75	0.00	0.000	4	0.000	0.085	2588	787	2057
13238	0.89	185.8	519.8	7.7	641	13242	0.00	2.67	0.00	0.000	6	0.000	0.064	2588	2201	2056
13565	0.89	185.8	496.9	6.9	657	13569	0.00	2.75	0.00	0.000	4	0.000	0.081	2587	785	2057
13603	0.89	185.8	494.1	7.3	659	13608	0.00	2.67	0.00	0.000	6	0.000	0.064	2588	2201	2057
13928	0.89	185.8	471.3	6.9	675	13929	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2056
14238	0.89	185.8	450.7	6.4	690	14239	0.00	0.00	0.00	0.000	6	0.000	0.000	2589	2201	2056
14547	0.89	185.8	429.7	7.1	705	14551	0.00	2.72	0.00	0.000	4	0.000	0.079	2587	785	2056
14612	0.89	185.8	424.8	7.4	708	14616	0.00	2.67	0.00	0.000	6	0.000	0.064	2587	2203	2055
14939	0.89	185.8	401.9	6.9	724	14940	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2055
15248	0.89	185.8	381.9	6.4	739	15249	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2056
15557	0.91	201.7	364.1	5.6	754	15577	0.00	0.00	13.80	0.968	6	0.000	0.000	2587	2203	1993
15886	0.91	201.7	344.0	6.3	770	15887	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	1992
16195	0.95	243.1	327.0	4.9	785	16238	0.15	2.80	34.05	0.981	4	0.077	0.086	2622	3615	1825
16260	0.95	243.1	323.0	6.7	788	16265	0.00	2.75	0.00	0.000	6	0.000	0.071	2622	2194	1826
16586	0.95	243.1	300.0	7.3	804	16591	0.00	2.70	0.00	0.000	4	0.000	0.077	2622	783	1824
16663	0.95	243.1	293.6	8.9	807	16670	0.00	2.65	0.00	0.000	6	0.000	0.058	2621	2202	1824
16978	0.95	243.1	266.8	8.3	823	16983	0.00	2.70	0.00	0.000	4	0.000	0.074	2622	784	1824
17028	0.95	243.1	262.2	9.6	825	17032	0.00	2.62	0.00	0.000	6	0.000	0.057	2622	2201	1824
17343	0.95	243.1	234.0	8.6	840	17344	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1825
17652	0.95	243.1	206.1	9.6	855	17653	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1826
17962	0.95	243.1	177.5	9.4	870	17966	0.00	2.70	0.00	0.000	4	0.000	0.078	2622	3616	1827
18004	0.95	243.1	173.7	8.7	872	18009	0.00	2.67	0.00	0.000	6	0.000	0.062	2622	2193	1827
18332	0.95	243.1	146.4	8.5	888	18336	0.00	2.67	0.00	0.000	4	0.000	0.073	2621	780	1829
18386	0.95	243.1	141.4	9.3	890	18393	0.00	2.62	0.00	0.000	6	0.000	0.054	2622	2205	1829
18702	0.95	243.1	116.7	7.5	906	18706	0.00	2.70	0.00	0.000	4	0.000	0.071	2622	782	1829
18756	0.95	243.1	112.4	7.2	908	18763	0.00	2.62	0.00	0.000	6	0.000	0.052	2622	2195	1830
19072	0.95	243.1	91.3	6.2	924	19073	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2195	1830
19382	0.95	243.1	71.8	8.3	939	19383	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2195	1831
19690	0.95	243.1	44.7	10.0	954	19695	0.00	2.67	0.00	0.000	4	0.000	0.071	2622	782	1832
19730	0.95	243.1	41.6	7.2	956	19734	0.00	2.60	0.00	0.000	6	0.000	0.052	2622	2203	1832
20055	0.95	243.1	15.0	10.7	972	20057	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2203	1833
20177	end climb: SURFACE_DEPTH_REACHED
state	20177	begin surface coast
20199	end surface coast: CONTROL_FINISHED_OK
state	20199	begin surface