Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 215 * 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 215 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 25 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 -2097648 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 0 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 -2097648

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 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 25 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 215 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 174725,6348.773,-1311.840,24,1.9,42,-12.5 TGT_NAME BT1

_CALLS 1 TGT_LATLONG 6401.000,-1331.000

_XMS_NAKs 5 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.14 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -50.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 175356,6348.759,-1311.749,15,2.0,32,-12.5 MHEAD_RNG_PITCHd_Wd 337.9,27531,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026928 ALTIM_BOTTOM_PING 800.2,43.4

SM_CCo 22896,91.43,0.592,0,0,508,557.32 _24V_AH 23.5,37.854

SM_GC 1.28,0.00,0.00,91.43,0.000,0.000,0.592,73,2250,508,-10.24,0.57,557.32 _10V_AH 10.2,19.338

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56825,1106

TT8_MAMPS 0.02301 CAP_FILE_SIZE 143664,0

HUMID 1858 CFSIZE 260165632,245063680

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

XPDR_PINGS 26 GPS 230708,001837,6352.137,-1313.984,35,1.3,36,-12.5

ALTIM_TOP_PING 18.8,17.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 100.52 SBE_CT 807 24 455.59

Roll_motor 104 76 187.95 SBE_O2 763 19 340.95

VBD_pump_during_apogee 473 1172 13054.23 WL_BB2F 604 105 1491.97

VBD_pump_during_surface 91 592 1272.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.51 nil 0 0 0.00

Iridium_during_connect 28 160 108.19 nil 0 0 0.00

Iridium_during_xfer 185 223 971.84

Transponder_ping 14 420 138.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.51

TT8 1921 19 388.13

LPSleep 18016 2 402.45

TT8_Active 744 19 150.41

TT8_Sampling 2119 39 860.30

TT8_CF8 571 45 266.81

TT8_Kalman 0 81 0.00

Analog_circuits 1762 12 215.67

GPS_charging 0 0 0.00

Compass 2059 8 168.03

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 148 0.00 0.00 -121.22 0.000 2 0.000 0.000 69 2248 3006

152 -0.85 -146.6 4.2 -3.6 6 178 11.35 2.67 -7.75 0.000 4 0.166 0.068 2107 822 3381

313 -0.69 -146.6 27.9 -11.5 13 318 0.20 2.55 0.00 0.000 6 0.091 0.046 2147 2232 3381

635 -0.60 -146.6 55.4 -8.4 29 637 0.12 0.00 0.00 0.000 6 0.096 0.000 2170 2231 3381

943 -0.60 -146.6 77.9 -7.3 44 948 0.00 2.60 0.00 0.000 4 0.000 0.058 2171 819 3381

984 -0.65 -146.6 80.8 -7.2 46 988 0.00 2.55 0.00 0.000 6 0.000 0.046 2171 2233 3381

1311 -0.65 -146.6 109.9 -9.0 62 1315 0.00 2.60 0.00 0.000 4 0.000 0.067 2171 3640 3381

1355 -0.65 -146.6 114.6 -10.8 64 1359 0.00 2.55 0.00 0.000 6 0.000 0.049 2171 2225 3381

1676 -0.65 -146.6 145.7 -9.6 80 1680 0.00 2.58 0.00 0.000 4 0.000 0.059 2171 810 3382

1727 -0.70 -146.6 150.5 -9.2 82 1732 0.12 2.58 0.00 0.000 6 0.045 0.047 2127 2238 3382

2043 -0.58 -146.6 182.7 -9.5 97 2045 0.22 0.00 0.00 0.000 6 0.081 0.000 2173 2238 3382

2354 -0.58 -146.6 200.0 -5.3 112 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

2662 -0.58 -146.6 216.6 -5.7 127 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3382

2970 -0.58 -146.6 237.5 -7.5 142 2971 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2237 3382

3280 -0.58 -146.6 262.5 -7.7 157 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

3589 -0.58 -146.6 289.1 -8.4 172 3590 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

3898 -0.58 -146.6 315.0 -8.5 187 3899 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

4207 -0.58 -146.6 337.9 -6.8 202 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2239 3381

4517 -0.58 -146.6 357.5 -6.1 217 4518 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

4826 -0.58 -146.6 376.5 -6.3 232 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3381

5135 -0.58 -146.6 396.2 -6.5 247 5136 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

5445 -0.58 -146.6 416.1 -6.2 262 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2238 3381

5754 -0.58 -146.6 434.3 -6.0 277 5755 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

6064 -0.58 -146.6 452.0 -5.8 292 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

6373 -0.58 -146.6 468.2 -5.0 307 6374 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

6682 -0.58 -146.6 482.8 -4.8 322 6683 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

6992 -0.58 -146.6 498.9 -5.6 337 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

7300 -0.58 -146.6 519.0 -7.3 352 7301 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

7609 -0.58 -146.6 541.5 -7.1 367 7610 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

7919 -0.58 -146.6 561.2 -5.8 382 7920 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3380

8228 -0.58 -146.6 579.0 -5.9 397 8229 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3379

8538 -0.62 -146.6 600.4 -7.6 412 8539 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3379

8847 -0.67 -146.6 622.7 -6.8 427 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3379

9156 -0.67 -146.6 646.0 -7.9 442 9157 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2239 3379

9465 -0.67 -146.6 670.2 -7.1 457 9469 0.00 2.62 0.00 0.000 4 0.000 0.071 2173 3646 3379

9515 -0.73 -146.6 673.7 -6.8 459 9520 0.15 2.55 0.00 0.000 6 0.046 0.050 2131 2226 3379

9831 -0.66 -146.6 694.8 -6.8 474 9833 0.12 0.00 0.00 0.000 6 0.090 0.000 2155 2225 3378

10140 -0.66 -146.6 717.2 -7.5 489 10141 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2225 3379

10450 -0.66 -146.6 736.2 -5.5 504 10451 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2225 3378

10758 -0.66 -146.6 753.3 -6.1 519 10760 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2225 3378

11072 -0.66 -146.6 775.5 -7.6 534 11077 0.00 2.67 0.00 0.000 4 0.000 0.077 2155 3637 3377

11117 -0.66 -146.6 779.0 -6.8 536 11121 0.00 2.55 0.00 0.000 6 0.000 0.053 2155 2227 3377

11437 -0.66 -146.6 801.7 -7.3 552 11438 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2226 3376

11747 -0.66 -146.6 821.0 -6.8 567 11748 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2226 3376

11930 end dive: BOTTOM_OBSTACLE_DETECTED

state 11930 begin apogee

11937 -0.31 0.0 834.0 7.0 576 12073 0.38 0.00 133.50 1.173 6 0.089 0.000 2231 2226 2781

12074 end apogee: CONTROL_FINISHED_OK

state 12074 begin climb

12077 0.85 146.6 839.3 0.0 583 12217 1.20 2.67 133.10 1.153 4 0.080 0.064 2481 832 2183

12252 0.90 191.7 835.2 4.8 592 12301 0.00 2.62 41.42 1.118 6 0.000 0.051 2481 2246 1999

12626 1.02 191.7 812.3 6.6 610 12631 0.15 2.67 0.00 0.000 4 0.052 0.064 2528 827 1999

12839 0.91 191.7 794.5 8.5 619 12846 0.15 2.60 0.00 0.000 6 0.091 0.050 2498 2249 1997

13154 0.91 191.7 769.5 7.7 635 13156 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2248 1997

13464 0.91 191.7 747.4 6.8 650 13465 0.00 0.00 0.00 0.000 6 0.000 0.000 2498 2249 1996

13773 0.91 191.7 726.1 7.5 665 13774 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2249 1996

14082 0.91 191.7 700.9 8.1 680 14083 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2248 1995

14392 0.93 205.1 679.9 5.6 695 14411 0.00 0.00 12.88 0.979 6 0.000 0.000 2498 2249 1944

14721 0.95 230.4 660.9 5.3 711 14751 0.00 2.72 23.45 1.023 4 0.000 0.071 2498 3642 1841

14787 0.96 232.6 657.0 5.9 714 14791 0.00 2.60 0.00 0.000 6 0.000 0.053 2499 2235 1841

15114 0.96 232.6 631.2 9.3 730 15118 0.00 2.67 0.00 0.000 4 0.000 0.072 2498 3645 1841

15157 0.96 232.6 626.6 10.5 732 15162 0.00 2.58 0.00 0.000 6 0.000 0.051 2498 2234 1841

15479 0.96 235.4 602.7 5.9 748 15493 0.00 2.70 6.45 0.813 4 0.000 0.063 2498 823 1820

15523 1.00 235.4 600.2 6.2 750 15528 0.00 2.60 0.00 0.000 6 0.000 0.048 2498 2243 1820

15851 1.01 240.5 581.3 5.9 766 15864 0.00 2.65 6.28 0.800 4 0.000 0.061 2498 828 1799

15899 1.05 242.9 578.5 5.9 768 15904 0.15 2.58 0.00 0.000 6 0.049 0.047 2537 2244 1799

16221 0.99 258.0 559.1 5.6 784 16241 0.10 0.00 16.58 0.937 6 0.090 0.000 2518 2244 1729

16550 1.00 266.6 542.5 5.8 800 16565 0.00 2.67 9.35 0.856 4 0.000 0.068 2518 3651 1693

16605 1.00 266.6 538.3 7.7 801 16611 0.00 2.58 0.00 0.000 6 0.000 0.051 2518 2243 1693

16920 1.00 266.6 514.1 8.5 817 16921 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2243 1693

17230 1.00 266.6 485.7 9.1 832 17231 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2243 1693

17539 1.00 266.6 462.4 6.1 847 17540 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2243 1693

17849 1.10 355.3 449.1 3.6 862 17928 0.00 0.00 75.80 0.915 6 0.000 0.000 2518 2243 1332

18239 1.16 358.5 430.8 5.9 881 18249 0.17 2.65 4.55 0.621 4 0.045 0.061 2569 827 1319

18279 1.08 358.5 427.2 9.0 883 18284 0.17 2.58 0.00 0.000 6 0.082 0.047 2533 2239 1319

18606 1.08 358.5 395.7 10.7 899 18607 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2239 1319

18915 1.08 358.5 360.6 11.1 914 18916 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2239 1319

19224 1.08 358.5 328.6 9.3 929 19228 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 825 1319

19265 1.14 358.5 325.1 8.4 931 19269 0.00 2.58 0.00 0.000 6 0.000 0.047 2533 2243 1319

19591 1.14 358.5 300.8 7.0 947 19592 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1319

19900 1.14 358.5 279.4 7.3 962 19904 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 825 1319

19956 1.18 358.5 275.1 7.9 964 19962 0.12 2.55 0.00 0.000 6 0.049 0.047 2569 2241 1319

20272 1.11 358.5 244.5 10.2 980 20277 0.12 2.62 0.00 0.000 4 0.087 0.068 2544 3650 1320

20305 1.11 358.5 240.8 10.3 981 20311 0.00 2.58 0.00 0.000 6 0.000 0.051 2544 2234 1320

20621 1.11 358.5 211.1 8.1 997 20625 0.00 2.58 0.00 0.000 4 0.000 0.061 2544 827 1320

20670 1.11 358.5 207.1 7.3 999 20675 0.00 2.55 0.00 0.000 6 0.000 0.046 2544 2243 1320

20986 1.11 358.5 177.0 10.9 1014 20987 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2243 1320

21296 1.11 358.5 143.8 9.5 1029 21297 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2243 1320

21605 1.11 358.5 115.6 10.1 1044 21609 0.00 2.62 0.00 0.000 4 0.000 0.060 2544 823 1320

21649 1.11 358.5 110.6 11.1 1046 21653 0.00 2.55 0.00 0.000 6 0.000 0.044 2544 2244 1320

21970 1.11 358.5 74.5 11.2 1062 21971 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2244 1320

22280 1.11 358.5 47.7 6.3 1077 22285 0.00 2.62 0.00 0.000 4 0.000 0.059 2544 819 1320

22336 1.18 368.9 44.3 5.7 1079 22352 0.00 2.55 10.32 0.590 6 0.000 0.046 2544 2248 1276

22669 1.18 368.9 17.1 8.1 1096 22670 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2249 1276

22851 end climb: SURFACE_DEPTH_REACHED

state 22851 begin surface coast

22874 end surface coast: CONTROL_FINISHED_OK

state 22874 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	215	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	25	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	-2097648	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	0	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	174725,6348.773,-1311.840,24,1.9,42,-12.5	TGT_NAME	BT1
_CALLS	1	TGT_LATLONG	6401.000,-1331.000
_XMS_NAKs	5	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.14	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-50.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	175356,6348.759,-1311.749,15,2.0,32,-12.5	MHEAD_RNG_PITCHd_Wd	337.9,27531,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026928	ALTIM_BOTTOM_PING	800.2,43.4
SM_CCo	22896,91.43,0.592,0,0,508,557.32	_24V_AH	23.5,37.854
SM_GC	1.28,0.00,0.00,91.43,0.000,0.000,0.592,73,2250,508,-10.24,0.57,557.32	_10V_AH	10.2,19.338
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56825,1106
TT8_MAMPS	0.02301	CAP_FILE_SIZE	143664,0
HUMID	1858	CFSIZE	260165632,245063680
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	26	GPS	230708,001837,6352.137,-1313.984,35,1.3,36,-12.5
ALTIM_TOP_PING	18.8,17.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	100.52	SBE_CT	807	24	455.59
Roll_motor	104	76	187.95	SBE_O2	763	19	340.95
VBD_pump_during_apogee	473	1172	13054.23	WL_BB2F	604	105	1491.97
VBD_pump_during_surface	91	592	1272.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.51	nil	0	0	0.00
Iridium_during_connect	28	160	108.19	nil	0	0	0.00
Iridium_during_xfer	185	223	971.84
Transponder_ping	14	420	138.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.51
TT8	1921	19	388.13
LPSleep	18016	2	402.45
TT8_Active	744	19	150.41
TT8_Sampling	2119	39	860.30
TT8_CF8	571	45	266.81
TT8_Kalman	0	81	0.00
Analog_circuits	1762	12	215.67
GPS_charging	0	0	0.00
Compass	2059	8	168.03
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	148	0.00	0.00	-121.22	0.000	2	0.000	0.000	69	2248	3006
152	-0.85	-146.6	4.2	-3.6	6	178	11.35	2.67	-7.75	0.000	4	0.166	0.068	2107	822	3381
313	-0.69	-146.6	27.9	-11.5	13	318	0.20	2.55	0.00	0.000	6	0.091	0.046	2147	2232	3381
635	-0.60	-146.6	55.4	-8.4	29	637	0.12	0.00	0.00	0.000	6	0.096	0.000	2170	2231	3381
943	-0.60	-146.6	77.9	-7.3	44	948	0.00	2.60	0.00	0.000	4	0.000	0.058	2171	819	3381
984	-0.65	-146.6	80.8	-7.2	46	988	0.00	2.55	0.00	0.000	6	0.000	0.046	2171	2233	3381
1311	-0.65	-146.6	109.9	-9.0	62	1315	0.00	2.60	0.00	0.000	4	0.000	0.067	2171	3640	3381
1355	-0.65	-146.6	114.6	-10.8	64	1359	0.00	2.55	0.00	0.000	6	0.000	0.049	2171	2225	3381
1676	-0.65	-146.6	145.7	-9.6	80	1680	0.00	2.58	0.00	0.000	4	0.000	0.059	2171	810	3382
1727	-0.70	-146.6	150.5	-9.2	82	1732	0.12	2.58	0.00	0.000	6	0.045	0.047	2127	2238	3382
2043	-0.58	-146.6	182.7	-9.5	97	2045	0.22	0.00	0.00	0.000	6	0.081	0.000	2173	2238	3382
2354	-0.58	-146.6	200.0	-5.3	112	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
2662	-0.58	-146.6	216.6	-5.7	127	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3382
2970	-0.58	-146.6	237.5	-7.5	142	2971	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2237	3382
3280	-0.58	-146.6	262.5	-7.7	157	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
3589	-0.58	-146.6	289.1	-8.4	172	3590	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
3898	-0.58	-146.6	315.0	-8.5	187	3899	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
4207	-0.58	-146.6	337.9	-6.8	202	4208	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2239	3381
4517	-0.58	-146.6	357.5	-6.1	217	4518	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
4826	-0.58	-146.6	376.5	-6.3	232	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3381
5135	-0.58	-146.6	396.2	-6.5	247	5136	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
5445	-0.58	-146.6	416.1	-6.2	262	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2238	3381
5754	-0.58	-146.6	434.3	-6.0	277	5755	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
6064	-0.58	-146.6	452.0	-5.8	292	6065	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
6373	-0.58	-146.6	468.2	-5.0	307	6374	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
6682	-0.58	-146.6	482.8	-4.8	322	6683	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
6992	-0.58	-146.6	498.9	-5.6	337	6993	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
7300	-0.58	-146.6	519.0	-7.3	352	7301	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
7609	-0.58	-146.6	541.5	-7.1	367	7610	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
7919	-0.58	-146.6	561.2	-5.8	382	7920	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3380
8228	-0.58	-146.6	579.0	-5.9	397	8229	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3379
8538	-0.62	-146.6	600.4	-7.6	412	8539	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3379
8847	-0.67	-146.6	622.7	-6.8	427	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3379
9156	-0.67	-146.6	646.0	-7.9	442	9157	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2239	3379
9465	-0.67	-146.6	670.2	-7.1	457	9469	0.00	2.62	0.00	0.000	4	0.000	0.071	2173	3646	3379
9515	-0.73	-146.6	673.7	-6.8	459	9520	0.15	2.55	0.00	0.000	6	0.046	0.050	2131	2226	3379
9831	-0.66	-146.6	694.8	-6.8	474	9833	0.12	0.00	0.00	0.000	6	0.090	0.000	2155	2225	3378
10140	-0.66	-146.6	717.2	-7.5	489	10141	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2225	3379
10450	-0.66	-146.6	736.2	-5.5	504	10451	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2225	3378
10758	-0.66	-146.6	753.3	-6.1	519	10760	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2225	3378
11072	-0.66	-146.6	775.5	-7.6	534	11077	0.00	2.67	0.00	0.000	4	0.000	0.077	2155	3637	3377
11117	-0.66	-146.6	779.0	-6.8	536	11121	0.00	2.55	0.00	0.000	6	0.000	0.053	2155	2227	3377
11437	-0.66	-146.6	801.7	-7.3	552	11438	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2226	3376
11747	-0.66	-146.6	821.0	-6.8	567	11748	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2226	3376
11930	end dive: BOTTOM_OBSTACLE_DETECTED
state	11930	begin apogee
11937	-0.31	0.0	834.0	7.0	576	12073	0.38	0.00	133.50	1.173	6	0.089	0.000	2231	2226	2781
12074	end apogee: CONTROL_FINISHED_OK
state	12074	begin climb
12077	0.85	146.6	839.3	0.0	583	12217	1.20	2.67	133.10	1.153	4	0.080	0.064	2481	832	2183
12252	0.90	191.7	835.2	4.8	592	12301	0.00	2.62	41.42	1.118	6	0.000	0.051	2481	2246	1999
12626	1.02	191.7	812.3	6.6	610	12631	0.15	2.67	0.00	0.000	4	0.052	0.064	2528	827	1999
12839	0.91	191.7	794.5	8.5	619	12846	0.15	2.60	0.00	0.000	6	0.091	0.050	2498	2249	1997
13154	0.91	191.7	769.5	7.7	635	13156	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2248	1997
13464	0.91	191.7	747.4	6.8	650	13465	0.00	0.00	0.00	0.000	6	0.000	0.000	2498	2249	1996
13773	0.91	191.7	726.1	7.5	665	13774	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2249	1996
14082	0.91	191.7	700.9	8.1	680	14083	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2248	1995
14392	0.93	205.1	679.9	5.6	695	14411	0.00	0.00	12.88	0.979	6	0.000	0.000	2498	2249	1944
14721	0.95	230.4	660.9	5.3	711	14751	0.00	2.72	23.45	1.023	4	0.000	0.071	2498	3642	1841
14787	0.96	232.6	657.0	5.9	714	14791	0.00	2.60	0.00	0.000	6	0.000	0.053	2499	2235	1841
15114	0.96	232.6	631.2	9.3	730	15118	0.00	2.67	0.00	0.000	4	0.000	0.072	2498	3645	1841
15157	0.96	232.6	626.6	10.5	732	15162	0.00	2.58	0.00	0.000	6	0.000	0.051	2498	2234	1841
15479	0.96	235.4	602.7	5.9	748	15493	0.00	2.70	6.45	0.813	4	0.000	0.063	2498	823	1820
15523	1.00	235.4	600.2	6.2	750	15528	0.00	2.60	0.00	0.000	6	0.000	0.048	2498	2243	1820
15851	1.01	240.5	581.3	5.9	766	15864	0.00	2.65	6.28	0.800	4	0.000	0.061	2498	828	1799
15899	1.05	242.9	578.5	5.9	768	15904	0.15	2.58	0.00	0.000	6	0.049	0.047	2537	2244	1799
16221	0.99	258.0	559.1	5.6	784	16241	0.10	0.00	16.58	0.937	6	0.090	0.000	2518	2244	1729
16550	1.00	266.6	542.5	5.8	800	16565	0.00	2.67	9.35	0.856	4	0.000	0.068	2518	3651	1693
16605	1.00	266.6	538.3	7.7	801	16611	0.00	2.58	0.00	0.000	6	0.000	0.051	2518	2243	1693
16920	1.00	266.6	514.1	8.5	817	16921	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2243	1693
17230	1.00	266.6	485.7	9.1	832	17231	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2243	1693
17539	1.00	266.6	462.4	6.1	847	17540	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2243	1693
17849	1.10	355.3	449.1	3.6	862	17928	0.00	0.00	75.80	0.915	6	0.000	0.000	2518	2243	1332
18239	1.16	358.5	430.8	5.9	881	18249	0.17	2.65	4.55	0.621	4	0.045	0.061	2569	827	1319
18279	1.08	358.5	427.2	9.0	883	18284	0.17	2.58	0.00	0.000	6	0.082	0.047	2533	2239	1319
18606	1.08	358.5	395.7	10.7	899	18607	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2239	1319
18915	1.08	358.5	360.6	11.1	914	18916	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2239	1319
19224	1.08	358.5	328.6	9.3	929	19228	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	825	1319
19265	1.14	358.5	325.1	8.4	931	19269	0.00	2.58	0.00	0.000	6	0.000	0.047	2533	2243	1319
19591	1.14	358.5	300.8	7.0	947	19592	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1319
19900	1.14	358.5	279.4	7.3	962	19904	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	825	1319
19956	1.18	358.5	275.1	7.9	964	19962	0.12	2.55	0.00	0.000	6	0.049	0.047	2569	2241	1319
20272	1.11	358.5	244.5	10.2	980	20277	0.12	2.62	0.00	0.000	4	0.087	0.068	2544	3650	1320
20305	1.11	358.5	240.8	10.3	981	20311	0.00	2.58	0.00	0.000	6	0.000	0.051	2544	2234	1320
20621	1.11	358.5	211.1	8.1	997	20625	0.00	2.58	0.00	0.000	4	0.000	0.061	2544	827	1320
20670	1.11	358.5	207.1	7.3	999	20675	0.00	2.55	0.00	0.000	6	0.000	0.046	2544	2243	1320
20986	1.11	358.5	177.0	10.9	1014	20987	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2243	1320
21296	1.11	358.5	143.8	9.5	1029	21297	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2243	1320
21605	1.11	358.5	115.6	10.1	1044	21609	0.00	2.62	0.00	0.000	4	0.000	0.060	2544	823	1320
21649	1.11	358.5	110.6	11.1	1046	21653	0.00	2.55	0.00	0.000	6	0.000	0.044	2544	2244	1320
21970	1.11	358.5	74.5	11.2	1062	21971	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2244	1320
22280	1.11	358.5	47.7	6.3	1077	22285	0.00	2.62	0.00	0.000	4	0.000	0.059	2544	819	1320
22336	1.18	368.9	44.3	5.7	1079	22352	0.00	2.55	10.32	0.590	6	0.000	0.046	2544	2248	1276
22669	1.18	368.9	17.1	8.1	1096	22670	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2249	1276
22851	end climb: SURFACE_DEPTH_REACHED
state	22851	begin surface coast
22874	end surface coast: CONTROL_FINISHED_OK
state	22874	begin surface