Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 232 * 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 232 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 22 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 -2098048.2 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 -2098048.2

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 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 232 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 193137,6346.745,-1302.028,36,1.1,42,-12.4 TGT_NAME default

_CALLS 5 TGT_LATLONG 62.000,-6.800

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.27 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -55.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 195539,6346.580,-1303.043,11,1.5,11,-12.4 MHEAD_RNG_PITCHd_Wd 180.8,7118624,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.017923 ALTIM_BOTTOM_PING 650.4,78.3

SM_CCo 19007,111.05,0.590,0,0,508,557.32 _24V_AH 23.6,40.399

SM_GC 1.30,0.00,0.00,111.05,0.000,0.000,0.590,70,2244,508,-10.26,0.40,557.32 _10V_AH 10.2,20.585

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47406,915

TT8_MAMPS 0.02301 CAP_FILE_SIZE 144782,1

HUMID 1868 CFSIZE 260165632,244064256

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 105 GPS 260708,011555,6343.862,-1302.465,38,1.8,38,-12.3

ALTIM_TOP_PING 19.0,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 178 115.25 SBE_CT 674 24 381.76

Roll_motor 155 72 268.04 SBE_O2 625 19 280.28

VBD_pump_during_apogee 426 1086 10934.34 WL_BB2F 539 105 1336.19

VBD_pump_during_surface 111 589 1545.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 90 103 220.85 nil 0 0 0.00

Iridium_during_connect 160 160 605.49 nil 0 0 0.00

Iridium_during_xfer 798 223 4201.80

Transponder_ping 32 420 317.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.05

TT8 1642 19 331.71

LPSleep 14942 2 333.78

TT8_Active 720 19 145.53

TT8_Sampling 1857 39 754.01

TT8_CF8 1398 45 653.30

TT8_Kalman 0 81 0.00

Analog_circuits 1675 12 205.11

GPS_charging 0 0 0.00

Compass 1822 8 148.71

RAFOS 0 0 0.00

Guidance and control:

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

21 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -118.57 0.000 2 0.000 0.000 69 2254 2949

151 -0.85 -146.6 4.0 -3.2 6 177 9.60 2.67 -10.07 0.000 4 0.179 0.071 1754 814 3382

199 0.22 -146.6 18.7 -31.3 8 209 3.10 2.58 0.00 0.000 6 0.130 0.049 2342 2233 3382

538 -0.34 -146.6 47.1 -8.1 25 544 0.50 2.60 0.00 0.000 4 0.049 0.052 2224 812 3381

583 -0.78 -146.6 50.5 -6.7 27 589 0.43 2.55 0.00 0.000 6 0.049 0.046 2126 2235 3382

905 -0.70 -146.6 71.8 -6.6 43 910 0.10 2.60 0.00 0.000 4 0.093 0.064 2144 3641 3382

1076 -0.65 -146.6 86.4 -8.6 50 1082 0.00 2.55 0.00 0.000 6 0.000 0.049 2144 2223 3382

1392 -0.58 -146.6 114.0 -8.8 66 1397 0.12 2.58 0.00 0.000 4 0.088 0.059 2170 814 3382

1421 -0.63 -146.6 116.5 -8.8 67 1425 0.00 2.55 0.00 0.000 6 0.000 0.047 2170 2226 3382

1738 -0.63 -146.6 140.3 -7.0 82 1742 0.00 2.62 0.00 0.000 4 0.000 0.068 2170 3643 3382

1771 -0.63 -146.6 142.9 -7.2 83 1777 0.00 2.55 0.00 0.000 6 0.000 0.049 2170 2225 3382

2087 -0.63 -146.6 165.6 -6.9 99 2088 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2225 3382

2395 -0.63 -146.6 187.9 -7.6 114 2400 0.00 2.62 0.00 0.000 4 0.000 0.070 2170 3638 3382

2423 -0.63 -146.6 190.2 -8.3 115 2427 0.00 2.55 0.00 0.000 6 0.000 0.049 2170 2221 3382

2739 -0.63 -146.6 214.3 -7.4 130 2740 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3381

3048 -0.63 -146.6 239.7 -8.0 145 3052 0.00 2.65 0.00 0.000 4 0.000 0.070 2170 3638 3381

3074 -0.63 -146.6 242.1 -8.8 146 3079 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2221 3381

3391 -0.63 -146.6 265.3 -7.2 161 3395 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3641 3381

3424 -0.63 -146.6 267.8 -7.8 162 3429 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2222 3381

3739 -0.63 -146.6 290.5 -6.9 178 3743 0.00 2.55 0.00 0.000 4 0.000 0.061 2170 817 3381

3767 -0.68 -146.6 292.5 -7.2 179 3771 0.00 2.53 0.00 0.000 6 0.000 0.048 2170 2230 3381

4082 -0.68 -146.6 313.4 -6.5 194 4087 0.00 2.62 0.00 0.000 4 0.000 0.071 2170 3644 3380

4116 -0.68 -146.6 315.9 -7.1 195 4122 0.00 2.55 0.00 0.000 6 0.000 0.051 2171 2224 3380

4432 -0.68 -146.6 336.3 -6.3 211 4434 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2225 3380

4741 -0.68 -146.6 356.9 -6.9 226 4745 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3640 3380

4768 -0.68 -146.6 359.1 -7.9 227 4772 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2227 3379

5084 -0.68 -146.6 380.4 -6.8 242 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2226 3379

5393 -0.68 -146.6 402.4 -7.4 257 5397 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3640 3379

5419 -0.68 -146.6 404.8 -8.6 258 5424 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2222 3379

5736 -0.68 -146.6 431.9 -9.3 273 5737 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2222 3379

6044 -0.68 -146.6 462.4 -10.0 288 6045 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2222 3379

6354 -0.68 -146.6 492.8 -9.4 303 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3379

6663 -0.68 -146.6 518.0 -7.7 318 6668 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3640 3379

6703 -0.68 -146.6 521.2 -8.7 320 6708 0.00 2.55 0.00 0.000 6 0.000 0.050 2170 2222 3379

7031 -0.68 -146.6 542.9 -6.9 336 7032 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2222 3378

7340 -0.68 -146.6 563.2 -6.1 351 7341 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2220 3378

7650 -0.68 -146.6 582.3 -5.9 366 7651 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2221 3378

7959 -0.68 -146.6 600.5 -6.9 381 7963 0.00 2.65 0.00 0.000 4 0.000 0.071 2170 3639 3378

8004 -0.73 -146.6 604.2 -8.2 383 8009 0.15 2.53 0.00 0.000 6 0.049 0.049 2131 2227 3378

8325 -0.66 -146.6 637.0 -10.6 399 8330 0.12 2.58 0.00 0.000 4 0.087 0.061 2156 817 3378

8375 -0.71 -146.6 642.2 -10.4 401 8380 0.00 2.55 0.00 0.000 6 0.000 0.048 2157 2236 3378

8692 -0.71 -146.6 669.7 -8.2 416 8696 0.00 2.62 0.00 0.000 4 0.000 0.073 2156 3643 3377

8736 -0.71 -146.6 673.4 -8.4 418 8740 0.00 2.55 0.00 0.000 6 0.000 0.051 2156 2223 3377

9056 -0.71 -146.6 698.5 -8.1 434 9061 0.00 2.58 0.00 0.000 4 0.000 0.064 2156 820 3378

9113 -0.78 -146.6 703.1 -8.2 436 9120 0.12 2.55 0.00 0.000 6 0.048 0.051 2116 2230 3377

9282 end dive: BOTTOM_OBSTACLE_DETECTED

state 9282 begin apogee

9288 -0.31 0.0 718.8 9.5 445 9425 0.55 0.00 131.73 1.087 6 0.086 0.000 2227 2230 2780

9425 end apogee: CONTROL_FINISHED_OK

state 9425 begin climb

9429 0.85 146.6 725.2 0.0 452 9571 1.20 2.72 130.38 1.068 4 0.078 0.061 2480 827 2182

9620 0.89 190.7 721.0 4.8 461 9665 0.00 2.60 40.15 1.033 6 0.000 0.050 2480 2242 2003

9990 0.97 205.8 701.0 5.6 479 10007 0.15 0.00 14.57 0.961 6 0.065 0.000 2515 2242 1942

10316 0.98 211.1 680.2 5.9 495 10324 0.00 0.00 6.35 0.816 6 0.000 0.000 2515 2242 1920

10626 0.98 211.1 662.5 6.3 510 10630 0.00 2.65 0.00 0.000 4 0.000 0.073 2515 3653 1919

10681 0.98 211.1 658.4 7.4 512 10687 0.00 2.58 0.00 0.000 6 0.000 0.055 2515 2243 1919

10997 0.92 211.1 635.3 7.7 528 10998 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2243 1918

11306 0.92 211.1 606.9 9.7 543 11311 0.00 2.62 0.00 0.000 4 0.000 0.066 2516 825 1917

11340 0.87 211.1 603.6 9.1 544 11347 0.12 2.58 0.00 0.000 6 0.092 0.049 2491 2242 1917

11656 0.92 211.1 576.1 9.1 560 11660 0.00 2.65 0.00 0.000 4 0.000 0.071 2491 3654 1917

11700 0.92 211.1 571.9 9.8 562 11705 0.00 2.58 0.00 0.000 6 0.000 0.054 2491 2240 1918

12021 0.92 211.1 547.9 7.8 578 12023 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2240 1917

12331 0.96 211.1 529.0 6.7 593 12332 0.00 0.00 0.00 0.000 6 0.000 0.000 2491 2240 1917

12641 1.04 240.5 510.8 5.2 608 12670 0.15 0.00 26.45 0.927 6 0.048 0.000 2527 2239 1800

12969 1.04 240.5 488.3 6.9 624 12974 0.00 2.65 0.00 0.000 4 0.000 0.071 2527 3650 1800

13014 0.99 240.5 484.8 7.9 626 13018 0.00 2.58 0.00 0.000 6 0.000 0.052 2527 2235 1800

13335 0.99 240.5 460.9 7.5 642 13339 0.00 2.65 0.00 0.000 4 0.000 0.069 2527 3648 1800

13374 0.99 240.5 457.7 7.7 644 13379 0.00 2.58 0.00 0.000 6 0.000 0.052 2527 2235 1800

13701 0.99 240.5 433.5 7.1 660 13705 0.00 2.65 0.00 0.000 4 0.000 0.070 2528 3648 1800

13729 0.95 240.5 431.4 7.0 661 13733 0.00 2.55 0.00 0.000 6 0.000 0.052 2527 2240 1800

14045 0.95 240.5 407.9 7.5 676 14046 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2240 1800

14354 0.95 240.5 383.2 7.9 691 14359 0.00 2.65 0.00 0.000 4 0.000 0.070 2527 3654 1800

14400 0.91 240.5 379.3 8.8 693 14405 0.15 2.58 0.00 0.000 6 0.087 0.052 2496 2232 1800

14720 0.91 240.5 357.8 6.3 709 14722 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2232 1800

15030 0.92 247.8 339.2 5.8 724 15044 0.00 2.70 8.00 0.713 4 0.000 0.069 2496 3647 1770

15062 0.92 247.8 337.0 6.5 725 15067 0.00 2.58 0.00 0.000 6 0.000 0.052 2496 2236 1770

15378 0.92 247.8 317.4 6.4 740 15379 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2235 1770

15688 0.92 247.8 296.8 6.7 755 15692 0.00 2.65 0.00 0.000 4 0.000 0.068 2496 3653 1770

15720 0.92 247.8 294.4 6.8 756 15726 0.00 2.55 0.00 0.000 6 0.000 0.052 2496 2239 1770

16036 0.92 247.8 274.5 6.1 772 16037 0.00 0.00 0.00 0.000 6 0.000 0.000 2496 2240 1770

16345 0.95 275.1 257.0 5.3 787 16371 0.00 0.00 24.08 0.762 6 0.000 0.000 2496 2239 1659

16675 1.01 328.4 241.8 4.5 803 16726 0.10 2.70 44.60 0.764 4 0.050 0.068 2525 3650 1442

16755 1.01 328.4 236.9 6.7 807 16759 0.00 2.60 0.00 0.000 6 0.000 0.052 2526 2240 1442

17082 1.01 328.4 210.1 10.9 823 17086 0.00 2.62 0.00 0.000 4 0.000 0.064 2527 824 1442

17125 1.01 328.4 204.2 13.1 825 17130 0.00 2.58 0.00 0.000 6 0.000 0.047 2526 2246 1441

17447 1.01 328.4 152.9 16.3 841 17448 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2246 1442

17757 1.01 328.4 110.9 11.9 856 17761 0.00 2.62 0.00 0.000 4 0.000 0.062 2526 827 1441

17784 1.01 328.4 107.7 12.8 857 17788 0.00 2.55 0.00 0.000 6 0.000 0.047 2526 2242 1442

18101 1.01 328.4 75.3 10.2 872 18102 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2242 1442

18410 1.01 328.4 45.8 8.8 887 18411 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2242 1442

18718 1.01 328.4 20.4 7.9 902 18719 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2242 1441

18963 end climb: SURFACE_DEPTH_REACHED

state 18963 begin surface coast

18985 end surface coast: CONTROL_FINISHED_OK

state 18985 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	232	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	22	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	-2098048.2	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	193137,6346.745,-1302.028,36,1.1,42,-12.4	TGT_NAME	default
_CALLS	5	TGT_LATLONG	62.000,-6.800
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.27	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-55.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	195539,6346.580,-1303.043,11,1.5,11,-12.4	MHEAD_RNG_PITCHd_Wd	180.8,7118624,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.017923	ALTIM_BOTTOM_PING	650.4,78.3
SM_CCo	19007,111.05,0.590,0,0,508,557.32	_24V_AH	23.6,40.399
SM_GC	1.30,0.00,0.00,111.05,0.000,0.000,0.590,70,2244,508,-10.26,0.40,557.32	_10V_AH	10.2,20.585
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47406,915
TT8_MAMPS	0.02301	CAP_FILE_SIZE	144782,1
HUMID	1868	CFSIZE	260165632,244064256
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	105	GPS	260708,011555,6343.862,-1302.465,38,1.8,38,-12.3
ALTIM_TOP_PING	19.0,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	178	115.25	SBE_CT	674	24	381.76
Roll_motor	155	72	268.04	SBE_O2	625	19	280.28
VBD_pump_during_apogee	426	1086	10934.34	WL_BB2F	539	105	1336.19
VBD_pump_during_surface	111	589	1545.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	90	103	220.85	nil	0	0	0.00
Iridium_during_connect	160	160	605.49	nil	0	0	0.00
Iridium_during_xfer	798	223	4201.80
Transponder_ping	32	420	317.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.05
TT8	1642	19	331.71
LPSleep	14942	2	333.78
TT8_Active	720	19	145.53
TT8_Sampling	1857	39	754.01
TT8_CF8	1398	45	653.30
TT8_Kalman	0	81	0.00
Analog_circuits	1675	12	205.11
GPS_charging	0	0	0.00
Compass	1822	8	148.71
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-118.57	0.000	2	0.000	0.000	69	2254	2949
151	-0.85	-146.6	4.0	-3.2	6	177	9.60	2.67	-10.07	0.000	4	0.179	0.071	1754	814	3382
199	0.22	-146.6	18.7	-31.3	8	209	3.10	2.58	0.00	0.000	6	0.130	0.049	2342	2233	3382
538	-0.34	-146.6	47.1	-8.1	25	544	0.50	2.60	0.00	0.000	4	0.049	0.052	2224	812	3381
583	-0.78	-146.6	50.5	-6.7	27	589	0.43	2.55	0.00	0.000	6	0.049	0.046	2126	2235	3382
905	-0.70	-146.6	71.8	-6.6	43	910	0.10	2.60	0.00	0.000	4	0.093	0.064	2144	3641	3382
1076	-0.65	-146.6	86.4	-8.6	50	1082	0.00	2.55	0.00	0.000	6	0.000	0.049	2144	2223	3382
1392	-0.58	-146.6	114.0	-8.8	66	1397	0.12	2.58	0.00	0.000	4	0.088	0.059	2170	814	3382
1421	-0.63	-146.6	116.5	-8.8	67	1425	0.00	2.55	0.00	0.000	6	0.000	0.047	2170	2226	3382
1738	-0.63	-146.6	140.3	-7.0	82	1742	0.00	2.62	0.00	0.000	4	0.000	0.068	2170	3643	3382
1771	-0.63	-146.6	142.9	-7.2	83	1777	0.00	2.55	0.00	0.000	6	0.000	0.049	2170	2225	3382
2087	-0.63	-146.6	165.6	-6.9	99	2088	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2225	3382
2395	-0.63	-146.6	187.9	-7.6	114	2400	0.00	2.62	0.00	0.000	4	0.000	0.070	2170	3638	3382
2423	-0.63	-146.6	190.2	-8.3	115	2427	0.00	2.55	0.00	0.000	6	0.000	0.049	2170	2221	3382
2739	-0.63	-146.6	214.3	-7.4	130	2740	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3381
3048	-0.63	-146.6	239.7	-8.0	145	3052	0.00	2.65	0.00	0.000	4	0.000	0.070	2170	3638	3381
3074	-0.63	-146.6	242.1	-8.8	146	3079	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2221	3381
3391	-0.63	-146.6	265.3	-7.2	161	3395	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3641	3381
3424	-0.63	-146.6	267.8	-7.8	162	3429	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2222	3381
3739	-0.63	-146.6	290.5	-6.9	178	3743	0.00	2.55	0.00	0.000	4	0.000	0.061	2170	817	3381
3767	-0.68	-146.6	292.5	-7.2	179	3771	0.00	2.53	0.00	0.000	6	0.000	0.048	2170	2230	3381
4082	-0.68	-146.6	313.4	-6.5	194	4087	0.00	2.62	0.00	0.000	4	0.000	0.071	2170	3644	3380
4116	-0.68	-146.6	315.9	-7.1	195	4122	0.00	2.55	0.00	0.000	6	0.000	0.051	2171	2224	3380
4432	-0.68	-146.6	336.3	-6.3	211	4434	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2225	3380
4741	-0.68	-146.6	356.9	-6.9	226	4745	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3640	3380
4768	-0.68	-146.6	359.1	-7.9	227	4772	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2227	3379
5084	-0.68	-146.6	380.4	-6.8	242	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2226	3379
5393	-0.68	-146.6	402.4	-7.4	257	5397	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3640	3379
5419	-0.68	-146.6	404.8	-8.6	258	5424	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2222	3379
5736	-0.68	-146.6	431.9	-9.3	273	5737	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2222	3379
6044	-0.68	-146.6	462.4	-10.0	288	6045	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2222	3379
6354	-0.68	-146.6	492.8	-9.4	303	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3379
6663	-0.68	-146.6	518.0	-7.7	318	6668	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3640	3379
6703	-0.68	-146.6	521.2	-8.7	320	6708	0.00	2.55	0.00	0.000	6	0.000	0.050	2170	2222	3379
7031	-0.68	-146.6	542.9	-6.9	336	7032	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2222	3378
7340	-0.68	-146.6	563.2	-6.1	351	7341	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2220	3378
7650	-0.68	-146.6	582.3	-5.9	366	7651	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2221	3378
7959	-0.68	-146.6	600.5	-6.9	381	7963	0.00	2.65	0.00	0.000	4	0.000	0.071	2170	3639	3378
8004	-0.73	-146.6	604.2	-8.2	383	8009	0.15	2.53	0.00	0.000	6	0.049	0.049	2131	2227	3378
8325	-0.66	-146.6	637.0	-10.6	399	8330	0.12	2.58	0.00	0.000	4	0.087	0.061	2156	817	3378
8375	-0.71	-146.6	642.2	-10.4	401	8380	0.00	2.55	0.00	0.000	6	0.000	0.048	2157	2236	3378
8692	-0.71	-146.6	669.7	-8.2	416	8696	0.00	2.62	0.00	0.000	4	0.000	0.073	2156	3643	3377
8736	-0.71	-146.6	673.4	-8.4	418	8740	0.00	2.55	0.00	0.000	6	0.000	0.051	2156	2223	3377
9056	-0.71	-146.6	698.5	-8.1	434	9061	0.00	2.58	0.00	0.000	4	0.000	0.064	2156	820	3378
9113	-0.78	-146.6	703.1	-8.2	436	9120	0.12	2.55	0.00	0.000	6	0.048	0.051	2116	2230	3377
9282	end dive: BOTTOM_OBSTACLE_DETECTED
state	9282	begin apogee
9288	-0.31	0.0	718.8	9.5	445	9425	0.55	0.00	131.73	1.087	6	0.086	0.000	2227	2230	2780
9425	end apogee: CONTROL_FINISHED_OK
state	9425	begin climb
9429	0.85	146.6	725.2	0.0	452	9571	1.20	2.72	130.38	1.068	4	0.078	0.061	2480	827	2182
9620	0.89	190.7	721.0	4.8	461	9665	0.00	2.60	40.15	1.033	6	0.000	0.050	2480	2242	2003
9990	0.97	205.8	701.0	5.6	479	10007	0.15	0.00	14.57	0.961	6	0.065	0.000	2515	2242	1942
10316	0.98	211.1	680.2	5.9	495	10324	0.00	0.00	6.35	0.816	6	0.000	0.000	2515	2242	1920
10626	0.98	211.1	662.5	6.3	510	10630	0.00	2.65	0.00	0.000	4	0.000	0.073	2515	3653	1919
10681	0.98	211.1	658.4	7.4	512	10687	0.00	2.58	0.00	0.000	6	0.000	0.055	2515	2243	1919
10997	0.92	211.1	635.3	7.7	528	10998	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2243	1918
11306	0.92	211.1	606.9	9.7	543	11311	0.00	2.62	0.00	0.000	4	0.000	0.066	2516	825	1917
11340	0.87	211.1	603.6	9.1	544	11347	0.12	2.58	0.00	0.000	6	0.092	0.049	2491	2242	1917
11656	0.92	211.1	576.1	9.1	560	11660	0.00	2.65	0.00	0.000	4	0.000	0.071	2491	3654	1917
11700	0.92	211.1	571.9	9.8	562	11705	0.00	2.58	0.00	0.000	6	0.000	0.054	2491	2240	1918
12021	0.92	211.1	547.9	7.8	578	12023	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2240	1917
12331	0.96	211.1	529.0	6.7	593	12332	0.00	0.00	0.00	0.000	6	0.000	0.000	2491	2240	1917
12641	1.04	240.5	510.8	5.2	608	12670	0.15	0.00	26.45	0.927	6	0.048	0.000	2527	2239	1800
12969	1.04	240.5	488.3	6.9	624	12974	0.00	2.65	0.00	0.000	4	0.000	0.071	2527	3650	1800
13014	0.99	240.5	484.8	7.9	626	13018	0.00	2.58	0.00	0.000	6	0.000	0.052	2527	2235	1800
13335	0.99	240.5	460.9	7.5	642	13339	0.00	2.65	0.00	0.000	4	0.000	0.069	2527	3648	1800
13374	0.99	240.5	457.7	7.7	644	13379	0.00	2.58	0.00	0.000	6	0.000	0.052	2527	2235	1800
13701	0.99	240.5	433.5	7.1	660	13705	0.00	2.65	0.00	0.000	4	0.000	0.070	2528	3648	1800
13729	0.95	240.5	431.4	7.0	661	13733	0.00	2.55	0.00	0.000	6	0.000	0.052	2527	2240	1800
14045	0.95	240.5	407.9	7.5	676	14046	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2240	1800
14354	0.95	240.5	383.2	7.9	691	14359	0.00	2.65	0.00	0.000	4	0.000	0.070	2527	3654	1800
14400	0.91	240.5	379.3	8.8	693	14405	0.15	2.58	0.00	0.000	6	0.087	0.052	2496	2232	1800
14720	0.91	240.5	357.8	6.3	709	14722	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2232	1800
15030	0.92	247.8	339.2	5.8	724	15044	0.00	2.70	8.00	0.713	4	0.000	0.069	2496	3647	1770
15062	0.92	247.8	337.0	6.5	725	15067	0.00	2.58	0.00	0.000	6	0.000	0.052	2496	2236	1770
15378	0.92	247.8	317.4	6.4	740	15379	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2235	1770
15688	0.92	247.8	296.8	6.7	755	15692	0.00	2.65	0.00	0.000	4	0.000	0.068	2496	3653	1770
15720	0.92	247.8	294.4	6.8	756	15726	0.00	2.55	0.00	0.000	6	0.000	0.052	2496	2239	1770
16036	0.92	247.8	274.5	6.1	772	16037	0.00	0.00	0.00	0.000	6	0.000	0.000	2496	2240	1770
16345	0.95	275.1	257.0	5.3	787	16371	0.00	0.00	24.08	0.762	6	0.000	0.000	2496	2239	1659
16675	1.01	328.4	241.8	4.5	803	16726	0.10	2.70	44.60	0.764	4	0.050	0.068	2525	3650	1442
16755	1.01	328.4	236.9	6.7	807	16759	0.00	2.60	0.00	0.000	6	0.000	0.052	2526	2240	1442
17082	1.01	328.4	210.1	10.9	823	17086	0.00	2.62	0.00	0.000	4	0.000	0.064	2527	824	1442
17125	1.01	328.4	204.2	13.1	825	17130	0.00	2.58	0.00	0.000	6	0.000	0.047	2526	2246	1441
17447	1.01	328.4	152.9	16.3	841	17448	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2246	1442
17757	1.01	328.4	110.9	11.9	856	17761	0.00	2.62	0.00	0.000	4	0.000	0.062	2526	827	1441
17784	1.01	328.4	107.7	12.8	857	17788	0.00	2.55	0.00	0.000	6	0.000	0.047	2526	2242	1442
18101	1.01	328.4	75.3	10.2	872	18102	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2242	1442
18410	1.01	328.4	45.8	8.8	887	18411	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2242	1442
18718	1.01	328.4	20.4	7.9	902	18719	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2242	1441
18963	end climb: SURFACE_DEPTH_REACHED
state	18963	begin surface coast
18985	end surface coast: CONTROL_FINISHED_OK
state	18985	begin surface