Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 206 * 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 206 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 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 -2097421.8 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 -2097421.8

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 20 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 206 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 032707,6355.780,-1323.726,51,1.3,51,-12.6 TGT_NAME default

_CALLS 1 TGT_LATLONG 62.000,-6.800

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

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

_SM_ANGLEo -59.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 033244,6355.790,-1323.733,16,1.3,33,-12.6 MHEAD_RNG_PITCHd_Wd 180.7,7143144,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027126 ALTIM_BOTTOM_PING 726.4,53.0

SM_CCo 19924,121.20,0.601,0,0,508,557.32 _24V_AH 23.5,36.214

SM_GC 1.46,0.00,0.00,121.20,0.000,0.000,0.601,70,2236,508,-10.26,0.14,557.32 _10V_AH 10.1,18.383

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50536,957

TT8_MAMPS 0.02301 CAP_FILE_SIZE 142630,0

HUMID 1863 CFSIZE 260165632,245772288

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 27 GPS 200708,090832,6353.879,-1326.894,44,1.8,44,-12.6

ALTIM_TOP_PING 20.0,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 99.47 SBE_CT 697 24 393.26

Roll_motor 172 80 326.33 SBE_O2 658 19 294.21

VBD_pump_during_apogee 406 1135 10837.88 WL_BB2F 578 105 1427.51

VBD_pump_during_surface 121 600 1710.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.55 nil 0 0 0.00

Iridium_during_connect 26 160 99.65 nil 0 0 0.00

Iridium_during_xfer 143 223 753.77

Transponder_ping 13 420 133.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.79

TT8 1736 19 347.30

LPSleep 15361 2 339.78

TT8_Active 724 19 144.90

TT8_Sampling 2036 39 818.71

TT8_CF8 522 45 241.89

TT8_Kalman 0 81 0.00

Analog_circuits 1750 12 212.11

GPS_charging 0 0 0.00

Compass 1968 8 159.09

RAFOS 0 0 0.00

Guidance and control:

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 151 0.00 0.00 -121.15 0.000 2 0.000 0.000 71 2245 3008

154 -0.85 -146.6 4.0 -3.3 6 180 11.43 2.62 -8.40 0.000 4 0.168 0.078 2109 3638 3379

405 -0.66 -146.6 35.6 -9.8 17 410 0.22 2.58 0.00 0.000 6 0.091 0.049 2153 2223 3379

723 -0.61 -146.6 60.0 -7.8 32 728 0.00 2.60 0.00 0.000 4 0.000 0.060 2153 808 3379

756 -0.61 -146.6 63.0 -7.9 33 763 0.00 2.60 0.00 0.000 6 0.000 0.048 2153 2235 3380

1073 -0.56 -146.6 87.3 -7.8 49 1075 0.12 0.00 0.00 0.000 6 0.097 0.000 2177 2234 3380

1383 -0.56 -146.6 109.0 -6.6 64 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2234 3380

1691 -0.56 -146.6 130.2 -7.4 79 1695 0.00 2.62 0.00 0.000 4 0.000 0.071 2177 3638 3380

1731 -0.56 -146.6 133.3 -8.2 81 1735 0.00 2.55 0.00 0.000 6 0.000 0.050 2177 2228 3380

2057 -0.56 -146.6 157.6 -7.6 97 2058 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3380

2366 -0.56 -146.6 179.5 -6.7 112 2367 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3380

2675 -0.56 -146.6 199.1 -6.1 127 2680 0.00 2.65 0.00 0.000 4 0.000 0.071 2177 3638 3380

2708 -0.56 -146.6 201.4 -7.1 128 2714 0.00 2.55 0.00 0.000 6 0.000 0.048 2177 2226 3380

3024 -0.56 -146.6 222.9 -6.8 144 3025 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2226 3380

3333 -0.56 -146.6 246.0 -7.4 159 3334 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2225 3379

3642 -0.56 -146.6 270.1 -8.1 174 3647 0.00 2.67 0.00 0.000 4 0.000 0.071 2177 3644 3379

3670 -0.56 -146.6 272.5 -8.5 175 3675 0.00 2.55 0.00 0.000 6 0.000 0.049 2177 2228 3379

3986 -0.56 -146.6 297.4 -7.5 190 3987 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3379

4295 -0.56 -146.6 319.5 -6.9 205 4296 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3379

4605 -0.56 -146.6 341.4 -6.9 220 4609 0.00 2.65 0.00 0.000 4 0.000 0.073 2177 3637 3379

4644 -0.60 -146.6 344.2 -7.2 222 4649 0.00 2.55 0.00 0.000 6 0.000 0.050 2177 2228 3379

4972 -0.65 -146.6 364.8 -6.1 238 4973 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2228 3379

5281 -0.69 -146.6 382.1 -5.3 253 5283 0.15 0.00 0.00 0.000 6 0.046 0.000 2137 2228 3379

5590 -0.60 -146.6 405.1 -7.8 268 5592 0.15 0.00 0.00 0.000 6 0.085 0.000 2167 2228 3379

5902 -0.60 -146.6 425.0 -6.8 283 5906 0.00 2.60 0.00 0.000 4 0.000 0.061 2166 811 3379

5936 -0.67 -146.6 427.5 -6.4 284 5942 0.00 2.58 0.00 0.000 6 0.000 0.050 2166 2227 3380

6252 -0.67 -146.6 448.1 -6.0 300 6256 0.00 2.65 0.00 0.000 4 0.000 0.074 2167 3641 3379

6285 -0.67 -146.6 450.9 -8.2 301 6291 0.00 2.55 0.00 0.000 6 0.000 0.051 2167 2229 3379

6600 -0.67 -146.6 472.5 -6.3 317 6604 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 819 3378

6628 -0.73 -146.6 474.6 -7.7 318 6634 0.12 2.58 0.00 0.000 6 0.047 0.049 2125 2237 3378

6945 -0.62 -146.6 505.2 -10.2 333 6950 0.17 2.62 0.00 0.000 4 0.085 0.072 2162 3640 3378

6995 -0.62 -146.6 510.0 -9.0 335 6999 0.00 2.55 0.00 0.000 6 0.000 0.050 2162 2225 3378

7310 -0.62 -146.6 536.3 -8.3 350 7311 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2225 3378

7620 -0.62 -146.6 560.8 -7.6 365 7624 0.00 2.67 0.00 0.000 4 0.000 0.072 2162 3644 3378

7669 -0.62 -146.6 564.6 -7.5 367 7674 0.00 2.53 0.00 0.000 6 0.000 0.048 2162 2228 3378

7985 -0.62 -146.6 587.1 -6.1 382 7989 0.00 2.65 0.00 0.000 4 0.000 0.071 2162 3638 3378

8035 -0.62 -146.6 591.3 -10.1 384 8039 0.00 2.53 0.00 0.000 6 0.000 0.048 2163 2230 3378

8350 -0.62 -146.6 616.0 -8.1 399 8354 0.00 2.65 0.00 0.000 4 0.000 0.072 2163 3638 3378

8383 -0.62 -146.6 618.6 -8.6 400 8389 0.00 2.53 0.00 0.000 6 0.000 0.048 2163 2231 3378

8699 -0.62 -146.6 642.4 -6.9 416 8704 0.00 2.65 0.00 0.000 4 0.000 0.073 2162 3638 3378

8762 -0.62 -146.6 647.1 -7.2 419 8766 0.00 2.50 0.00 0.000 6 0.000 0.048 2163 2230 3377

9089 -0.62 -146.6 668.6 -6.1 435 9090 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2230 3377

9398 -0.62 -146.6 686.7 -5.9 450 9402 0.00 2.60 0.00 0.000 4 0.000 0.062 2163 815 3378

9431 -0.69 -146.6 688.9 -6.2 451 9437 0.00 2.58 0.00 0.000 6 0.000 0.052 2163 2229 3377

9747 -0.69 -146.6 711.2 -7.3 467 9751 0.00 2.67 0.00 0.000 4 0.000 0.078 2163 3643 3377

9786 -0.69 -146.6 714.9 -9.6 469 9791 0.00 2.58 0.00 0.000 6 0.000 0.054 2163 2233 3377

10112 -0.69 -146.6 741.2 -7.6 485 10117 0.00 2.70 0.00 0.000 4 0.000 0.081 2163 3644 3376

10153 -0.69 -146.6 744.9 -9.9 487 10157 0.00 2.58 0.00 0.000 6 0.000 0.054 2163 2230 3376

10476 end dive: BOTTOM_OBSTACLE_DETECTED

state 10477 begin apogee

10483 -0.31 0.0 770.3 8.6 503 10619 0.32 0.00 132.07 1.136 6 0.088 0.000 2229 2229 2781

10620 end apogee: CONTROL_FINISHED_OK

state 10620 begin climb

10623 0.85 146.6 779.3 0.0 510 10766 1.17 2.83 130.55 1.124 4 0.076 0.080 2477 3648 2183

10921 0.96 185.1 780.6 4.9 523 10962 0.12 2.62 35.12 1.083 6 0.057 0.058 2512 2240 2026

11276 0.96 185.1 749.2 10.6 540 11280 0.00 2.70 0.00 0.000 4 0.000 0.074 2512 829 2025

11320 0.91 185.1 744.7 9.3 542 11325 0.00 2.62 0.00 0.000 6 0.000 0.058 2511 2238 2024

11641 0.84 185.1 717.6 7.6 558 11647 0.15 2.70 0.00 0.000 4 0.092 0.080 2478 3649 2023

11759 0.84 185.1 709.9 6.1 563 11763 0.00 2.62 0.00 0.000 6 0.000 0.058 2478 2235 2023

12075 0.90 197.9 693.5 5.7 578 12096 0.00 2.80 11.68 0.983 4 0.000 0.079 2478 3654 1975

12114 0.97 218.4 691.3 5.4 579 12142 0.15 2.62 19.80 1.039 6 0.051 0.055 2518 2238 1892

12453 0.90 218.4 667.2 7.6 596 12458 0.12 2.65 0.00 0.000 4 0.092 0.067 2494 830 1890

12503 0.90 218.4 663.2 7.4 598 12508 0.00 2.60 0.00 0.000 6 0.000 0.054 2494 2242 1889

12819 0.90 218.4 641.3 6.9 613 12820 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 2242 1890

13128 0.90 218.8 618.8 6.0 628 13132 0.00 2.67 0.00 0.000 4 0.000 0.076 2494 3648 1889

13191 0.85 218.8 614.0 9.1 631 13196 0.00 2.60 0.00 0.000 6 0.000 0.054 2494 2238 1889

13519 0.79 218.8 584.1 10.5 647 13524 0.12 2.70 0.00 0.000 4 0.088 0.075 2468 3651 1889

13552 0.79 218.8 581.0 7.9 648 13558 0.00 2.58 0.00 0.000 6 0.000 0.052 2468 2242 1888

13868 0.89 306.0 560.6 3.6 664 13949 0.12 0.00 76.78 1.008 6 0.051 0.000 2505 2242 1533

14259 0.89 306.0 519.9 12.6 683 14260 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2242 1533

14568 0.89 306.0 480.9 11.6 698 14570 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2242 1533

14877 0.89 306.0 444.5 11.7 713 14881 0.00 2.62 0.00 0.000 4 0.000 0.064 2505 826 1533

14898 0.89 306.0 441.8 11.8 714 14903 0.00 2.58 0.00 0.000 6 0.000 0.050 2505 2241 1533

15220 0.89 306.0 401.9 12.9 730 15221 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2241 1533

15529 0.89 306.0 363.6 11.6 745 15533 0.00 2.65 0.00 0.000 4 0.000 0.073 2505 3648 1533

15556 0.89 306.0 360.3 12.2 746 15560 0.00 2.58 0.00 0.000 6 0.000 0.054 2505 2241 1533

15872 0.89 306.0 329.0 9.3 761 15877 0.00 2.62 0.00 0.000 4 0.000 0.064 2505 827 1533

15894 0.89 306.0 326.8 9.7 762 15898 0.00 2.58 0.00 0.000 6 0.000 0.049 2505 2241 1533

16215 0.89 306.0 299.9 8.1 778 16220 0.00 2.65 0.00 0.000 4 0.000 0.072 2505 3649 1534

16237 0.89 306.0 298.2 7.2 779 16242 0.00 2.58 0.00 0.000 6 0.000 0.052 2505 2241 1535

16558 0.89 306.0 275.1 7.0 795 16563 0.00 2.62 0.00 0.000 4 0.000 0.062 2505 820 1534

16580 0.89 306.0 273.4 7.1 796 16584 0.00 2.60 0.00 0.000 6 0.000 0.049 2505 2247 1535

16901 0.89 306.0 250.6 7.4 812 16902 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2247 1534

17210 0.89 306.0 226.4 8.0 827 17211 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2247 1535

17519 0.89 306.0 200.2 8.8 842 17520 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2247 1535

17828 0.89 306.0 171.5 9.3 857 17830 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2247 1535

18139 0.89 306.0 144.5 8.4 872 18140 0.00 0.00 0.00 0.000 6 0.000 0.000 2505 2247 1534

18447 0.89 306.0 118.2 8.5 887 18452 0.00 2.65 0.00 0.000 4 0.000 0.061 2505 818 1535

18480 0.89 306.0 115.2 8.7 888 18487 0.00 2.58 0.00 0.000 6 0.000 0.048 2505 2245 1535

18798 0.89 306.0 89.7 8.4 904 18803 0.00 2.62 0.00 0.000 4 0.000 0.068 2505 3653 1536

18848 0.89 306.0 85.6 6.8 906 18853 0.00 2.58 0.00 0.000 6 0.000 0.051 2505 2235 1536

19166 0.89 306.0 60.4 8.7 921 19170 0.00 2.58 0.00 0.000 4 0.000 0.061 2505 828 1536

19211 0.93 306.0 56.5 7.4 923 19215 0.00 2.55 0.00 0.000 6 0.000 0.048 2505 2242 1535

19532 0.93 306.0 29.0 10.2 939 19536 0.00 2.62 0.00 0.000 4 0.000 0.067 2505 3653 1536

19565 0.98 306.0 25.7 9.2 940 19571 0.00 2.55 0.00 0.000 6 0.000 0.050 2505 2236 1537

19879 end climb: SURFACE_DEPTH_REACHED

state 19879 begin surface coast

19900 end surface coast: CONTROL_FINISHED_OK

state 19903 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	206	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	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	-2097421.8	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	032707,6355.780,-1323.726,51,1.3,51,-12.6	TGT_NAME	default
_CALLS	1	TGT_LATLONG	62.000,-6.800
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.35	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	033244,6355.790,-1323.733,16,1.3,33,-12.6	MHEAD_RNG_PITCHd_Wd	180.7,7143144,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027126	ALTIM_BOTTOM_PING	726.4,53.0
SM_CCo	19924,121.20,0.601,0,0,508,557.32	_24V_AH	23.5,36.214
SM_GC	1.46,0.00,0.00,121.20,0.000,0.000,0.601,70,2236,508,-10.26,0.14,557.32	_10V_AH	10.1,18.383
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50536,957
TT8_MAMPS	0.02301	CAP_FILE_SIZE	142630,0
HUMID	1863	CFSIZE	260165632,245772288
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	27	GPS	200708,090832,6353.879,-1326.894,44,1.8,44,-12.6
ALTIM_TOP_PING	20.0,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	99.47	SBE_CT	697	24	393.26
Roll_motor	172	80	326.33	SBE_O2	658	19	294.21
VBD_pump_during_apogee	406	1135	10837.88	WL_BB2F	578	105	1427.51
VBD_pump_during_surface	121	600	1710.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.55	nil	0	0	0.00
Iridium_during_connect	26	160	99.65	nil	0	0	0.00
Iridium_during_xfer	143	223	753.77
Transponder_ping	13	420	133.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.79
TT8	1736	19	347.30
LPSleep	15361	2	339.78
TT8_Active	724	19	144.90
TT8_Sampling	2036	39	818.71
TT8_CF8	522	45	241.89
TT8_Kalman	0	81	0.00
Analog_circuits	1750	12	212.11
GPS_charging	0	0	0.00
Compass	1968	8	159.09
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	151	0.00	0.00	-121.15	0.000	2	0.000	0.000	71	2245	3008
154	-0.85	-146.6	4.0	-3.3	6	180	11.43	2.62	-8.40	0.000	4	0.168	0.078	2109	3638	3379
405	-0.66	-146.6	35.6	-9.8	17	410	0.22	2.58	0.00	0.000	6	0.091	0.049	2153	2223	3379
723	-0.61	-146.6	60.0	-7.8	32	728	0.00	2.60	0.00	0.000	4	0.000	0.060	2153	808	3379
756	-0.61	-146.6	63.0	-7.9	33	763	0.00	2.60	0.00	0.000	6	0.000	0.048	2153	2235	3380
1073	-0.56	-146.6	87.3	-7.8	49	1075	0.12	0.00	0.00	0.000	6	0.097	0.000	2177	2234	3380
1383	-0.56	-146.6	109.0	-6.6	64	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2234	3380
1691	-0.56	-146.6	130.2	-7.4	79	1695	0.00	2.62	0.00	0.000	4	0.000	0.071	2177	3638	3380
1731	-0.56	-146.6	133.3	-8.2	81	1735	0.00	2.55	0.00	0.000	6	0.000	0.050	2177	2228	3380
2057	-0.56	-146.6	157.6	-7.6	97	2058	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3380
2366	-0.56	-146.6	179.5	-6.7	112	2367	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3380
2675	-0.56	-146.6	199.1	-6.1	127	2680	0.00	2.65	0.00	0.000	4	0.000	0.071	2177	3638	3380
2708	-0.56	-146.6	201.4	-7.1	128	2714	0.00	2.55	0.00	0.000	6	0.000	0.048	2177	2226	3380
3024	-0.56	-146.6	222.9	-6.8	144	3025	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2226	3380
3333	-0.56	-146.6	246.0	-7.4	159	3334	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2225	3379
3642	-0.56	-146.6	270.1	-8.1	174	3647	0.00	2.67	0.00	0.000	4	0.000	0.071	2177	3644	3379
3670	-0.56	-146.6	272.5	-8.5	175	3675	0.00	2.55	0.00	0.000	6	0.000	0.049	2177	2228	3379
3986	-0.56	-146.6	297.4	-7.5	190	3987	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3379
4295	-0.56	-146.6	319.5	-6.9	205	4296	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3379
4605	-0.56	-146.6	341.4	-6.9	220	4609	0.00	2.65	0.00	0.000	4	0.000	0.073	2177	3637	3379
4644	-0.60	-146.6	344.2	-7.2	222	4649	0.00	2.55	0.00	0.000	6	0.000	0.050	2177	2228	3379
4972	-0.65	-146.6	364.8	-6.1	238	4973	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2228	3379
5281	-0.69	-146.6	382.1	-5.3	253	5283	0.15	0.00	0.00	0.000	6	0.046	0.000	2137	2228	3379
5590	-0.60	-146.6	405.1	-7.8	268	5592	0.15	0.00	0.00	0.000	6	0.085	0.000	2167	2228	3379
5902	-0.60	-146.6	425.0	-6.8	283	5906	0.00	2.60	0.00	0.000	4	0.000	0.061	2166	811	3379
5936	-0.67	-146.6	427.5	-6.4	284	5942	0.00	2.58	0.00	0.000	6	0.000	0.050	2166	2227	3380
6252	-0.67	-146.6	448.1	-6.0	300	6256	0.00	2.65	0.00	0.000	4	0.000	0.074	2167	3641	3379
6285	-0.67	-146.6	450.9	-8.2	301	6291	0.00	2.55	0.00	0.000	6	0.000	0.051	2167	2229	3379
6600	-0.67	-146.6	472.5	-6.3	317	6604	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	819	3378
6628	-0.73	-146.6	474.6	-7.7	318	6634	0.12	2.58	0.00	0.000	6	0.047	0.049	2125	2237	3378
6945	-0.62	-146.6	505.2	-10.2	333	6950	0.17	2.62	0.00	0.000	4	0.085	0.072	2162	3640	3378
6995	-0.62	-146.6	510.0	-9.0	335	6999	0.00	2.55	0.00	0.000	6	0.000	0.050	2162	2225	3378
7310	-0.62	-146.6	536.3	-8.3	350	7311	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2225	3378
7620	-0.62	-146.6	560.8	-7.6	365	7624	0.00	2.67	0.00	0.000	4	0.000	0.072	2162	3644	3378
7669	-0.62	-146.6	564.6	-7.5	367	7674	0.00	2.53	0.00	0.000	6	0.000	0.048	2162	2228	3378
7985	-0.62	-146.6	587.1	-6.1	382	7989	0.00	2.65	0.00	0.000	4	0.000	0.071	2162	3638	3378
8035	-0.62	-146.6	591.3	-10.1	384	8039	0.00	2.53	0.00	0.000	6	0.000	0.048	2163	2230	3378
8350	-0.62	-146.6	616.0	-8.1	399	8354	0.00	2.65	0.00	0.000	4	0.000	0.072	2163	3638	3378
8383	-0.62	-146.6	618.6	-8.6	400	8389	0.00	2.53	0.00	0.000	6	0.000	0.048	2163	2231	3378
8699	-0.62	-146.6	642.4	-6.9	416	8704	0.00	2.65	0.00	0.000	4	0.000	0.073	2162	3638	3378
8762	-0.62	-146.6	647.1	-7.2	419	8766	0.00	2.50	0.00	0.000	6	0.000	0.048	2163	2230	3377
9089	-0.62	-146.6	668.6	-6.1	435	9090	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2230	3377
9398	-0.62	-146.6	686.7	-5.9	450	9402	0.00	2.60	0.00	0.000	4	0.000	0.062	2163	815	3378
9431	-0.69	-146.6	688.9	-6.2	451	9437	0.00	2.58	0.00	0.000	6	0.000	0.052	2163	2229	3377
9747	-0.69	-146.6	711.2	-7.3	467	9751	0.00	2.67	0.00	0.000	4	0.000	0.078	2163	3643	3377
9786	-0.69	-146.6	714.9	-9.6	469	9791	0.00	2.58	0.00	0.000	6	0.000	0.054	2163	2233	3377
10112	-0.69	-146.6	741.2	-7.6	485	10117	0.00	2.70	0.00	0.000	4	0.000	0.081	2163	3644	3376
10153	-0.69	-146.6	744.9	-9.9	487	10157	0.00	2.58	0.00	0.000	6	0.000	0.054	2163	2230	3376
10476	end dive: BOTTOM_OBSTACLE_DETECTED
state	10477	begin apogee
10483	-0.31	0.0	770.3	8.6	503	10619	0.32	0.00	132.07	1.136	6	0.088	0.000	2229	2229	2781
10620	end apogee: CONTROL_FINISHED_OK
state	10620	begin climb
10623	0.85	146.6	779.3	0.0	510	10766	1.17	2.83	130.55	1.124	4	0.076	0.080	2477	3648	2183
10921	0.96	185.1	780.6	4.9	523	10962	0.12	2.62	35.12	1.083	6	0.057	0.058	2512	2240	2026
11276	0.96	185.1	749.2	10.6	540	11280	0.00	2.70	0.00	0.000	4	0.000	0.074	2512	829	2025
11320	0.91	185.1	744.7	9.3	542	11325	0.00	2.62	0.00	0.000	6	0.000	0.058	2511	2238	2024
11641	0.84	185.1	717.6	7.6	558	11647	0.15	2.70	0.00	0.000	4	0.092	0.080	2478	3649	2023
11759	0.84	185.1	709.9	6.1	563	11763	0.00	2.62	0.00	0.000	6	0.000	0.058	2478	2235	2023
12075	0.90	197.9	693.5	5.7	578	12096	0.00	2.80	11.68	0.983	4	0.000	0.079	2478	3654	1975
12114	0.97	218.4	691.3	5.4	579	12142	0.15	2.62	19.80	1.039	6	0.051	0.055	2518	2238	1892
12453	0.90	218.4	667.2	7.6	596	12458	0.12	2.65	0.00	0.000	4	0.092	0.067	2494	830	1890
12503	0.90	218.4	663.2	7.4	598	12508	0.00	2.60	0.00	0.000	6	0.000	0.054	2494	2242	1889
12819	0.90	218.4	641.3	6.9	613	12820	0.00	0.00	0.00	0.000	6	0.000	0.000	2493	2242	1890
13128	0.90	218.8	618.8	6.0	628	13132	0.00	2.67	0.00	0.000	4	0.000	0.076	2494	3648	1889
13191	0.85	218.8	614.0	9.1	631	13196	0.00	2.60	0.00	0.000	6	0.000	0.054	2494	2238	1889
13519	0.79	218.8	584.1	10.5	647	13524	0.12	2.70	0.00	0.000	4	0.088	0.075	2468	3651	1889
13552	0.79	218.8	581.0	7.9	648	13558	0.00	2.58	0.00	0.000	6	0.000	0.052	2468	2242	1888
13868	0.89	306.0	560.6	3.6	664	13949	0.12	0.00	76.78	1.008	6	0.051	0.000	2505	2242	1533
14259	0.89	306.0	519.9	12.6	683	14260	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2242	1533
14568	0.89	306.0	480.9	11.6	698	14570	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2242	1533
14877	0.89	306.0	444.5	11.7	713	14881	0.00	2.62	0.00	0.000	4	0.000	0.064	2505	826	1533
14898	0.89	306.0	441.8	11.8	714	14903	0.00	2.58	0.00	0.000	6	0.000	0.050	2505	2241	1533
15220	0.89	306.0	401.9	12.9	730	15221	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2241	1533
15529	0.89	306.0	363.6	11.6	745	15533	0.00	2.65	0.00	0.000	4	0.000	0.073	2505	3648	1533
15556	0.89	306.0	360.3	12.2	746	15560	0.00	2.58	0.00	0.000	6	0.000	0.054	2505	2241	1533
15872	0.89	306.0	329.0	9.3	761	15877	0.00	2.62	0.00	0.000	4	0.000	0.064	2505	827	1533
15894	0.89	306.0	326.8	9.7	762	15898	0.00	2.58	0.00	0.000	6	0.000	0.049	2505	2241	1533
16215	0.89	306.0	299.9	8.1	778	16220	0.00	2.65	0.00	0.000	4	0.000	0.072	2505	3649	1534
16237	0.89	306.0	298.2	7.2	779	16242	0.00	2.58	0.00	0.000	6	0.000	0.052	2505	2241	1535
16558	0.89	306.0	275.1	7.0	795	16563	0.00	2.62	0.00	0.000	4	0.000	0.062	2505	820	1534
16580	0.89	306.0	273.4	7.1	796	16584	0.00	2.60	0.00	0.000	6	0.000	0.049	2505	2247	1535
16901	0.89	306.0	250.6	7.4	812	16902	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2247	1534
17210	0.89	306.0	226.4	8.0	827	17211	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2247	1535
17519	0.89	306.0	200.2	8.8	842	17520	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2247	1535
17828	0.89	306.0	171.5	9.3	857	17830	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2247	1535
18139	0.89	306.0	144.5	8.4	872	18140	0.00	0.00	0.00	0.000	6	0.000	0.000	2505	2247	1534
18447	0.89	306.0	118.2	8.5	887	18452	0.00	2.65	0.00	0.000	4	0.000	0.061	2505	818	1535
18480	0.89	306.0	115.2	8.7	888	18487	0.00	2.58	0.00	0.000	6	0.000	0.048	2505	2245	1535
18798	0.89	306.0	89.7	8.4	904	18803	0.00	2.62	0.00	0.000	4	0.000	0.068	2505	3653	1536
18848	0.89	306.0	85.6	6.8	906	18853	0.00	2.58	0.00	0.000	6	0.000	0.051	2505	2235	1536
19166	0.89	306.0	60.4	8.7	921	19170	0.00	2.58	0.00	0.000	4	0.000	0.061	2505	828	1536
19211	0.93	306.0	56.5	7.4	923	19215	0.00	2.55	0.00	0.000	6	0.000	0.048	2505	2242	1535
19532	0.93	306.0	29.0	10.2	939	19536	0.00	2.62	0.00	0.000	4	0.000	0.067	2505	3653	1536
19565	0.98	306.0	25.7	9.2	940	19571	0.00	2.55	0.00	0.000	6	0.000	0.050	2505	2236	1537
19879	end climb: SURFACE_DEPTH_REACHED
state	19879	begin surface coast
19900	end surface coast: CONTROL_FINISHED_OK
state	19903	begin surface