Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 205 * 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 205 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 21 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 -2097387.8 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 -2097387.8

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 21 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 205 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 220355,6356.371,-1327.163,25,1.6,42,-12.7 TGT_NAME default

_CALLS 1 TGT_LATLONG 62.000,-6.800

_XMS_NAKs 5 TGT_RADIUS 1852.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.35 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -56.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 221050,6356.438,-1327.009,16,1.6,33,-12.7 MHEAD_RNG_PITCHd_Wd 143.3,18307,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.015544 ALTIM_BOTTOM_PING 652.7,91.8

SM_CCo 18765,102.55,0.605,0,0,508,557.32 _24V_AH 23.5,36.054

SM_GC 1.36,0.00,0.00,102.55,0.000,0.000,0.605,72,2242,508,-10.25,0.34,557.32 _10V_AH 10.1,18.293

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47442,904

TT8_MAMPS 0.023777 CAP_FILE_SIZE 137105,0

HUMID 1880 CFSIZE 260165632,245846016

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

XPDR_PINGS 29 GPS 200708,032707,6355.780,-1323.726,51,1.3,51,-12.6

ALTIM_TOP_PING 19.1,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 101.04 SBE_CT 669 24 377.62

Roll_motor 167 85 338.85 SBE_O2 615 19 274.90

VBD_pump_during_apogee 434 1127 11517.82 WL_BB2F 571 105 1410.92

VBD_pump_during_surface 102 605 1458.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.87 nil 0 0 0.00

Iridium_during_connect 29 160 112.79 nil 0 0 0.00

Iridium_during_xfer 220 223 1153.31

Transponder_ping 13 420 128.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.87

TT8 1643 19 328.70

LPSleep 14404 2 318.61

TT8_Active 702 19 140.43

TT8_Sampling 1934 39 777.49

TT8_CF8 597 45 276.52

TT8_Kalman 0 81 0.00

Analog_circuits 1697 12 205.69

GPS_charging 0 0 0.00

Compass 1874 8 151.49

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

28 -0.85 -146.6 0.0 0.0 0 151 0.00 0.00 -120.78 0.000 2 0.000 0.000 66 2250 2921

155 -0.85 -146.6 3.9 -2.9 6 185 11.50 2.67 -11.02 0.000 4 0.170 0.079 2113 3643 3381

356 -0.67 -146.6 29.0 -9.6 15 361 0.20 2.58 0.00 0.000 6 0.094 0.051 2153 2227 3381

684 -0.60 -146.6 53.4 -7.5 31 688 0.00 2.60 0.00 0.000 4 0.000 0.060 2153 810 3380

716 -0.60 -146.6 55.9 -7.3 32 723 0.00 2.58 0.00 0.000 6 0.000 0.048 2153 2230 3380

1033 -0.55 -146.6 81.6 -7.7 48 1038 0.12 2.62 0.00 0.000 4 0.097 0.068 2176 3638 3381

1061 -0.55 -146.6 83.8 -7.4 49 1065 0.00 2.55 0.00 0.000 6 0.000 0.050 2176 2228 3381

1378 -0.55 -146.6 106.9 -7.8 64 1379 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2228 3381

1686 -0.55 -146.6 131.0 -7.9 79 1690 0.00 2.60 0.00 0.000 4 0.000 0.061 2176 811 3381

1726 -0.63 -146.6 134.2 -7.8 81 1731 0.00 2.58 0.00 0.000 6 0.000 0.050 2176 2228 3381

2053 -0.63 -146.6 158.4 -7.4 97 2057 0.00 2.62 0.00 0.000 4 0.000 0.071 2176 3641 3381

2092 -0.63 -146.6 161.6 -8.3 99 2097 0.00 2.55 0.00 0.000 6 0.000 0.051 2176 2228 3381

2419 -0.63 -146.6 186.6 -7.7 115 2421 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2228 3381

2728 -0.63 -146.6 209.6 -7.2 130 2729 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3381

3038 -0.63 -146.6 231.5 -7.1 145 3042 0.00 2.67 0.00 0.000 4 0.000 0.073 2176 3643 3381

3071 -0.63 -146.6 234.3 -8.9 146 3077 0.00 2.55 0.00 0.000 6 0.000 0.049 2176 2230 3381

3386 -0.63 -146.6 260.1 -8.3 162 3387 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3381

3695 -0.63 -146.6 284.2 -7.6 177 3697 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3380

4005 -0.63 -146.6 305.9 -6.6 192 4006 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3381

4314 -0.63 -146.6 324.6 -5.9 207 4315 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3380

4623 -0.63 -146.6 342.1 -5.3 222 4628 0.00 2.67 0.00 0.000 4 0.000 0.074 2176 3646 3380

4651 -0.63 -146.6 343.8 -6.2 223 4655 0.00 2.55 0.00 0.000 6 0.000 0.050 2176 2230 3380

4967 -0.67 -146.6 360.2 -5.3 238 4969 0.12 0.00 0.00 0.000 6 0.048 0.000 2135 2230 3380

5277 -0.58 -146.6 383.7 -7.7 253 5278 0.17 0.00 0.00 0.000 6 0.084 0.000 2170 2230 3380

5585 -0.58 -146.6 401.3 -5.4 268 5586 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3380

5895 -0.58 -146.6 417.5 -5.5 283 5899 0.00 2.65 0.00 0.000 4 0.000 0.074 2170 3640 3380

5922 -0.58 -146.6 419.1 -5.9 284 5927 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2228 3380

6238 -0.58 -146.6 434.3 -4.3 299 6243 0.00 2.67 0.00 0.000 4 0.000 0.074 2170 3638 3380

6268 -0.58 -146.6 435.7 -5.2 300 6272 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2227 3379

6584 -0.58 -146.6 449.3 -4.6 315 6588 0.00 2.67 0.00 0.000 4 0.000 0.074 2170 3640 3380

6630 -0.58 -146.6 451.5 -4.8 317 6634 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2229 3379

6951 -0.58 -146.6 466.5 -5.3 333 6955 0.00 2.67 0.00 0.000 4 0.000 0.074 2170 3644 3379

6996 -0.63 -146.6 469.0 -5.7 335 7000 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2230 3379

7317 -0.63 -146.6 485.8 -6.1 351 7318 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3379

7626 -0.63 -146.6 507.2 -7.0 366 7630 0.00 2.67 0.00 0.000 4 0.000 0.076 2170 3641 3379

7666 -0.63 -146.6 510.0 -7.8 368 7670 0.00 2.58 0.00 0.000 6 0.000 0.051 2170 2223 3378

7992 -0.63 -146.6 527.5 -5.4 384 7997 0.00 2.70 0.00 0.000 4 0.000 0.074 2170 3644 3378

8025 -0.68 -146.6 530.2 -7.9 385 8032 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2230 3378

8342 -0.64 -146.6 556.4 -8.9 401 8347 0.00 2.67 0.00 0.000 4 0.000 0.077 2170 3644 3378

8415 -0.68 -146.6 566.0 -12.9 404 8420 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2229 3378

8732 -0.74 -146.6 603.7 -9.4 419 8737 0.15 2.60 0.00 0.000 4 0.046 0.061 2119 816 3378

8772 -0.68 -146.6 608.5 -12.6 421 8777 0.15 2.60 0.00 0.000 6 0.090 0.053 2149 2237 3378

9101 -0.68 -146.6 655.2 -12.9 437 9105 0.00 2.67 0.00 0.000 4 0.000 0.080 2149 3644 3377

9128 -0.68 -146.6 659.0 -12.7 438 9132 0.00 2.58 0.00 0.000 6 0.000 0.054 2149 2230 3378

9443 -0.68 -146.6 688.6 -10.2 453 9448 0.00 2.60 0.00 0.000 4 0.000 0.064 2149 820 3376

9488 -0.76 -146.6 691.5 -6.2 455 9493 0.00 2.60 0.00 0.000 6 0.000 0.058 2149 2232 3376

9811 -0.76 -146.6 712.3 -5.8 471 9815 0.00 2.67 0.00 0.000 4 0.000 0.081 2148 3640 3376

9890 -0.83 -146.6 718.5 -7.4 474 9897 0.15 2.58 0.00 0.000 6 0.048 0.057 2108 2230 3375

10079 end dive: BOTTOM_OBSTACLE_DETECTED

state 10079 begin apogee

10086 -0.31 0.0 736.2 11.6 484 10223 0.62 0.00 131.27 1.127 6 0.105 0.000 2230 2230 2781

10223 end apogee: CONTROL_FINISHED_OK

state 10224 begin climb

10226 0.85 146.6 741.3 0.0 491 10371 1.17 2.83 130.32 1.104 4 0.080 0.086 2477 3647 2182

10512 0.85 146.6 707.2 20.1 504 10517 0.00 2.62 0.00 0.000 6 0.000 0.057 2477 2233 2182

10833 0.85 146.6 673.5 10.0 520 10835 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2233 2180

11143 1.06 346.5 661.6 0.5 535 11330 0.22 2.83 173.10 1.081 4 0.055 0.083 2533 3642 1368

11364 1.06 346.5 648.8 10.0 545 11368 0.00 2.62 0.00 0.000 6 0.000 0.061 2534 2243 1368

11680 1.06 346.5 619.0 8.2 560 11684 0.00 2.70 0.00 0.000 4 0.000 0.074 2533 824 1367

11701 1.06 346.5 617.6 6.1 561 11705 0.00 2.62 0.00 0.000 6 0.000 0.054 2533 2241 1367

12022 1.06 346.5 588.5 9.2 577 12026 0.00 2.70 0.00 0.000 4 0.000 0.079 2533 3650 1366

12061 1.06 346.5 584.4 12.4 579 12066 0.00 2.62 0.00 0.000 6 0.000 0.057 2533 2236 1367

12388 1.06 346.5 551.9 8.8 595 12393 0.00 2.72 0.00 0.000 4 0.000 0.081 2533 3647 1366

12450 1.06 346.5 545.3 11.6 598 12454 0.00 2.62 0.00 0.000 6 0.000 0.057 2533 2232 1366

12777 1.06 346.5 510.3 10.6 614 12781 0.00 2.70 0.00 0.000 4 0.000 0.074 2533 3650 1365

12803 1.06 346.5 507.0 11.6 615 12808 0.00 2.60 0.00 0.000 6 0.000 0.055 2533 2239 1365

13119 1.06 346.5 472.9 10.3 630 13123 0.00 2.67 0.00 0.000 4 0.000 0.074 2533 3648 1365

13152 1.06 346.5 469.5 10.1 631 13158 0.00 2.60 0.00 0.000 6 0.000 0.055 2533 2235 1365

13468 1.06 346.5 439.9 9.1 647 13469 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2235 1365

13777 1.06 346.5 410.6 9.8 662 13778 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2235 1366

14087 1.06 346.5 380.3 9.4 677 14091 0.00 2.62 0.00 0.000 4 0.000 0.066 2533 826 1366

14130 1.06 346.5 375.7 10.4 679 14135 0.00 2.58 0.00 0.000 6 0.000 0.050 2533 2242 1366

14451 1.06 346.5 344.3 9.5 695 14456 0.00 2.65 0.00 0.000 4 0.000 0.073 2533 3650 1367

14473 1.06 346.5 341.8 10.0 696 14478 0.00 2.58 0.00 0.000 6 0.000 0.054 2533 2239 1367

14795 1.06 346.5 311.6 9.1 712 14796 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2239 1368

15104 1.06 346.5 283.7 9.0 727 15108 0.00 2.62 0.00 0.000 4 0.000 0.064 2533 822 1368

15136 1.06 346.5 280.7 8.6 728 15142 0.00 2.60 0.00 0.000 6 0.000 0.049 2533 2252 1368

15452 1.06 346.5 252.9 8.4 744 15453 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2250 1368

15761 1.06 346.5 227.3 8.2 759 15765 0.00 2.65 0.00 0.000 4 0.000 0.062 2533 820 1368

15782 1.06 346.5 225.4 8.0 760 15787 0.00 2.58 0.00 0.000 6 0.000 0.048 2533 2241 1368

16104 1.06 346.5 199.8 7.4 776 16105 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2241 1368

16413 1.06 346.5 175.3 8.3 791 16414 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2241 1369

16722 1.06 346.5 150.4 7.8 806 16727 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 826 1369

16745 1.06 346.5 148.6 9.2 807 16749 0.00 2.58 0.00 0.000 6 0.000 0.048 2533 2247 1369

17067 1.06 346.5 124.2 7.4 823 17068 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2247 1369

17375 1.06 346.5 101.5 7.5 838 17376 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2247 1369

17685 1.06 346.5 78.6 6.9 853 17689 0.00 2.65 0.00 0.000 4 0.000 0.061 2533 817 1370

17712 1.06 346.5 76.6 7.2 854 17716 0.00 2.58 0.00 0.000 6 0.000 0.048 2533 2241 1370

18028 1.06 346.5 53.1 7.3 869 18029 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2241 1370

18339 1.06 346.5 29.5 7.2 884 18343 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 824 1370

18362 1.11 346.5 27.6 8.2 885 18366 0.00 2.55 0.00 0.000 6 0.000 0.048 2533 2241 1371

18685 1.15 346.5 3.8 7.4 901 18686 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2241 1370

18722 end climb: SURFACE_DEPTH_REACHED

state 18722 begin surface coast

18744 end surface coast: CONTROL_FINISHED_OK

state 18744 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	205	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	21	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	-2097387.8	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	220355,6356.371,-1327.163,25,1.6,42,-12.7	TGT_NAME	default
_CALLS	1	TGT_LATLONG	62.000,-6.800
_XMS_NAKs	5	TGT_RADIUS	1852.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.35	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-56.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	221050,6356.438,-1327.009,16,1.6,33,-12.7	MHEAD_RNG_PITCHd_Wd	143.3,18307,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.015544	ALTIM_BOTTOM_PING	652.7,91.8
SM_CCo	18765,102.55,0.605,0,0,508,557.32	_24V_AH	23.5,36.054
SM_GC	1.36,0.00,0.00,102.55,0.000,0.000,0.605,72,2242,508,-10.25,0.34,557.32	_10V_AH	10.1,18.293
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47442,904
TT8_MAMPS	0.023777	CAP_FILE_SIZE	137105,0
HUMID	1880	CFSIZE	260165632,245846016
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	29	GPS	200708,032707,6355.780,-1323.726,51,1.3,51,-12.6
ALTIM_TOP_PING	19.1,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	101.04	SBE_CT	669	24	377.62
Roll_motor	167	85	338.85	SBE_O2	615	19	274.90
VBD_pump_during_apogee	434	1127	11517.82	WL_BB2F	571	105	1410.92
VBD_pump_during_surface	102	605	1458.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.87	nil	0	0	0.00
Iridium_during_connect	29	160	112.79	nil	0	0	0.00
Iridium_during_xfer	220	223	1153.31
Transponder_ping	13	420	128.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.87
TT8	1643	19	328.70
LPSleep	14404	2	318.61
TT8_Active	702	19	140.43
TT8_Sampling	1934	39	777.49
TT8_CF8	597	45	276.52
TT8_Kalman	0	81	0.00
Analog_circuits	1697	12	205.69
GPS_charging	0	0	0.00
Compass	1874	8	151.49
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
28	-0.85	-146.6	0.0	0.0	0	151	0.00	0.00	-120.78	0.000	2	0.000	0.000	66	2250	2921
155	-0.85	-146.6	3.9	-2.9	6	185	11.50	2.67	-11.02	0.000	4	0.170	0.079	2113	3643	3381
356	-0.67	-146.6	29.0	-9.6	15	361	0.20	2.58	0.00	0.000	6	0.094	0.051	2153	2227	3381
684	-0.60	-146.6	53.4	-7.5	31	688	0.00	2.60	0.00	0.000	4	0.000	0.060	2153	810	3380
716	-0.60	-146.6	55.9	-7.3	32	723	0.00	2.58	0.00	0.000	6	0.000	0.048	2153	2230	3380
1033	-0.55	-146.6	81.6	-7.7	48	1038	0.12	2.62	0.00	0.000	4	0.097	0.068	2176	3638	3381
1061	-0.55	-146.6	83.8	-7.4	49	1065	0.00	2.55	0.00	0.000	6	0.000	0.050	2176	2228	3381
1378	-0.55	-146.6	106.9	-7.8	64	1379	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2228	3381
1686	-0.55	-146.6	131.0	-7.9	79	1690	0.00	2.60	0.00	0.000	4	0.000	0.061	2176	811	3381
1726	-0.63	-146.6	134.2	-7.8	81	1731	0.00	2.58	0.00	0.000	6	0.000	0.050	2176	2228	3381
2053	-0.63	-146.6	158.4	-7.4	97	2057	0.00	2.62	0.00	0.000	4	0.000	0.071	2176	3641	3381
2092	-0.63	-146.6	161.6	-8.3	99	2097	0.00	2.55	0.00	0.000	6	0.000	0.051	2176	2228	3381
2419	-0.63	-146.6	186.6	-7.7	115	2421	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2228	3381
2728	-0.63	-146.6	209.6	-7.2	130	2729	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3381
3038	-0.63	-146.6	231.5	-7.1	145	3042	0.00	2.67	0.00	0.000	4	0.000	0.073	2176	3643	3381
3071	-0.63	-146.6	234.3	-8.9	146	3077	0.00	2.55	0.00	0.000	6	0.000	0.049	2176	2230	3381
3386	-0.63	-146.6	260.1	-8.3	162	3387	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3381
3695	-0.63	-146.6	284.2	-7.6	177	3697	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3380
4005	-0.63	-146.6	305.9	-6.6	192	4006	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3381
4314	-0.63	-146.6	324.6	-5.9	207	4315	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3380
4623	-0.63	-146.6	342.1	-5.3	222	4628	0.00	2.67	0.00	0.000	4	0.000	0.074	2176	3646	3380
4651	-0.63	-146.6	343.8	-6.2	223	4655	0.00	2.55	0.00	0.000	6	0.000	0.050	2176	2230	3380
4967	-0.67	-146.6	360.2	-5.3	238	4969	0.12	0.00	0.00	0.000	6	0.048	0.000	2135	2230	3380
5277	-0.58	-146.6	383.7	-7.7	253	5278	0.17	0.00	0.00	0.000	6	0.084	0.000	2170	2230	3380
5585	-0.58	-146.6	401.3	-5.4	268	5586	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3380
5895	-0.58	-146.6	417.5	-5.5	283	5899	0.00	2.65	0.00	0.000	4	0.000	0.074	2170	3640	3380
5922	-0.58	-146.6	419.1	-5.9	284	5927	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2228	3380
6238	-0.58	-146.6	434.3	-4.3	299	6243	0.00	2.67	0.00	0.000	4	0.000	0.074	2170	3638	3380
6268	-0.58	-146.6	435.7	-5.2	300	6272	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2227	3379
6584	-0.58	-146.6	449.3	-4.6	315	6588	0.00	2.67	0.00	0.000	4	0.000	0.074	2170	3640	3380
6630	-0.58	-146.6	451.5	-4.8	317	6634	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2229	3379
6951	-0.58	-146.6	466.5	-5.3	333	6955	0.00	2.67	0.00	0.000	4	0.000	0.074	2170	3644	3379
6996	-0.63	-146.6	469.0	-5.7	335	7000	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2230	3379
7317	-0.63	-146.6	485.8	-6.1	351	7318	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3379
7626	-0.63	-146.6	507.2	-7.0	366	7630	0.00	2.67	0.00	0.000	4	0.000	0.076	2170	3641	3379
7666	-0.63	-146.6	510.0	-7.8	368	7670	0.00	2.58	0.00	0.000	6	0.000	0.051	2170	2223	3378
7992	-0.63	-146.6	527.5	-5.4	384	7997	0.00	2.70	0.00	0.000	4	0.000	0.074	2170	3644	3378
8025	-0.68	-146.6	530.2	-7.9	385	8032	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2230	3378
8342	-0.64	-146.6	556.4	-8.9	401	8347	0.00	2.67	0.00	0.000	4	0.000	0.077	2170	3644	3378
8415	-0.68	-146.6	566.0	-12.9	404	8420	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2229	3378
8732	-0.74	-146.6	603.7	-9.4	419	8737	0.15	2.60	0.00	0.000	4	0.046	0.061	2119	816	3378
8772	-0.68	-146.6	608.5	-12.6	421	8777	0.15	2.60	0.00	0.000	6	0.090	0.053	2149	2237	3378
9101	-0.68	-146.6	655.2	-12.9	437	9105	0.00	2.67	0.00	0.000	4	0.000	0.080	2149	3644	3377
9128	-0.68	-146.6	659.0	-12.7	438	9132	0.00	2.58	0.00	0.000	6	0.000	0.054	2149	2230	3378
9443	-0.68	-146.6	688.6	-10.2	453	9448	0.00	2.60	0.00	0.000	4	0.000	0.064	2149	820	3376
9488	-0.76	-146.6	691.5	-6.2	455	9493	0.00	2.60	0.00	0.000	6	0.000	0.058	2149	2232	3376
9811	-0.76	-146.6	712.3	-5.8	471	9815	0.00	2.67	0.00	0.000	4	0.000	0.081	2148	3640	3376
9890	-0.83	-146.6	718.5	-7.4	474	9897	0.15	2.58	0.00	0.000	6	0.048	0.057	2108	2230	3375
10079	end dive: BOTTOM_OBSTACLE_DETECTED
state	10079	begin apogee
10086	-0.31	0.0	736.2	11.6	484	10223	0.62	0.00	131.27	1.127	6	0.105	0.000	2230	2230	2781
10223	end apogee: CONTROL_FINISHED_OK
state	10224	begin climb
10226	0.85	146.6	741.3	0.0	491	10371	1.17	2.83	130.32	1.104	4	0.080	0.086	2477	3647	2182
10512	0.85	146.6	707.2	20.1	504	10517	0.00	2.62	0.00	0.000	6	0.000	0.057	2477	2233	2182
10833	0.85	146.6	673.5	10.0	520	10835	0.00	0.00	0.00	0.000	6	0.000	0.000	2478	2233	2180
11143	1.06	346.5	661.6	0.5	535	11330	0.22	2.83	173.10	1.081	4	0.055	0.083	2533	3642	1368
11364	1.06	346.5	648.8	10.0	545	11368	0.00	2.62	0.00	0.000	6	0.000	0.061	2534	2243	1368
11680	1.06	346.5	619.0	8.2	560	11684	0.00	2.70	0.00	0.000	4	0.000	0.074	2533	824	1367
11701	1.06	346.5	617.6	6.1	561	11705	0.00	2.62	0.00	0.000	6	0.000	0.054	2533	2241	1367
12022	1.06	346.5	588.5	9.2	577	12026	0.00	2.70	0.00	0.000	4	0.000	0.079	2533	3650	1366
12061	1.06	346.5	584.4	12.4	579	12066	0.00	2.62	0.00	0.000	6	0.000	0.057	2533	2236	1367
12388	1.06	346.5	551.9	8.8	595	12393	0.00	2.72	0.00	0.000	4	0.000	0.081	2533	3647	1366
12450	1.06	346.5	545.3	11.6	598	12454	0.00	2.62	0.00	0.000	6	0.000	0.057	2533	2232	1366
12777	1.06	346.5	510.3	10.6	614	12781	0.00	2.70	0.00	0.000	4	0.000	0.074	2533	3650	1365
12803	1.06	346.5	507.0	11.6	615	12808	0.00	2.60	0.00	0.000	6	0.000	0.055	2533	2239	1365
13119	1.06	346.5	472.9	10.3	630	13123	0.00	2.67	0.00	0.000	4	0.000	0.074	2533	3648	1365
13152	1.06	346.5	469.5	10.1	631	13158	0.00	2.60	0.00	0.000	6	0.000	0.055	2533	2235	1365
13468	1.06	346.5	439.9	9.1	647	13469	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2235	1365
13777	1.06	346.5	410.6	9.8	662	13778	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2235	1366
14087	1.06	346.5	380.3	9.4	677	14091	0.00	2.62	0.00	0.000	4	0.000	0.066	2533	826	1366
14130	1.06	346.5	375.7	10.4	679	14135	0.00	2.58	0.00	0.000	6	0.000	0.050	2533	2242	1366
14451	1.06	346.5	344.3	9.5	695	14456	0.00	2.65	0.00	0.000	4	0.000	0.073	2533	3650	1367
14473	1.06	346.5	341.8	10.0	696	14478	0.00	2.58	0.00	0.000	6	0.000	0.054	2533	2239	1367
14795	1.06	346.5	311.6	9.1	712	14796	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2239	1368
15104	1.06	346.5	283.7	9.0	727	15108	0.00	2.62	0.00	0.000	4	0.000	0.064	2533	822	1368
15136	1.06	346.5	280.7	8.6	728	15142	0.00	2.60	0.00	0.000	6	0.000	0.049	2533	2252	1368
15452	1.06	346.5	252.9	8.4	744	15453	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2250	1368
15761	1.06	346.5	227.3	8.2	759	15765	0.00	2.65	0.00	0.000	4	0.000	0.062	2533	820	1368
15782	1.06	346.5	225.4	8.0	760	15787	0.00	2.58	0.00	0.000	6	0.000	0.048	2533	2241	1368
16104	1.06	346.5	199.8	7.4	776	16105	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2241	1368
16413	1.06	346.5	175.3	8.3	791	16414	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2241	1369
16722	1.06	346.5	150.4	7.8	806	16727	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	826	1369
16745	1.06	346.5	148.6	9.2	807	16749	0.00	2.58	0.00	0.000	6	0.000	0.048	2533	2247	1369
17067	1.06	346.5	124.2	7.4	823	17068	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2247	1369
17375	1.06	346.5	101.5	7.5	838	17376	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2247	1369
17685	1.06	346.5	78.6	6.9	853	17689	0.00	2.65	0.00	0.000	4	0.000	0.061	2533	817	1370
17712	1.06	346.5	76.6	7.2	854	17716	0.00	2.58	0.00	0.000	6	0.000	0.048	2533	2241	1370
18028	1.06	346.5	53.1	7.3	869	18029	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2241	1370
18339	1.06	346.5	29.5	7.2	884	18343	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	824	1370
18362	1.11	346.5	27.6	8.2	885	18366	0.00	2.55	0.00	0.000	6	0.000	0.048	2533	2241	1371
18685	1.15	346.5	3.8	7.4	901	18686	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2241	1370
18722	end climb: SURFACE_DEPTH_REACHED
state	18722	begin surface coast
18744	end surface coast: CONTROL_FINISHED_OK
state	18744	begin surface