Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 368 * 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 368 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2101481 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 2330 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 -2101481

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 2330 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 21 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 368 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 083058,6421.138,-952.508,28,2.5,47,-10.8 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 083656,6421.164,-952.285,15,2.0,32,-10.8 MHEAD_RNG_PITCHd_Wd 160.5,19649,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.021688 ALTIM_BOTTOM_PING 600.8,24.9

SM_CCo 18096,142.48,0.622,0,0,508,557.32 _24V_AH 23.4,59.114

SM_GC 1.33,0.00,0.00,142.48,0.000,0.000,0.622,69,2251,508,-10.40,0.59,557.32 _10V_AH 10.1,28.959

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44179,873

TT8_MAMPS 0.023777 CAP_FILE_SIZE 122167,0

HUMID 1863 CFSIZE 260165632,238215168

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 51 GPS 140808,134252,6417.695,-950.123,40,3.4,59,-10.7

ALTIM_TOP_PING 19.3,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.66 SBE_CT 648 24 363.95

Roll_motor 130 80 246.21 SBE_O2 595 19 264.92

VBD_pump_during_apogee 371 1115 9709.20 WL_BB2F 577 105 1418.62

VBD_pump_during_surface 142 622 2073.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.44 nil 0 0 0.00

Iridium_during_connect 29 160 110.87 nil 0 0 0.00

Iridium_during_xfer 162 223 847.36

Transponder_ping 18 420 176.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.56

TT8 1551 19 310.25

LPSleep 14089 2 311.64

TT8_Active 682 19 136.59

TT8_Sampling 1745 39 701.57

TT8_CF8 528 45 244.31

TT8_Kalman 0 81 0.00

Analog_circuits 1562 12 189.41

GPS_charging 0 0 0.00

Compass 1691 8 136.65

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

27 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.78 0.000 2 0.000 0.000 68 2244 2927

153 -0.85 -146.6 3.6 -2.9 6 183 11.73 2.62 -11.02 0.000 4 0.171 0.072 2143 3637 3381

251 -0.73 -146.6 17.5 -9.7 10 256 0.12 2.55 0.00 0.000 6 0.098 0.044 2167 2223 3381

569 -0.67 -146.6 44.0 -8.6 25 573 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 3638 3381

602 -0.63 -146.6 47.2 -8.9 26 609 0.12 2.53 0.00 0.000 6 0.094 0.041 2191 2225 3381

920 -0.68 -146.6 66.9 -5.2 42 924 0.00 2.60 0.00 0.000 4 0.000 0.061 2191 3638 3382

947 -0.72 -146.6 68.5 -6.0 43 952 0.00 2.50 0.00 0.000 6 0.000 0.041 2191 2228 3382

1265 -0.77 -146.6 86.6 -5.8 58 1267 0.15 0.00 0.00 0.000 6 0.043 0.000 2143 2227 3382

1573 -0.66 -146.6 112.7 -9.0 73 1578 0.17 2.58 0.00 0.000 4 0.087 0.054 2182 819 3382

1595 -0.66 -146.6 114.5 -7.9 74 1599 0.00 2.55 0.00 0.000 6 0.000 0.044 2182 2234 3383

1917 -0.66 -146.6 136.6 -7.1 90 1921 0.00 2.60 0.00 0.000 4 0.000 0.065 2182 3639 3383

1957 -0.66 -146.6 139.4 -7.5 92 1961 0.00 2.53 0.00 0.000 6 0.000 0.044 2182 2229 3382

2283 -0.66 -146.6 161.6 -6.9 108 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2229 3382

2593 -0.66 -146.6 182.2 -6.4 123 2594 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2228 3383

2902 -0.66 -146.6 204.0 -7.5 138 2906 0.00 2.62 0.00 0.000 4 0.000 0.066 2182 3641 3383

2935 -0.66 -146.6 206.7 -8.5 139 2940 0.00 2.53 0.00 0.000 6 0.000 0.044 2182 2230 3383

3251 -0.66 -146.6 230.3 -7.4 155 3252 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2230 3382

3560 -0.66 -146.6 251.0 -6.5 170 3561 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2230 3382

3869 -0.70 -146.6 272.8 -7.3 185 3873 0.00 2.62 0.00 0.000 4 0.000 0.067 2182 3637 3382

3916 -0.75 -146.6 276.6 -8.8 187 3920 0.00 2.53 0.00 0.000 6 0.000 0.044 2182 2229 3383

4237 -0.81 -146.6 299.6 -6.4 203 4242 0.15 2.58 0.00 0.000 4 0.044 0.055 2132 819 3382

4265 -0.75 -146.6 301.8 -8.2 204 4270 0.17 2.55 0.00 0.000 6 0.096 0.046 2164 2230 3382

4581 -0.75 -146.6 322.0 -6.6 219 4585 0.00 2.60 0.00 0.000 4 0.000 0.069 2164 3640 3382

4626 -0.75 -146.6 325.3 -7.3 221 4630 0.00 2.55 0.00 0.000 6 0.000 0.046 2164 2223 3382

4946 -0.75 -146.6 347.9 -7.1 237 4948 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2223 3382

5256 -0.75 -146.6 369.3 -6.5 252 5261 0.00 2.67 0.00 0.000 4 0.000 0.071 2164 3644 3382

5296 -0.75 -146.6 371.8 -6.8 254 5301 0.00 2.58 0.00 0.000 6 0.000 0.048 2164 2227 3382

5623 -0.75 -146.6 391.4 -6.1 270 5628 0.00 2.65 0.00 0.000 4 0.000 0.073 2164 3641 3382

5646 -0.75 -146.6 392.8 -5.9 271 5650 0.00 2.55 0.00 0.000 6 0.000 0.049 2164 2232 3381

5966 -0.75 -146.6 413.2 -6.8 287 5967 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2232 3381

6275 -0.75 -146.6 433.9 -6.7 302 6280 0.00 2.67 0.00 0.000 4 0.000 0.076 2164 3638 3380

6316 -0.75 -146.6 436.8 -7.6 304 6320 0.00 2.60 0.00 0.000 6 0.000 0.052 2164 2221 3380

6642 -0.75 -146.6 460.5 -7.7 320 6647 0.00 2.62 0.00 0.000 4 0.000 0.067 2164 819 3380

6665 -0.80 -146.6 462.3 -7.5 321 6669 0.00 2.60 0.00 0.000 6 0.000 0.054 2164 2229 3379

6986 -0.80 -146.6 486.3 -7.8 337 6990 0.00 2.67 0.00 0.000 4 0.000 0.080 2164 3641 3378

7019 -0.80 -146.6 489.2 -8.8 338 7025 0.00 2.60 0.00 0.000 6 0.000 0.055 2164 2230 3377

7334 -0.80 -146.6 512.6 -7.0 354 7335 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2230 3376

7644 -0.80 -146.6 534.2 -6.6 369 7649 0.00 2.70 0.00 0.000 4 0.000 0.080 2164 3641 3375

7677 -0.80 -146.6 536.8 -7.5 370 7684 0.00 2.60 0.00 0.000 6 0.000 0.055 2164 2224 3374

7994 -0.80 -146.6 557.3 -6.3 386 7995 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2224 3373

8304 -0.80 -146.6 577.9 -6.9 401 8308 0.00 2.72 0.00 0.000 4 0.000 0.081 2164 3641 3372

8343 -0.80 -146.6 580.9 -8.4 403 8347 0.00 2.60 0.00 0.000 6 0.000 0.055 2164 2225 3372

8669 -0.80 -146.6 603.8 -7.4 419 8673 0.00 2.65 0.00 0.000 4 0.000 0.071 2164 819 3371

8697 -0.86 -146.6 605.9 -7.9 420 8702 0.12 2.60 0.00 0.000 6 0.059 0.056 2131 2230 3371

8825 end dive: BOTTOM_OBSTACLE_DETECTED

state 8825 begin apogee

8832 -0.31 0.0 616.8 8.5 426 8967 0.65 0.00 130.18 1.116 6 0.099 0.000 2259 2230 2780

8968 end apogee: CONTROL_FINISHED_OK

state 8968 begin climb

8971 0.85 146.6 622.4 0.0 433 9110 1.20 2.75 130.38 1.098 4 0.079 0.065 2508 824 2182

9119 0.87 233.5 622.1 3.6 439 9204 0.00 2.67 77.12 1.074 6 0.000 0.054 2508 2245 1829

9526 0.87 233.5 596.8 6.5 459 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2245 1827

9836 0.87 233.5 576.9 6.6 474 9840 0.00 2.72 0.00 0.000 4 0.000 0.071 2508 827 1827

9868 0.87 233.5 574.7 6.9 475 9875 0.00 2.62 0.00 0.000 6 0.000 0.056 2508 2242 1826

10185 0.87 233.5 554.3 6.4 491 10186 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2242 1826

10494 0.87 233.5 532.4 7.3 506 10498 0.00 2.70 0.00 0.000 4 0.000 0.071 2508 824 1826

10521 0.87 233.5 530.2 7.7 507 10525 0.00 2.62 0.00 0.000 6 0.000 0.055 2508 2240 1826

10837 0.87 233.5 509.8 6.0 522 10841 0.00 2.67 0.00 0.000 4 0.000 0.071 2508 830 1825

10864 0.87 233.5 508.2 6.3 523 10868 0.00 2.60 0.00 0.000 6 0.000 0.055 2508 2241 1825

11180 0.87 240.5 490.2 5.8 538 11189 0.00 0.00 7.20 0.875 6 0.000 0.000 2508 2241 1800

11489 0.87 240.5 470.5 6.5 553 11490 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2241 1799

11798 0.88 242.0 451.5 6.0 568 11799 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2240 1798

12107 0.88 242.0 431.3 6.6 583 12108 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2241 1798

12417 0.88 242.0 410.5 7.1 598 12421 0.00 2.67 0.00 0.000 4 0.000 0.070 2508 830 1798

12438 0.88 242.0 408.8 7.6 599 12443 0.00 2.60 0.00 0.000 6 0.000 0.054 2508 2241 1797

12760 0.88 242.0 385.3 6.8 615 12764 0.00 2.67 0.00 0.000 4 0.000 0.068 2508 830 1797

12799 0.88 242.0 382.5 6.7 617 12803 0.00 2.60 0.00 0.000 6 0.000 0.053 2508 2240 1797

13127 0.94 259.6 363.0 5.5 633 13148 0.12 0.00 17.23 0.923 6 0.077 0.000 2534 2240 1722

13457 0.94 259.6 339.1 7.6 649 13462 0.00 2.65 0.00 0.000 4 0.000 0.074 2534 3650 1722

13491 0.94 259.6 336.1 8.7 650 13498 0.00 2.60 0.00 0.000 6 0.000 0.056 2535 2234 1722

13807 0.94 259.6 310.6 7.8 666 13808 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1722

14116 0.94 259.6 287.0 7.4 681 14118 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1722

14426 0.94 259.6 265.6 7.1 696 14428 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1722

14735 0.94 259.6 243.0 7.3 711 14736 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1722

15044 0.95 268.8 223.6 5.7 726 15056 0.00 0.00 9.70 0.745 6 0.000 0.000 2535 2234 1685

15354 0.95 268.8 202.0 7.6 741 15355 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1685

15663 0.95 268.8 177.4 8.2 756 15664 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1686

15972 0.95 268.8 152.1 7.9 771 15973 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1687

16282 0.95 268.8 128.2 7.3 786 16283 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2233 1687

16591 0.95 268.8 104.8 8.1 801 16592 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1689

16901 0.95 268.8 79.5 7.8 816 16902 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1690

17209 0.95 268.8 56.2 7.7 831 17210 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2234 1690

17519 0.95 268.8 35.2 6.8 846 17523 0.00 2.60 0.00 0.000 4 0.000 0.058 2535 819 1690

17574 0.95 268.8 31.2 6.4 848 17581 0.00 2.55 0.00 0.000 6 0.000 0.043 2535 2248 1691

17892 0.95 268.8 11.4 6.4 864 17894 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2249 1692

18054 end climb: SURFACE_DEPTH_REACHED

state 18054 begin surface coast

18074 end surface coast: CONTROL_FINISHED_OK

state 18074 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	368	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2101481	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	2330	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	083058,6421.138,-952.508,28,2.5,47,-10.8	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	083656,6421.164,-952.285,15,2.0,32,-10.8	MHEAD_RNG_PITCHd_Wd	160.5,19649,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.021688	ALTIM_BOTTOM_PING	600.8,24.9
SM_CCo	18096,142.48,0.622,0,0,508,557.32	_24V_AH	23.4,59.114
SM_GC	1.33,0.00,0.00,142.48,0.000,0.000,0.622,69,2251,508,-10.40,0.59,557.32	_10V_AH	10.1,28.959
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44179,873
TT8_MAMPS	0.023777	CAP_FILE_SIZE	122167,0
HUMID	1863	CFSIZE	260165632,238215168
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	51	GPS	140808,134252,6417.695,-950.123,40,3.4,59,-10.7
ALTIM_TOP_PING	19.3,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.66	SBE_CT	648	24	363.95
Roll_motor	130	80	246.21	SBE_O2	595	19	264.92
VBD_pump_during_apogee	371	1115	9709.20	WL_BB2F	577	105	1418.62
VBD_pump_during_surface	142	622	2073.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.44	nil	0	0	0.00
Iridium_during_connect	29	160	110.87	nil	0	0	0.00
Iridium_during_xfer	162	223	847.36
Transponder_ping	18	420	176.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.56
TT8	1551	19	310.25
LPSleep	14089	2	311.64
TT8_Active	682	19	136.59
TT8_Sampling	1745	39	701.57
TT8_CF8	528	45	244.31
TT8_Kalman	0	81	0.00
Analog_circuits	1562	12	189.41
GPS_charging	0	0	0.00
Compass	1691	8	136.65
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
27	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.78	0.000	2	0.000	0.000	68	2244	2927
153	-0.85	-146.6	3.6	-2.9	6	183	11.73	2.62	-11.02	0.000	4	0.171	0.072	2143	3637	3381
251	-0.73	-146.6	17.5	-9.7	10	256	0.12	2.55	0.00	0.000	6	0.098	0.044	2167	2223	3381
569	-0.67	-146.6	44.0	-8.6	25	573	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	3638	3381
602	-0.63	-146.6	47.2	-8.9	26	609	0.12	2.53	0.00	0.000	6	0.094	0.041	2191	2225	3381
920	-0.68	-146.6	66.9	-5.2	42	924	0.00	2.60	0.00	0.000	4	0.000	0.061	2191	3638	3382
947	-0.72	-146.6	68.5	-6.0	43	952	0.00	2.50	0.00	0.000	6	0.000	0.041	2191	2228	3382
1265	-0.77	-146.6	86.6	-5.8	58	1267	0.15	0.00	0.00	0.000	6	0.043	0.000	2143	2227	3382
1573	-0.66	-146.6	112.7	-9.0	73	1578	0.17	2.58	0.00	0.000	4	0.087	0.054	2182	819	3382
1595	-0.66	-146.6	114.5	-7.9	74	1599	0.00	2.55	0.00	0.000	6	0.000	0.044	2182	2234	3383
1917	-0.66	-146.6	136.6	-7.1	90	1921	0.00	2.60	0.00	0.000	4	0.000	0.065	2182	3639	3383
1957	-0.66	-146.6	139.4	-7.5	92	1961	0.00	2.53	0.00	0.000	6	0.000	0.044	2182	2229	3382
2283	-0.66	-146.6	161.6	-6.9	108	2284	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2229	3382
2593	-0.66	-146.6	182.2	-6.4	123	2594	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2228	3383
2902	-0.66	-146.6	204.0	-7.5	138	2906	0.00	2.62	0.00	0.000	4	0.000	0.066	2182	3641	3383
2935	-0.66	-146.6	206.7	-8.5	139	2940	0.00	2.53	0.00	0.000	6	0.000	0.044	2182	2230	3383
3251	-0.66	-146.6	230.3	-7.4	155	3252	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2230	3382
3560	-0.66	-146.6	251.0	-6.5	170	3561	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2230	3382
3869	-0.70	-146.6	272.8	-7.3	185	3873	0.00	2.62	0.00	0.000	4	0.000	0.067	2182	3637	3382
3916	-0.75	-146.6	276.6	-8.8	187	3920	0.00	2.53	0.00	0.000	6	0.000	0.044	2182	2229	3383
4237	-0.81	-146.6	299.6	-6.4	203	4242	0.15	2.58	0.00	0.000	4	0.044	0.055	2132	819	3382
4265	-0.75	-146.6	301.8	-8.2	204	4270	0.17	2.55	0.00	0.000	6	0.096	0.046	2164	2230	3382
4581	-0.75	-146.6	322.0	-6.6	219	4585	0.00	2.60	0.00	0.000	4	0.000	0.069	2164	3640	3382
4626	-0.75	-146.6	325.3	-7.3	221	4630	0.00	2.55	0.00	0.000	6	0.000	0.046	2164	2223	3382
4946	-0.75	-146.6	347.9	-7.1	237	4948	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2223	3382
5256	-0.75	-146.6	369.3	-6.5	252	5261	0.00	2.67	0.00	0.000	4	0.000	0.071	2164	3644	3382
5296	-0.75	-146.6	371.8	-6.8	254	5301	0.00	2.58	0.00	0.000	6	0.000	0.048	2164	2227	3382
5623	-0.75	-146.6	391.4	-6.1	270	5628	0.00	2.65	0.00	0.000	4	0.000	0.073	2164	3641	3382
5646	-0.75	-146.6	392.8	-5.9	271	5650	0.00	2.55	0.00	0.000	6	0.000	0.049	2164	2232	3381
5966	-0.75	-146.6	413.2	-6.8	287	5967	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2232	3381
6275	-0.75	-146.6	433.9	-6.7	302	6280	0.00	2.67	0.00	0.000	4	0.000	0.076	2164	3638	3380
6316	-0.75	-146.6	436.8	-7.6	304	6320	0.00	2.60	0.00	0.000	6	0.000	0.052	2164	2221	3380
6642	-0.75	-146.6	460.5	-7.7	320	6647	0.00	2.62	0.00	0.000	4	0.000	0.067	2164	819	3380
6665	-0.80	-146.6	462.3	-7.5	321	6669	0.00	2.60	0.00	0.000	6	0.000	0.054	2164	2229	3379
6986	-0.80	-146.6	486.3	-7.8	337	6990	0.00	2.67	0.00	0.000	4	0.000	0.080	2164	3641	3378
7019	-0.80	-146.6	489.2	-8.8	338	7025	0.00	2.60	0.00	0.000	6	0.000	0.055	2164	2230	3377
7334	-0.80	-146.6	512.6	-7.0	354	7335	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2230	3376
7644	-0.80	-146.6	534.2	-6.6	369	7649	0.00	2.70	0.00	0.000	4	0.000	0.080	2164	3641	3375
7677	-0.80	-146.6	536.8	-7.5	370	7684	0.00	2.60	0.00	0.000	6	0.000	0.055	2164	2224	3374
7994	-0.80	-146.6	557.3	-6.3	386	7995	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2224	3373
8304	-0.80	-146.6	577.9	-6.9	401	8308	0.00	2.72	0.00	0.000	4	0.000	0.081	2164	3641	3372
8343	-0.80	-146.6	580.9	-8.4	403	8347	0.00	2.60	0.00	0.000	6	0.000	0.055	2164	2225	3372
8669	-0.80	-146.6	603.8	-7.4	419	8673	0.00	2.65	0.00	0.000	4	0.000	0.071	2164	819	3371
8697	-0.86	-146.6	605.9	-7.9	420	8702	0.12	2.60	0.00	0.000	6	0.059	0.056	2131	2230	3371
8825	end dive: BOTTOM_OBSTACLE_DETECTED
state	8825	begin apogee
8832	-0.31	0.0	616.8	8.5	426	8967	0.65	0.00	130.18	1.116	6	0.099	0.000	2259	2230	2780
8968	end apogee: CONTROL_FINISHED_OK
state	8968	begin climb
8971	0.85	146.6	622.4	0.0	433	9110	1.20	2.75	130.38	1.098	4	0.079	0.065	2508	824	2182
9119	0.87	233.5	622.1	3.6	439	9204	0.00	2.67	77.12	1.074	6	0.000	0.054	2508	2245	1829
9526	0.87	233.5	596.8	6.5	459	9528	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2245	1827
9836	0.87	233.5	576.9	6.6	474	9840	0.00	2.72	0.00	0.000	4	0.000	0.071	2508	827	1827
9868	0.87	233.5	574.7	6.9	475	9875	0.00	2.62	0.00	0.000	6	0.000	0.056	2508	2242	1826
10185	0.87	233.5	554.3	6.4	491	10186	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2242	1826
10494	0.87	233.5	532.4	7.3	506	10498	0.00	2.70	0.00	0.000	4	0.000	0.071	2508	824	1826
10521	0.87	233.5	530.2	7.7	507	10525	0.00	2.62	0.00	0.000	6	0.000	0.055	2508	2240	1826
10837	0.87	233.5	509.8	6.0	522	10841	0.00	2.67	0.00	0.000	4	0.000	0.071	2508	830	1825
10864	0.87	233.5	508.2	6.3	523	10868	0.00	2.60	0.00	0.000	6	0.000	0.055	2508	2241	1825
11180	0.87	240.5	490.2	5.8	538	11189	0.00	0.00	7.20	0.875	6	0.000	0.000	2508	2241	1800
11489	0.87	240.5	470.5	6.5	553	11490	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2241	1799
11798	0.88	242.0	451.5	6.0	568	11799	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2240	1798
12107	0.88	242.0	431.3	6.6	583	12108	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2241	1798
12417	0.88	242.0	410.5	7.1	598	12421	0.00	2.67	0.00	0.000	4	0.000	0.070	2508	830	1798
12438	0.88	242.0	408.8	7.6	599	12443	0.00	2.60	0.00	0.000	6	0.000	0.054	2508	2241	1797
12760	0.88	242.0	385.3	6.8	615	12764	0.00	2.67	0.00	0.000	4	0.000	0.068	2508	830	1797
12799	0.88	242.0	382.5	6.7	617	12803	0.00	2.60	0.00	0.000	6	0.000	0.053	2508	2240	1797
13127	0.94	259.6	363.0	5.5	633	13148	0.12	0.00	17.23	0.923	6	0.077	0.000	2534	2240	1722
13457	0.94	259.6	339.1	7.6	649	13462	0.00	2.65	0.00	0.000	4	0.000	0.074	2534	3650	1722
13491	0.94	259.6	336.1	8.7	650	13498	0.00	2.60	0.00	0.000	6	0.000	0.056	2535	2234	1722
13807	0.94	259.6	310.6	7.8	666	13808	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1722
14116	0.94	259.6	287.0	7.4	681	14118	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1722
14426	0.94	259.6	265.6	7.1	696	14428	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1722
14735	0.94	259.6	243.0	7.3	711	14736	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1722
15044	0.95	268.8	223.6	5.7	726	15056	0.00	0.00	9.70	0.745	6	0.000	0.000	2535	2234	1685
15354	0.95	268.8	202.0	7.6	741	15355	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1685
15663	0.95	268.8	177.4	8.2	756	15664	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1686
15972	0.95	268.8	152.1	7.9	771	15973	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1687
16282	0.95	268.8	128.2	7.3	786	16283	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2233	1687
16591	0.95	268.8	104.8	8.1	801	16592	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1689
16901	0.95	268.8	79.5	7.8	816	16902	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1690
17209	0.95	268.8	56.2	7.7	831	17210	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2234	1690
17519	0.95	268.8	35.2	6.8	846	17523	0.00	2.60	0.00	0.000	4	0.000	0.058	2535	819	1690
17574	0.95	268.8	31.2	6.4	848	17581	0.00	2.55	0.00	0.000	6	0.000	0.043	2535	2248	1691
17892	0.95	268.8	11.4	6.4	864	17894	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2249	1692
18054	end climb: SURFACE_DEPTH_REACHED
state	18054	begin surface coast
18074	end surface coast: CONTROL_FINISHED_OK
state	18074	begin surface