Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 362 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 362 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2085751.2 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2085751.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 362 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 022409,6239.088,-407.827,36,1.4,44,-7.0 TGT_NAME FSCN_NW

_CALLS 1 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,-0.047

_SM_DEPTHo 1.72 KALMAN_X 48291.7,285.5,-845.6,214215.4,-4985.3

_SM_ANGLEo -56.7 KALMAN_Y -46667.7,-1348.4,1009.4,159699.9,-1341.3

GPS2 023126,6239.035,-407.882,13,1.4,30,-7.0 MHEAD_RNG_PITCHd_Wd 150.7,55213,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.013863 ALTIM_BOTTOM_PING 750.9,47.4

SM_CCo 20893,21.25,0.588,2,0,1594,300.00 _24V_AH 23.2,56.724

SM_GC 1.87,0.00,0.00,21.25,0.000,0.000,0.588,72,2394,1594,-10.75,-0.17,300.00 _10V_AH 10.1,29.919

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50622,1007

TT8_MAMPS 0.023777 CFSIZE 260165632,238989312

HUMID 2099 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,2,0

TCM_TEMP 16.10 GPS 210108,082208,6238.366,-407.050,27,1.3,27,-6.9

XPDR_PINGS 112

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 100.64 SBE_CT 751 24 418.27

Roll_motor 145 92 313.55 SBE_O2 692 19 305.12

VBD_pump_during_apogee 360 1238 10370.09 WL_BB2F 593 105 1445.05

VBD_pump_during_surface 21 588 290.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.89 nil 0 0 0.00

Iridium_during_connect 38 160 142.11 nil 0 0 0.00

Iridium_during_xfer 215 223 1113.05

Transponder_ping 34 420 336.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.58

TT8 1817 19 363.38

LPSleep 16278 2 360.06

TT8_Active 540 19 108.01

TT8_Sampling 2126 39 854.70

TT8_CF8 595 45 275.33

TT8_Kalman 33 81 27.56

Analog_circuits 1565 12 189.75

GPS_charging 0 0 0.00

Compass 2066 8 166.94

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -61.25 0.000 2 0.000 0.000 73 2408 3056

90 -0.85 -146.6 3.8 -4.9 3 116 12.10 2.62 -8.77 0.000 4 0.170 0.092 2221 3763 3416

369 -0.85 -146.6 32.6 -7.5 15 375 0.00 2.55 0.00 0.000 6 0.000 0.059 2220 2391 3417

687 -0.85 -146.6 60.7 -10.2 31 691 0.00 2.67 0.00 0.000 4 0.000 0.082 2221 3768 3417

839 -0.85 -146.6 76.5 -11.6 38 843 0.00 2.55 0.00 0.000 6 0.000 0.057 2221 2396 3418

1167 -0.85 -146.6 104.1 -7.0 54 1171 0.00 2.67 0.00 0.000 4 0.000 0.075 2221 983 3418

1211 -0.85 -146.6 107.8 -7.4 56 1215 0.00 2.65 0.00 0.000 6 0.000 0.063 2221 2397 3418

1532 -0.85 -146.6 130.9 -8.6 72 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3419

1840 -0.85 -146.6 159.7 -10.0 87 1842 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3419

2150 -0.85 -146.6 184.2 -7.4 102 2151 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3419

2459 -0.85 -146.6 210.9 -8.7 117 2460 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3419

2768 -0.85 -146.6 239.9 -8.8 132 2773 0.00 2.70 0.00 0.000 4 0.000 0.075 2221 983 3419

2875 -0.85 -146.6 249.3 -8.6 137 2880 0.00 2.65 0.00 0.000 6 0.000 0.064 2221 2400 3419

3202 -0.85 -146.6 274.6 -7.4 153 3206 0.00 2.65 0.00 0.000 4 0.000 0.087 2221 3767 3419

3279 -0.85 -146.6 282.1 -9.6 156 3283 0.00 2.58 0.00 0.000 6 0.000 0.063 2221 2394 3420

3596 -0.85 -146.6 306.4 -7.9 171 3600 0.00 2.72 0.00 0.000 4 0.000 0.081 2221 976 3419

3680 -0.85 -146.6 313.5 -9.5 175 3684 0.00 2.67 0.00 0.000 6 0.000 0.067 2221 2400 3420

4007 -0.85 -146.6 339.5 -6.9 191 4011 0.00 2.70 0.00 0.000 4 0.000 0.077 2221 982 3420

4073 -0.85 -146.6 344.4 -7.1 194 4077 0.00 2.65 0.00 0.000 6 0.000 0.068 2221 2400 3420

4393 -0.85 -146.6 363.7 -6.3 210 4394 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3421

4703 -0.85 -146.6 385.8 -7.2 225 4707 0.00 2.70 0.00 0.000 4 0.000 0.093 2221 3773 3420

4809 -0.85 -146.6 394.5 -8.3 230 4814 0.00 2.60 0.00 0.000 6 0.000 0.067 2221 2396 3419

5137 -0.85 -146.6 418.3 -7.6 246 5138 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2396 3419

5446 -0.85 -146.6 443.0 -8.0 261 5450 0.00 2.72 0.00 0.000 4 0.000 0.085 2221 985 3420

5512 -0.85 -146.6 448.6 -8.1 264 5516 0.00 2.67 0.00 0.000 6 0.000 0.071 2220 2400 3420

5834 -0.85 -146.6 472.5 -7.7 280 5835 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3419

6142 -0.85 -146.6 497.1 -8.0 295 6147 0.00 2.75 0.00 0.000 4 0.000 0.084 2221 978 3419

6192 -0.85 -146.6 501.3 -8.2 297 6197 0.00 2.70 0.00 0.000 6 0.000 0.072 2220 2400 3419

6509 -0.85 -146.6 526.2 -7.8 312 6510 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

6817 -0.85 -146.6 549.4 -7.3 327 6821 0.00 2.75 0.00 0.000 4 0.000 0.084 2221 982 3417

6860 -0.85 -146.6 552.8 -7.5 329 6865 0.00 2.67 0.00 0.000 6 0.000 0.073 2221 2401 3416

7183 -0.85 -146.6 576.0 -7.3 345 7184 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2402 3415

7491 -0.85 -146.6 598.8 -7.7 360 7495 0.00 2.75 0.00 0.000 4 0.000 0.084 2221 982 3414

7557 -0.85 -146.6 604.1 -8.4 363 7561 0.00 2.70 0.00 0.000 6 0.000 0.074 2220 2408 3414

7878 -0.85 -146.6 628.3 -7.5 379 7879 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2408 3413

8186 -0.85 -146.6 652.7 -7.9 394 8191 0.00 2.78 0.00 0.000 4 0.000 0.084 2221 978 3412

8252 -0.85 -146.6 658.2 -8.3 397 8257 0.00 2.67 0.00 0.000 6 0.000 0.074 2221 2400 3411

8574 -0.85 -146.6 684.4 -8.2 413 8575 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3411

8883 -0.85 -146.6 710.8 -8.5 428 8887 0.00 2.75 0.00 0.000 4 0.000 0.084 2221 979 3409

8938 -0.85 -146.6 715.5 -8.6 430 8944 0.00 2.67 0.00 0.000 6 0.000 0.074 2221 2399 3409

9254 -0.85 -146.6 740.1 -7.8 446 9256 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2402 3408

9563 -0.85 -146.6 762.8 -7.2 461 9567 0.00 2.72 0.00 0.000 4 0.000 0.082 2221 985 3408

9606 -0.85 -146.6 766.1 -7.2 463 9611 0.00 2.67 0.00 0.000 6 0.000 0.071 2221 2406 3408

9928 -0.85 -146.6 788.2 -6.9 479 9929 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2407 3407

9946 end dive: BOTTOM_OBSTACLE_DETECTED

state 9946 begin apogee

9952 -0.31 0.0 789.8 7.0 480 10079 0.60 0.00 123.50 1.239 6 0.119 0.000 2337 2195 2817

10080 end apogee: CONTROL_FINISHED_OK

state 10080 begin climb

10082 0.85 146.6 794.3 0.0 486 10210 1.23 0.00 123.38 1.206 6 0.085 0.000 2589 2195 2219

10514 0.85 150.5 774.8 5.9 507 10524 0.00 2.83 4.78 0.877 4 0.000 0.091 2589 3614 2203

10568 0.86 156.2 771.4 5.8 509 10582 0.00 2.72 6.57 0.991 6 0.000 0.072 2589 2194 2180

10905 0.89 183.8 753.3 5.2 526 10932 0.00 0.00 24.65 1.203 6 0.000 0.000 2591 2194 2067

11233 0.92 212.9 735.8 5.2 542 11261 0.00 0.00 25.70 1.198 6 0.000 0.000 2589 2194 1949

11563 0.93 227.2 717.2 5.6 558 11580 0.10 0.00 13.55 1.131 6 0.075 0.000 2615 2194 1889

11889 0.93 227.2 694.9 6.9 573 11893 0.00 2.72 0.00 0.000 4 0.000 0.088 2615 790 1888

11938 0.93 227.2 691.2 7.5 575 11942 0.00 2.65 0.00 0.000 6 0.000 0.064 2615 2203 1887

12254 0.93 227.2 669.9 7.1 590 12255 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2203 1887

12563 0.93 227.2 647.5 7.2 605 12567 0.00 2.75 0.00 0.000 4 0.000 0.082 2615 789 1887

12602 0.93 227.2 644.4 8.1 607 12606 0.00 2.65 0.00 0.000 6 0.000 0.063 2615 2203 1887

12928 0.93 227.2 620.6 7.4 623 12929 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2203 1886

13237 0.93 227.2 598.0 7.3 638 13241 0.00 2.75 0.00 0.000 4 0.000 0.081 2615 783 1886

13276 0.93 227.2 595.0 7.6 640 13280 0.00 2.67 0.00 0.000 6 0.000 0.064 2615 2207 1886

13603 0.93 227.2 569.9 7.8 656 13604 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2207 1886

13911 0.93 227.2 544.3 8.0 671 13916 0.00 2.75 0.00 0.000 4 0.000 0.081 2615 788 1886

13961 0.93 227.2 539.7 8.9 673 13965 0.00 2.65 0.00 0.000 6 0.000 0.064 2615 2201 1886

14277 0.93 227.2 513.1 8.7 688 14278 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2201 1886

14586 0.93 227.2 485.9 9.3 703 14590 0.00 2.72 0.00 0.000 4 0.000 0.082 2615 787 1886

14640 0.93 227.2 480.3 10.3 705 14647 0.00 2.65 0.00 0.000 6 0.000 0.064 2615 2204 1886

14957 0.93 227.2 450.3 9.7 721 14958 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1886

15267 0.93 227.2 421.9 8.5 736 15268 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2204 1886

15575 0.93 227.2 396.8 8.0 751 15580 0.00 2.75 0.00 0.000 4 0.000 0.082 2615 783 1886

15619 0.93 227.2 392.7 8.7 753 15624 0.00 2.65 0.00 0.000 6 0.000 0.063 2615 2203 1885

15940 0.93 227.2 370.0 6.7 769 15941 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2203 1885

16249 0.93 227.2 347.4 7.5 784 16251 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2203 1885

16559 0.93 227.2 322.3 7.6 799 16564 0.00 2.72 0.00 0.000 4 0.000 0.080 2615 788 1885

16614 0.93 227.2 317.5 7.8 801 16620 0.00 2.62 0.00 0.000 6 0.000 0.062 2615 2205 1885

16930 0.93 227.2 293.2 7.5 817 16931 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2205 1885

17240 0.93 227.2 271.7 6.7 832 17244 0.00 2.70 0.00 0.000 4 0.000 0.076 2615 785 1885

17301 0.93 227.2 267.1 6.4 835 17306 0.00 2.62 0.00 0.000 6 0.000 0.059 2615 2202 1885

17628 0.93 227.2 241.7 8.4 851 17632 0.00 2.70 0.00 0.000 4 0.000 0.075 2615 787 1885

17694 0.93 227.2 236.5 8.8 854 17699 0.00 2.62 0.00 0.000 6 0.000 0.059 2615 2206 1885

18015 0.93 227.2 211.0 8.1 870 18016 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1885

18324 0.93 227.2 186.7 8.0 885 18326 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1886

18635 0.93 227.2 165.2 7.3 900 18636 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1887

18943 0.93 227.2 142.3 7.4 915 18945 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1887

19253 0.93 227.2 121.4 6.7 930 19254 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1888

19563 0.93 227.2 99.9 7.2 945 19564 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2206 1889

19872 0.99 274.9 77.8 4.7 960 19913 0.00 0.00 38.72 0.746 6 0.000 0.000 2615 2206 1696

20224 0.99 274.9 54.8 7.4 977 20228 0.00 2.70 0.00 0.000 4 0.000 0.071 2615 784 1695

20274 0.99 274.9 50.1 8.7 979 20278 0.00 2.60 0.00 0.000 6 0.000 0.054 2615 2202 1695

20591 0.99 274.9 22.6 8.4 994 20595 0.00 2.70 0.00 0.000 4 0.000 0.071 2615 779 1695

20618 0.99 274.9 19.4 10.2 995 20622 0.00 2.60 0.00 0.000 6 0.000 0.054 2615 2200 1694

20849 end climb: SURFACE_DEPTH_REACHED

state 20849 begin surface coast

20870 end surface coast: CONTROL_FINISHED_OK

state 20870 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	362	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2085751.2	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	022409,6239.088,-407.827,36,1.4,44,-7.0	TGT_NAME	FSCN_NW
_CALLS	1	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,-0.047
_SM_DEPTHo	1.72	KALMAN_X	48291.7,285.5,-845.6,214215.4,-4985.3
_SM_ANGLEo	-56.7	KALMAN_Y	-46667.7,-1348.4,1009.4,159699.9,-1341.3
GPS2	023126,6239.035,-407.882,13,1.4,30,-7.0	MHEAD_RNG_PITCHd_Wd	150.7,55213,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.013863	ALTIM_BOTTOM_PING	750.9,47.4
SM_CCo	20893,21.25,0.588,2,0,1594,300.00	_24V_AH	23.2,56.724
SM_GC	1.87,0.00,0.00,21.25,0.000,0.000,0.588,72,2394,1594,-10.75,-0.17,300.00	_10V_AH	10.1,29.919
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50622,1007
TT8_MAMPS	0.023777	CFSIZE	260165632,238989312
HUMID	2099	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,2,0
TCM_TEMP	16.10	GPS	210108,082208,6238.366,-407.050,27,1.3,27,-6.9
XPDR_PINGS	112

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	100.64	SBE_CT	751	24	418.27
Roll_motor	145	92	313.55	SBE_O2	692	19	305.12
VBD_pump_during_apogee	360	1238	10370.09	WL_BB2F	593	105	1445.05
VBD_pump_during_surface	21	588	290.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.89	nil	0	0	0.00
Iridium_during_connect	38	160	142.11	nil	0	0	0.00
Iridium_during_xfer	215	223	1113.05
Transponder_ping	34	420	336.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.58
TT8	1817	19	363.38
LPSleep	16278	2	360.06
TT8_Active	540	19	108.01
TT8_Sampling	2126	39	854.70
TT8_CF8	595	45	275.33
TT8_Kalman	33	81	27.56
Analog_circuits	1565	12	189.75
GPS_charging	0	0	0.00
Compass	2066	8	166.94
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-61.25	0.000	2	0.000	0.000	73	2408	3056
90	-0.85	-146.6	3.8	-4.9	3	116	12.10	2.62	-8.77	0.000	4	0.170	0.092	2221	3763	3416
369	-0.85	-146.6	32.6	-7.5	15	375	0.00	2.55	0.00	0.000	6	0.000	0.059	2220	2391	3417
687	-0.85	-146.6	60.7	-10.2	31	691	0.00	2.67	0.00	0.000	4	0.000	0.082	2221	3768	3417
839	-0.85	-146.6	76.5	-11.6	38	843	0.00	2.55	0.00	0.000	6	0.000	0.057	2221	2396	3418
1167	-0.85	-146.6	104.1	-7.0	54	1171	0.00	2.67	0.00	0.000	4	0.000	0.075	2221	983	3418
1211	-0.85	-146.6	107.8	-7.4	56	1215	0.00	2.65	0.00	0.000	6	0.000	0.063	2221	2397	3418
1532	-0.85	-146.6	130.9	-8.6	72	1533	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3419
1840	-0.85	-146.6	159.7	-10.0	87	1842	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3419
2150	-0.85	-146.6	184.2	-7.4	102	2151	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3419
2459	-0.85	-146.6	210.9	-8.7	117	2460	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3419
2768	-0.85	-146.6	239.9	-8.8	132	2773	0.00	2.70	0.00	0.000	4	0.000	0.075	2221	983	3419
2875	-0.85	-146.6	249.3	-8.6	137	2880	0.00	2.65	0.00	0.000	6	0.000	0.064	2221	2400	3419
3202	-0.85	-146.6	274.6	-7.4	153	3206	0.00	2.65	0.00	0.000	4	0.000	0.087	2221	3767	3419
3279	-0.85	-146.6	282.1	-9.6	156	3283	0.00	2.58	0.00	0.000	6	0.000	0.063	2221	2394	3420
3596	-0.85	-146.6	306.4	-7.9	171	3600	0.00	2.72	0.00	0.000	4	0.000	0.081	2221	976	3419
3680	-0.85	-146.6	313.5	-9.5	175	3684	0.00	2.67	0.00	0.000	6	0.000	0.067	2221	2400	3420
4007	-0.85	-146.6	339.5	-6.9	191	4011	0.00	2.70	0.00	0.000	4	0.000	0.077	2221	982	3420
4073	-0.85	-146.6	344.4	-7.1	194	4077	0.00	2.65	0.00	0.000	6	0.000	0.068	2221	2400	3420
4393	-0.85	-146.6	363.7	-6.3	210	4394	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3421
4703	-0.85	-146.6	385.8	-7.2	225	4707	0.00	2.70	0.00	0.000	4	0.000	0.093	2221	3773	3420
4809	-0.85	-146.6	394.5	-8.3	230	4814	0.00	2.60	0.00	0.000	6	0.000	0.067	2221	2396	3419
5137	-0.85	-146.6	418.3	-7.6	246	5138	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2396	3419
5446	-0.85	-146.6	443.0	-8.0	261	5450	0.00	2.72	0.00	0.000	4	0.000	0.085	2221	985	3420
5512	-0.85	-146.6	448.6	-8.1	264	5516	0.00	2.67	0.00	0.000	6	0.000	0.071	2220	2400	3420
5834	-0.85	-146.6	472.5	-7.7	280	5835	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3419
6142	-0.85	-146.6	497.1	-8.0	295	6147	0.00	2.75	0.00	0.000	4	0.000	0.084	2221	978	3419
6192	-0.85	-146.6	501.3	-8.2	297	6197	0.00	2.70	0.00	0.000	6	0.000	0.072	2220	2400	3419
6509	-0.85	-146.6	526.2	-7.8	312	6510	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
6817	-0.85	-146.6	549.4	-7.3	327	6821	0.00	2.75	0.00	0.000	4	0.000	0.084	2221	982	3417
6860	-0.85	-146.6	552.8	-7.5	329	6865	0.00	2.67	0.00	0.000	6	0.000	0.073	2221	2401	3416
7183	-0.85	-146.6	576.0	-7.3	345	7184	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2402	3415
7491	-0.85	-146.6	598.8	-7.7	360	7495	0.00	2.75	0.00	0.000	4	0.000	0.084	2221	982	3414
7557	-0.85	-146.6	604.1	-8.4	363	7561	0.00	2.70	0.00	0.000	6	0.000	0.074	2220	2408	3414
7878	-0.85	-146.6	628.3	-7.5	379	7879	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2408	3413
8186	-0.85	-146.6	652.7	-7.9	394	8191	0.00	2.78	0.00	0.000	4	0.000	0.084	2221	978	3412
8252	-0.85	-146.6	658.2	-8.3	397	8257	0.00	2.67	0.00	0.000	6	0.000	0.074	2221	2400	3411
8574	-0.85	-146.6	684.4	-8.2	413	8575	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3411
8883	-0.85	-146.6	710.8	-8.5	428	8887	0.00	2.75	0.00	0.000	4	0.000	0.084	2221	979	3409
8938	-0.85	-146.6	715.5	-8.6	430	8944	0.00	2.67	0.00	0.000	6	0.000	0.074	2221	2399	3409
9254	-0.85	-146.6	740.1	-7.8	446	9256	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2402	3408
9563	-0.85	-146.6	762.8	-7.2	461	9567	0.00	2.72	0.00	0.000	4	0.000	0.082	2221	985	3408
9606	-0.85	-146.6	766.1	-7.2	463	9611	0.00	2.67	0.00	0.000	6	0.000	0.071	2221	2406	3408
9928	-0.85	-146.6	788.2	-6.9	479	9929	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2407	3407
9946	end dive: BOTTOM_OBSTACLE_DETECTED
state	9946	begin apogee
9952	-0.31	0.0	789.8	7.0	480	10079	0.60	0.00	123.50	1.239	6	0.119	0.000	2337	2195	2817
10080	end apogee: CONTROL_FINISHED_OK
state	10080	begin climb
10082	0.85	146.6	794.3	0.0	486	10210	1.23	0.00	123.38	1.206	6	0.085	0.000	2589	2195	2219
10514	0.85	150.5	774.8	5.9	507	10524	0.00	2.83	4.78	0.877	4	0.000	0.091	2589	3614	2203
10568	0.86	156.2	771.4	5.8	509	10582	0.00	2.72	6.57	0.991	6	0.000	0.072	2589	2194	2180
10905	0.89	183.8	753.3	5.2	526	10932	0.00	0.00	24.65	1.203	6	0.000	0.000	2591	2194	2067
11233	0.92	212.9	735.8	5.2	542	11261	0.00	0.00	25.70	1.198	6	0.000	0.000	2589	2194	1949
11563	0.93	227.2	717.2	5.6	558	11580	0.10	0.00	13.55	1.131	6	0.075	0.000	2615	2194	1889
11889	0.93	227.2	694.9	6.9	573	11893	0.00	2.72	0.00	0.000	4	0.000	0.088	2615	790	1888
11938	0.93	227.2	691.2	7.5	575	11942	0.00	2.65	0.00	0.000	6	0.000	0.064	2615	2203	1887
12254	0.93	227.2	669.9	7.1	590	12255	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2203	1887
12563	0.93	227.2	647.5	7.2	605	12567	0.00	2.75	0.00	0.000	4	0.000	0.082	2615	789	1887
12602	0.93	227.2	644.4	8.1	607	12606	0.00	2.65	0.00	0.000	6	0.000	0.063	2615	2203	1887
12928	0.93	227.2	620.6	7.4	623	12929	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2203	1886
13237	0.93	227.2	598.0	7.3	638	13241	0.00	2.75	0.00	0.000	4	0.000	0.081	2615	783	1886
13276	0.93	227.2	595.0	7.6	640	13280	0.00	2.67	0.00	0.000	6	0.000	0.064	2615	2207	1886
13603	0.93	227.2	569.9	7.8	656	13604	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2207	1886
13911	0.93	227.2	544.3	8.0	671	13916	0.00	2.75	0.00	0.000	4	0.000	0.081	2615	788	1886
13961	0.93	227.2	539.7	8.9	673	13965	0.00	2.65	0.00	0.000	6	0.000	0.064	2615	2201	1886
14277	0.93	227.2	513.1	8.7	688	14278	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2201	1886
14586	0.93	227.2	485.9	9.3	703	14590	0.00	2.72	0.00	0.000	4	0.000	0.082	2615	787	1886
14640	0.93	227.2	480.3	10.3	705	14647	0.00	2.65	0.00	0.000	6	0.000	0.064	2615	2204	1886
14957	0.93	227.2	450.3	9.7	721	14958	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1886
15267	0.93	227.2	421.9	8.5	736	15268	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2204	1886
15575	0.93	227.2	396.8	8.0	751	15580	0.00	2.75	0.00	0.000	4	0.000	0.082	2615	783	1886
15619	0.93	227.2	392.7	8.7	753	15624	0.00	2.65	0.00	0.000	6	0.000	0.063	2615	2203	1885
15940	0.93	227.2	370.0	6.7	769	15941	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2203	1885
16249	0.93	227.2	347.4	7.5	784	16251	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2203	1885
16559	0.93	227.2	322.3	7.6	799	16564	0.00	2.72	0.00	0.000	4	0.000	0.080	2615	788	1885
16614	0.93	227.2	317.5	7.8	801	16620	0.00	2.62	0.00	0.000	6	0.000	0.062	2615	2205	1885
16930	0.93	227.2	293.2	7.5	817	16931	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2205	1885
17240	0.93	227.2	271.7	6.7	832	17244	0.00	2.70	0.00	0.000	4	0.000	0.076	2615	785	1885
17301	0.93	227.2	267.1	6.4	835	17306	0.00	2.62	0.00	0.000	6	0.000	0.059	2615	2202	1885
17628	0.93	227.2	241.7	8.4	851	17632	0.00	2.70	0.00	0.000	4	0.000	0.075	2615	787	1885
17694	0.93	227.2	236.5	8.8	854	17699	0.00	2.62	0.00	0.000	6	0.000	0.059	2615	2206	1885
18015	0.93	227.2	211.0	8.1	870	18016	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1885
18324	0.93	227.2	186.7	8.0	885	18326	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1886
18635	0.93	227.2	165.2	7.3	900	18636	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1887
18943	0.93	227.2	142.3	7.4	915	18945	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1887
19253	0.93	227.2	121.4	6.7	930	19254	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1888
19563	0.93	227.2	99.9	7.2	945	19564	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2206	1889
19872	0.99	274.9	77.8	4.7	960	19913	0.00	0.00	38.72	0.746	6	0.000	0.000	2615	2206	1696
20224	0.99	274.9	54.8	7.4	977	20228	0.00	2.70	0.00	0.000	4	0.000	0.071	2615	784	1695
20274	0.99	274.9	50.1	8.7	979	20278	0.00	2.60	0.00	0.000	6	0.000	0.054	2615	2202	1695
20591	0.99	274.9	22.6	8.4	994	20595	0.00	2.70	0.00	0.000	4	0.000	0.071	2615	779	1695
20618	0.99	274.9	19.4	10.2	995	20622	0.00	2.60	0.00	0.000	6	0.000	0.054	2615	2200	1694
20849	end climb: SURFACE_DEPTH_REACHED
state	20849	begin surface coast
20870	end surface coast: CONTROL_FINISHED_OK
state	20870	begin surface