Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 364 * 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 364 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -2085817 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 -2085817

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 364 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 143138,6237.417,-403.118,32,0.9,32,-6.9 TGT_NAME FSCN_NW

_CALLS 1 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.182,-0.126

_SM_DEPTHo 1.78 KALMAN_X 36034.0,1260.9,2526.0,226307.9,-16913.7

_SM_ANGLEo -65.7 KALMAN_Y -46506.2,826.8,2289.9,153023.2,-9670.1

GPS2 143811,6237.404,-403.124,13,5.4,32,-6.9 MHEAD_RNG_PITCHd_Wd 152.4,50374,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.018166 XPDR_PINGS 113

SM_CCo 21824,42.22,0.650,2,0,1595,300.00 _24V_AH 23.2,57.001

SM_GC 1.99,0.00,0.00,42.22,0.000,0.000,0.650,74,2398,1595,-10.75,-0.06,300.00 _10V_AH 10.1,30.107

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53669,1052

TT8_MAMPS 0.02301 CFSIZE 260165632,238841856

HUMID 2085 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,2,1

TCM_TEMP 16.20 GPS 210108,204456,6236.251,-400.390,39,1.7,39,-6.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 103.00 SBE_CT 782 24 435.91

Roll_motor 151 94 331.48 SBE_O2 724 19 319.43

VBD_pump_during_apogee 335 1223 9512.25 WL_BB2F 603 105 1470.30

VBD_pump_during_surface 42 650 637.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 77.87 nil 0 0 0.00

Iridium_during_connect 35 160 133.23 nil 0 0 0.00

Iridium_during_xfer 175 223 905.40

Transponder_ping 35 420 341.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.61

TT8 1905 19 381.13

LPSleep 17025 2 376.59

TT8_Active 537 19 107.45

TT8_Sampling 2237 39 899.57

TT8_CF8 559 45 259.02

TT8_Kalman 33 81 27.55

Analog_circuits 1617 12 196.01

GPS_charging 0 0 0.00

Compass 2169 8 175.30

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 88 0.00 0.00 -61.25 0.000 2 0.000 0.000 74 2399 3088

92 -0.85 -146.6 4.1 -5.5 3 117 12.20 2.67 -7.72 0.000 4 0.174 0.093 2220 3772 3416

370 -0.85 -146.6 32.0 -8.8 15 377 0.00 2.55 0.00 0.000 6 0.000 0.058 2220 2397 3417

686 -0.85 -146.6 56.6 -8.4 31 690 0.00 2.67 0.00 0.000 4 0.000 0.083 2220 3772 3418

771 -0.85 -146.6 64.4 -9.7 35 776 0.00 2.58 0.00 0.000 6 0.000 0.060 2220 2395 3418

1099 -0.85 -146.6 87.1 -5.6 51 1104 0.00 2.70 0.00 0.000 4 0.000 0.077 2220 983 3418

1163 -0.85 -146.6 91.6 -7.3 54 1168 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2400 3418

1491 -0.85 -146.6 116.2 -6.8 70 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3418

1801 -0.85 -146.6 143.5 -9.0 85 1802 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3418

2108 -0.85 -146.6 168.0 -8.1 100 2109 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3418

2418 -0.85 -146.6 195.6 -9.1 115 2419 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2398 3418

2727 -0.85 -146.6 219.2 -7.8 130 2731 0.00 2.67 0.00 0.000 4 0.000 0.074 2220 983 3419

2811 -0.85 -146.6 226.1 -8.3 134 2815 0.00 2.65 0.00 0.000 6 0.000 0.064 2220 2404 3419

3140 -0.85 -146.6 251.6 -7.8 150 3144 0.00 2.65 0.00 0.000 4 0.000 0.086 2220 3772 3420

3201 -0.85 -146.6 257.1 -9.0 153 3206 0.00 2.58 0.00 0.000 6 0.000 0.062 2220 2397 3420

3528 -0.85 -146.6 283.7 -8.1 169 3532 0.00 2.70 0.00 0.000 4 0.000 0.078 2220 982 3420

3611 -0.85 -146.6 291.4 -9.1 173 3616 0.00 2.65 0.00 0.000 6 0.000 0.067 2220 2400 3420

3938 -0.85 -146.6 320.2 -8.4 189 3942 0.00 2.67 0.00 0.000 4 0.000 0.090 2220 3772 3420

3982 -0.85 -146.6 324.1 -8.9 191 3986 0.00 2.58 0.00 0.000 6 0.000 0.066 2220 2400 3420

4302 -0.85 -146.6 348.8 -7.4 207 4307 0.00 2.72 0.00 0.000 4 0.000 0.083 2220 983 3420

4387 -0.85 -146.6 355.1 -7.3 211 4391 0.00 2.67 0.00 0.000 6 0.000 0.070 2220 2403 3420

4714 -0.85 -146.6 375.6 -6.2 227 4719 0.00 2.70 0.00 0.000 4 0.000 0.094 2220 3771 3420

4821 -0.85 -146.6 383.9 -7.7 232 4826 0.00 2.60 0.00 0.000 6 0.000 0.069 2220 2400 3420

5149 -0.85 -146.6 407.9 -7.5 248 5150 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3420

5457 -0.85 -146.6 432.2 -8.0 263 5462 0.00 2.75 0.00 0.000 4 0.000 0.087 2220 979 3420

5529 -0.85 -146.6 438.0 -7.9 266 5533 0.00 2.70 0.00 0.000 6 0.000 0.074 2220 2405 3420

5845 -0.85 -146.6 460.6 -6.8 281 5850 0.00 2.78 0.00 0.000 4 0.000 0.085 2221 977 3420

5884 -0.85 -146.6 463.4 -6.8 283 5889 0.00 2.70 0.00 0.000 6 0.000 0.073 2220 2404 3419

6210 -0.85 -146.6 486.0 -7.0 299 6211 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3419

6520 -0.85 -146.6 507.4 -6.9 314 6525 0.00 2.75 0.00 0.000 4 0.000 0.086 2220 985 3418

6564 -0.85 -146.6 510.8 -7.4 316 6569 0.00 2.65 0.00 0.000 6 0.000 0.074 2220 2403 3417

6885 -0.85 -146.6 532.5 -6.9 332 6889 0.00 2.75 0.00 0.000 4 0.000 0.085 2220 984 3416

6940 -0.85 -146.6 536.4 -7.3 334 6946 0.00 2.70 0.00 0.000 6 0.000 0.074 2220 2405 3416

7256 -0.85 -146.6 558.7 -7.1 350 7257 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3415

7565 -0.85 -146.6 579.3 -6.6 365 7569 0.00 2.75 0.00 0.000 4 0.000 0.085 2220 984 3414

7636 -0.85 -146.6 584.6 -7.5 368 7641 0.00 2.67 0.00 0.000 6 0.000 0.074 2220 2400 3414

7952 -0.85 -146.6 605.4 -6.5 383 7953 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3412

8261 -0.85 -146.6 626.7 -7.0 398 8266 0.00 2.75 0.00 0.000 4 0.000 0.085 2220 982 3411

8317 -0.85 -146.6 630.9 -7.2 400 8324 0.00 2.70 0.00 0.000 6 0.000 0.074 2220 2405 3411

8633 -0.85 -146.6 652.8 -6.8 416 8634 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3410

8944 -0.85 -146.6 673.7 -6.5 431 8948 0.00 2.75 0.00 0.000 4 0.000 0.085 2218 985 3410

9005 -0.85 -146.6 677.9 -6.7 434 9010 0.00 2.67 0.00 0.000 6 0.000 0.074 2220 2400 3409

9332 -0.85 -146.6 699.3 -6.6 450 9333 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3408

9642 -0.85 -146.6 719.4 -6.5 465 9646 0.00 2.75 0.00 0.000 4 0.000 0.084 2220 982 3408

9698 -0.85 -146.6 723.2 -6.5 467 9704 0.00 2.70 0.00 0.000 6 0.000 0.072 2220 2404 3408

10013 -0.85 -146.6 744.9 -7.0 483 10014 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2405 3407

10324 -0.85 -146.6 764.4 -5.7 498 10328 0.00 2.72 0.00 0.000 4 0.000 0.081 2220 984 3407

10435 -0.85 -146.6 764.5 0.1 503 10439 0.00 2.67 0.00 0.000 6 0.000 0.071 2220 2400 3406

10650 end dive: NO_VERTICAL_VELOCITY

state 10650 begin apogee

10657 -0.31 0.0 764.5 0.0 514 10783 0.60 0.00 123.03 1.223 6 0.104 0.000 2340 2195 2817

10784 end apogee: CONTROL_FINISHED_OK

state 10784 begin climb

10787 0.85 146.6 764.5 0.0 520 10918 1.20 2.90 122.70 1.190 4 0.080 0.088 2590 3607 2219

11083 0.85 149.3 751.6 5.9 533 11092 0.00 2.70 3.80 0.751 6 0.000 0.071 2590 2205 2208

11420 0.86 158.2 731.8 5.8 550 11431 0.00 0.00 9.35 1.072 6 0.000 0.000 2590 2205 2171

11730 0.86 158.2 713.4 6.1 565 11731 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2169

12038 0.86 158.2 694.4 6.2 580 12040 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2169

12348 0.86 160.3 675.6 5.9 595 12349 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2168

12658 0.87 172.3 657.6 5.7 610 12677 0.00 0.00 12.75 1.114 6 0.000 0.000 2590 2205 2114

12987 0.89 186.0 638.1 5.6 626 13002 0.00 0.00 13.25 1.112 6 0.000 0.000 2590 2205 2058

13312 0.89 186.0 618.4 6.1 641 13314 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2056

13622 0.89 186.0 599.7 6.0 656 13624 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2057

13931 0.89 186.0 580.9 6.1 671 13932 0.00 0.00 0.00 0.000 6 0.000 0.000 2590 2205 2057

14241 0.90 195.7 562.6 5.7 686 14255 0.00 2.83 9.45 1.030 4 0.000 0.087 2589 787 2018

14279 0.90 200.0 560.3 5.9 687 14290 0.00 2.67 5.20 0.862 6 0.000 0.064 2590 2198 2001

14606 0.91 205.3 541.2 5.9 703 14614 0.00 0.00 6.18 0.915 6 0.000 0.000 2590 2198 1980

14915 0.93 221.2 523.6 5.6 718 14934 0.00 0.00 14.73 1.067 6 0.000 0.000 2590 2198 1915

15244 0.94 236.8 505.1 5.6 734 15264 0.12 0.00 14.73 1.052 6 0.075 0.000 2620 2198 1851

15573 0.94 236.8 483.4 6.5 750 15578 0.00 2.75 0.00 0.000 4 0.000 0.082 2619 783 1850

15617 0.94 236.8 480.2 7.6 752 15622 0.00 2.67 0.00 0.000 6 0.000 0.064 2619 2203 1850

15938 0.94 236.8 459.2 6.4 768 15939 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2203 1850

16247 0.94 236.8 439.4 6.5 783 16252 0.00 2.75 0.00 0.000 4 0.000 0.082 2620 781 1849

16293 0.94 236.8 436.2 6.9 785 16298 0.00 2.67 0.00 0.000 6 0.000 0.063 2620 2206 1849

16614 0.94 236.8 411.8 8.0 801 16616 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2205 1849

16924 0.94 236.8 386.8 8.2 816 16928 0.00 2.75 0.00 0.000 4 0.000 0.082 2619 778 1849

16974 0.94 236.8 382.5 9.7 818 16978 0.00 2.67 0.00 0.000 6 0.000 0.063 2619 2203 1849

17289 0.94 236.8 359.4 6.9 833 17290 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2203 1849

17598 0.94 236.8 338.3 7.3 848 17599 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2203 1849

17908 0.94 236.8 315.7 7.1 863 17909 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2203 1849

18217 0.94 236.8 295.4 6.1 878 18218 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2203 1849

18526 0.94 236.8 276.1 6.6 893 18531 0.00 2.72 0.00 0.000 4 0.000 0.077 2619 781 1849

18553 0.94 236.8 274.0 7.3 894 18557 0.00 2.65 0.00 0.000 6 0.000 0.058 2620 2207 1848

18869 0.94 236.8 251.0 7.7 909 18873 0.00 2.72 0.00 0.000 4 0.000 0.075 2619 783 1849

18930 0.94 236.8 245.9 7.9 912 18935 0.00 2.65 0.00 0.000 6 0.000 0.058 2619 2207 1849

19258 0.94 236.8 216.8 8.9 928 19262 0.00 2.72 0.00 0.000 4 0.000 0.074 2619 778 1849

19301 0.94 236.8 212.9 8.0 930 19306 0.00 2.62 0.00 0.000 6 0.000 0.055 2619 2203 1849

19623 0.94 236.8 183.9 9.2 946 19624 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2203 1849

19933 0.94 236.8 156.3 8.7 961 19934 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2203 1850

20243 0.94 236.8 128.5 8.8 976 20244 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2203 1850

20551 0.94 236.8 103.4 8.2 991 20555 0.00 2.70 0.00 0.000 4 0.000 0.082 2619 3611 1852

20583 0.94 236.8 100.3 9.2 992 20590 0.00 2.67 0.00 0.000 6 0.000 0.065 2620 2192 1852

20901 0.94 236.8 74.7 8.0 1008 20905 0.00 2.67 0.00 0.000 4 0.000 0.074 2619 785 1853

20940 0.94 236.8 71.4 6.6 1010 20945 0.00 2.62 0.00 0.000 6 0.000 0.054 2619 2207 1853

21268 0.94 236.8 44.8 8.1 1026 21269 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2207 1854

21577 0.94 236.8 17.4 9.0 1041 21578 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2207 1855

21781 end climb: SURFACE_DEPTH_REACHED

state 21781 begin surface coast

21802 end surface coast: CONTROL_FINISHED_OK

state 21802 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	364	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-2085817	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	143138,6237.417,-403.118,32,0.9,32,-6.9	TGT_NAME	FSCN_NW
_CALLS	1	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.182,-0.126
_SM_DEPTHo	1.78	KALMAN_X	36034.0,1260.9,2526.0,226307.9,-16913.7
_SM_ANGLEo	-65.7	KALMAN_Y	-46506.2,826.8,2289.9,153023.2,-9670.1
GPS2	143811,6237.404,-403.124,13,5.4,32,-6.9	MHEAD_RNG_PITCHd_Wd	152.4,50374,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.0,1.018166	XPDR_PINGS	113
SM_CCo	21824,42.22,0.650,2,0,1595,300.00	_24V_AH	23.2,57.001
SM_GC	1.99,0.00,0.00,42.22,0.000,0.000,0.650,74,2398,1595,-10.75,-0.06,300.00	_10V_AH	10.1,30.107
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53669,1052
TT8_MAMPS	0.02301	CFSIZE	260165632,238841856
HUMID	2085	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,2,1
TCM_TEMP	16.20	GPS	210108,204456,6236.251,-400.390,39,1.7,39,-6.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	103.00	SBE_CT	782	24	435.91
Roll_motor	151	94	331.48	SBE_O2	724	19	319.43
VBD_pump_during_apogee	335	1223	9512.25	WL_BB2F	603	105	1470.30
VBD_pump_during_surface	42	650	637.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	77.87	nil	0	0	0.00
Iridium_during_connect	35	160	133.23	nil	0	0	0.00
Iridium_during_xfer	175	223	905.40
Transponder_ping	35	420	341.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.61
TT8	1905	19	381.13
LPSleep	17025	2	376.59
TT8_Active	537	19	107.45
TT8_Sampling	2237	39	899.57
TT8_CF8	559	45	259.02
TT8_Kalman	33	81	27.55
Analog_circuits	1617	12	196.01
GPS_charging	0	0	0.00
Compass	2169	8	175.30
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	88	0.00	0.00	-61.25	0.000	2	0.000	0.000	74	2399	3088
92	-0.85	-146.6	4.1	-5.5	3	117	12.20	2.67	-7.72	0.000	4	0.174	0.093	2220	3772	3416
370	-0.85	-146.6	32.0	-8.8	15	377	0.00	2.55	0.00	0.000	6	0.000	0.058	2220	2397	3417
686	-0.85	-146.6	56.6	-8.4	31	690	0.00	2.67	0.00	0.000	4	0.000	0.083	2220	3772	3418
771	-0.85	-146.6	64.4	-9.7	35	776	0.00	2.58	0.00	0.000	6	0.000	0.060	2220	2395	3418
1099	-0.85	-146.6	87.1	-5.6	51	1104	0.00	2.70	0.00	0.000	4	0.000	0.077	2220	983	3418
1163	-0.85	-146.6	91.6	-7.3	54	1168	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2400	3418
1491	-0.85	-146.6	116.2	-6.8	70	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3418
1801	-0.85	-146.6	143.5	-9.0	85	1802	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3418
2108	-0.85	-146.6	168.0	-8.1	100	2109	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3418
2418	-0.85	-146.6	195.6	-9.1	115	2419	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2398	3418
2727	-0.85	-146.6	219.2	-7.8	130	2731	0.00	2.67	0.00	0.000	4	0.000	0.074	2220	983	3419
2811	-0.85	-146.6	226.1	-8.3	134	2815	0.00	2.65	0.00	0.000	6	0.000	0.064	2220	2404	3419
3140	-0.85	-146.6	251.6	-7.8	150	3144	0.00	2.65	0.00	0.000	4	0.000	0.086	2220	3772	3420
3201	-0.85	-146.6	257.1	-9.0	153	3206	0.00	2.58	0.00	0.000	6	0.000	0.062	2220	2397	3420
3528	-0.85	-146.6	283.7	-8.1	169	3532	0.00	2.70	0.00	0.000	4	0.000	0.078	2220	982	3420
3611	-0.85	-146.6	291.4	-9.1	173	3616	0.00	2.65	0.00	0.000	6	0.000	0.067	2220	2400	3420
3938	-0.85	-146.6	320.2	-8.4	189	3942	0.00	2.67	0.00	0.000	4	0.000	0.090	2220	3772	3420
3982	-0.85	-146.6	324.1	-8.9	191	3986	0.00	2.58	0.00	0.000	6	0.000	0.066	2220	2400	3420
4302	-0.85	-146.6	348.8	-7.4	207	4307	0.00	2.72	0.00	0.000	4	0.000	0.083	2220	983	3420
4387	-0.85	-146.6	355.1	-7.3	211	4391	0.00	2.67	0.00	0.000	6	0.000	0.070	2220	2403	3420
4714	-0.85	-146.6	375.6	-6.2	227	4719	0.00	2.70	0.00	0.000	4	0.000	0.094	2220	3771	3420
4821	-0.85	-146.6	383.9	-7.7	232	4826	0.00	2.60	0.00	0.000	6	0.000	0.069	2220	2400	3420
5149	-0.85	-146.6	407.9	-7.5	248	5150	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3420
5457	-0.85	-146.6	432.2	-8.0	263	5462	0.00	2.75	0.00	0.000	4	0.000	0.087	2220	979	3420
5529	-0.85	-146.6	438.0	-7.9	266	5533	0.00	2.70	0.00	0.000	6	0.000	0.074	2220	2405	3420
5845	-0.85	-146.6	460.6	-6.8	281	5850	0.00	2.78	0.00	0.000	4	0.000	0.085	2221	977	3420
5884	-0.85	-146.6	463.4	-6.8	283	5889	0.00	2.70	0.00	0.000	6	0.000	0.073	2220	2404	3419
6210	-0.85	-146.6	486.0	-7.0	299	6211	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3419
6520	-0.85	-146.6	507.4	-6.9	314	6525	0.00	2.75	0.00	0.000	4	0.000	0.086	2220	985	3418
6564	-0.85	-146.6	510.8	-7.4	316	6569	0.00	2.65	0.00	0.000	6	0.000	0.074	2220	2403	3417
6885	-0.85	-146.6	532.5	-6.9	332	6889	0.00	2.75	0.00	0.000	4	0.000	0.085	2220	984	3416
6940	-0.85	-146.6	536.4	-7.3	334	6946	0.00	2.70	0.00	0.000	6	0.000	0.074	2220	2405	3416
7256	-0.85	-146.6	558.7	-7.1	350	7257	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3415
7565	-0.85	-146.6	579.3	-6.6	365	7569	0.00	2.75	0.00	0.000	4	0.000	0.085	2220	984	3414
7636	-0.85	-146.6	584.6	-7.5	368	7641	0.00	2.67	0.00	0.000	6	0.000	0.074	2220	2400	3414
7952	-0.85	-146.6	605.4	-6.5	383	7953	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3412
8261	-0.85	-146.6	626.7	-7.0	398	8266	0.00	2.75	0.00	0.000	4	0.000	0.085	2220	982	3411
8317	-0.85	-146.6	630.9	-7.2	400	8324	0.00	2.70	0.00	0.000	6	0.000	0.074	2220	2405	3411
8633	-0.85	-146.6	652.8	-6.8	416	8634	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3410
8944	-0.85	-146.6	673.7	-6.5	431	8948	0.00	2.75	0.00	0.000	4	0.000	0.085	2218	985	3410
9005	-0.85	-146.6	677.9	-6.7	434	9010	0.00	2.67	0.00	0.000	6	0.000	0.074	2220	2400	3409
9332	-0.85	-146.6	699.3	-6.6	450	9333	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3408
9642	-0.85	-146.6	719.4	-6.5	465	9646	0.00	2.75	0.00	0.000	4	0.000	0.084	2220	982	3408
9698	-0.85	-146.6	723.2	-6.5	467	9704	0.00	2.70	0.00	0.000	6	0.000	0.072	2220	2404	3408
10013	-0.85	-146.6	744.9	-7.0	483	10014	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2405	3407
10324	-0.85	-146.6	764.4	-5.7	498	10328	0.00	2.72	0.00	0.000	4	0.000	0.081	2220	984	3407
10435	-0.85	-146.6	764.5	0.1	503	10439	0.00	2.67	0.00	0.000	6	0.000	0.071	2220	2400	3406
10650	end dive: NO_VERTICAL_VELOCITY
state	10650	begin apogee
10657	-0.31	0.0	764.5	0.0	514	10783	0.60	0.00	123.03	1.223	6	0.104	0.000	2340	2195	2817
10784	end apogee: CONTROL_FINISHED_OK
state	10784	begin climb
10787	0.85	146.6	764.5	0.0	520	10918	1.20	2.90	122.70	1.190	4	0.080	0.088	2590	3607	2219
11083	0.85	149.3	751.6	5.9	533	11092	0.00	2.70	3.80	0.751	6	0.000	0.071	2590	2205	2208
11420	0.86	158.2	731.8	5.8	550	11431	0.00	0.00	9.35	1.072	6	0.000	0.000	2590	2205	2171
11730	0.86	158.2	713.4	6.1	565	11731	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2169
12038	0.86	158.2	694.4	6.2	580	12040	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2169
12348	0.86	160.3	675.6	5.9	595	12349	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2168
12658	0.87	172.3	657.6	5.7	610	12677	0.00	0.00	12.75	1.114	6	0.000	0.000	2590	2205	2114
12987	0.89	186.0	638.1	5.6	626	13002	0.00	0.00	13.25	1.112	6	0.000	0.000	2590	2205	2058
13312	0.89	186.0	618.4	6.1	641	13314	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2056
13622	0.89	186.0	599.7	6.0	656	13624	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2057
13931	0.89	186.0	580.9	6.1	671	13932	0.00	0.00	0.00	0.000	6	0.000	0.000	2590	2205	2057
14241	0.90	195.7	562.6	5.7	686	14255	0.00	2.83	9.45	1.030	4	0.000	0.087	2589	787	2018
14279	0.90	200.0	560.3	5.9	687	14290	0.00	2.67	5.20	0.862	6	0.000	0.064	2590	2198	2001
14606	0.91	205.3	541.2	5.9	703	14614	0.00	0.00	6.18	0.915	6	0.000	0.000	2590	2198	1980
14915	0.93	221.2	523.6	5.6	718	14934	0.00	0.00	14.73	1.067	6	0.000	0.000	2590	2198	1915
15244	0.94	236.8	505.1	5.6	734	15264	0.12	0.00	14.73	1.052	6	0.075	0.000	2620	2198	1851
15573	0.94	236.8	483.4	6.5	750	15578	0.00	2.75	0.00	0.000	4	0.000	0.082	2619	783	1850
15617	0.94	236.8	480.2	7.6	752	15622	0.00	2.67	0.00	0.000	6	0.000	0.064	2619	2203	1850
15938	0.94	236.8	459.2	6.4	768	15939	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2203	1850
16247	0.94	236.8	439.4	6.5	783	16252	0.00	2.75	0.00	0.000	4	0.000	0.082	2620	781	1849
16293	0.94	236.8	436.2	6.9	785	16298	0.00	2.67	0.00	0.000	6	0.000	0.063	2620	2206	1849
16614	0.94	236.8	411.8	8.0	801	16616	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2205	1849
16924	0.94	236.8	386.8	8.2	816	16928	0.00	2.75	0.00	0.000	4	0.000	0.082	2619	778	1849
16974	0.94	236.8	382.5	9.7	818	16978	0.00	2.67	0.00	0.000	6	0.000	0.063	2619	2203	1849
17289	0.94	236.8	359.4	6.9	833	17290	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2203	1849
17598	0.94	236.8	338.3	7.3	848	17599	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2203	1849
17908	0.94	236.8	315.7	7.1	863	17909	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2203	1849
18217	0.94	236.8	295.4	6.1	878	18218	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2203	1849
18526	0.94	236.8	276.1	6.6	893	18531	0.00	2.72	0.00	0.000	4	0.000	0.077	2619	781	1849
18553	0.94	236.8	274.0	7.3	894	18557	0.00	2.65	0.00	0.000	6	0.000	0.058	2620	2207	1848
18869	0.94	236.8	251.0	7.7	909	18873	0.00	2.72	0.00	0.000	4	0.000	0.075	2619	783	1849
18930	0.94	236.8	245.9	7.9	912	18935	0.00	2.65	0.00	0.000	6	0.000	0.058	2619	2207	1849
19258	0.94	236.8	216.8	8.9	928	19262	0.00	2.72	0.00	0.000	4	0.000	0.074	2619	778	1849
19301	0.94	236.8	212.9	8.0	930	19306	0.00	2.62	0.00	0.000	6	0.000	0.055	2619	2203	1849
19623	0.94	236.8	183.9	9.2	946	19624	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2203	1849
19933	0.94	236.8	156.3	8.7	961	19934	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2203	1850
20243	0.94	236.8	128.5	8.8	976	20244	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2203	1850
20551	0.94	236.8	103.4	8.2	991	20555	0.00	2.70	0.00	0.000	4	0.000	0.082	2619	3611	1852
20583	0.94	236.8	100.3	9.2	992	20590	0.00	2.67	0.00	0.000	6	0.000	0.065	2620	2192	1852
20901	0.94	236.8	74.7	8.0	1008	20905	0.00	2.67	0.00	0.000	4	0.000	0.074	2619	785	1853
20940	0.94	236.8	71.4	6.6	1010	20945	0.00	2.62	0.00	0.000	6	0.000	0.054	2619	2207	1853
21268	0.94	236.8	44.8	8.1	1026	21269	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2207	1854
21577	0.94	236.8	17.4	9.0	1041	21578	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2207	1855
21781	end climb: SURFACE_DEPTH_REACHED
state	21781	begin surface coast
21802	end surface coast: CONTROL_FINISHED_OK
state	21802	begin surface