Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 380 * 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 380 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -2101779.5 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 -2101779.5

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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 380 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 110938,6356.093,-923.488,34,1.3,35,-10.3 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.26 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -53.8 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 111508,6356.081,-923.502,13,1.9,13,-10.3 MHEAD_RNG_PITCHd_Wd 117.0,71411,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026866 ALTIM_BOTTOM_PING 700.4,30.9

SM_CCo 21131,141.32,0.622,0,0,508,557.32 _24V_AH 23.3,61.232

SM_GC 1.21,0.00,0.00,141.32,0.000,0.000,0.622,67,2238,508,-10.41,0.23,557.32 _10V_AH 10.1,30.126

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50444,1017

TT8_MAMPS 0.023777 CAP_FILE_SIZE 139414,0

HUMID 1882 CFSIZE 260165632,237346816

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

XPDR_PINGS 55 GPS 170808,171125,6353.266,-921.546,26,1.4,43,-10.3

ALTIM_TOP_PING 20.0,19.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 98.88 SBE_CT 756 24 423.19

Roll_motor 142 83 276.71 SBE_O2 695 19 307.71

VBD_pump_during_apogee 387 1184 10683.31 WL_BB2F 613 105 1500.48

VBD_pump_during_surface 141 622 2048.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.14 nil 0 0 0.00

Iridium_during_connect 27 160 101.47 nil 0 0 0.00

Iridium_during_xfer 148 223 773.12

Transponder_ping 20 420 195.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.03

TT8 1791 19 358.28

LPSleep 16548 2 366.04

TT8_Active 709 19 141.90

TT8_Sampling 1995 39 802.23

TT8_CF8 555 45 257.09

TT8_Kalman 0 81 0.00

Analog_circuits 1717 12 208.11

GPS_charging 0 0 0.00

Compass 1956 8 158.05

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

26 -0.85 -146.6 0.0 0.0 0 130 0.00 0.00 -101.32 0.000 2 0.000 0.000 70 2244 2544

133 -0.85 -146.6 3.1 -2.0 5 181 11.68 2.62 -29.23 0.000 4 0.169 0.064 2142 812 3379

221 -0.77 -146.6 10.0 -9.2 9 226 0.00 2.60 0.00 0.000 6 0.000 0.047 2142 2235 3379

544 -0.63 -146.6 40.7 -9.3 25 549 0.20 2.62 0.00 0.000 4 0.097 0.064 2185 3643 3380

584 -0.63 -146.6 43.7 -7.0 27 588 0.00 2.53 0.00 0.000 6 0.000 0.044 2185 2225 3379

911 -0.63 -146.6 67.8 -8.1 43 915 0.00 2.58 0.00 0.000 4 0.000 0.054 2185 812 3380

961 -0.71 -146.6 72.1 -8.4 45 965 0.00 2.58 0.00 0.000 6 0.000 0.044 2185 2237 3380

1277 -0.71 -146.6 97.0 -8.1 60 1281 0.00 2.60 0.00 0.000 4 0.000 0.066 2185 3636 3381

1340 -0.76 -146.6 102.1 -7.6 63 1345 0.00 2.53 0.00 0.000 6 0.000 0.043 2185 2224 3381

1668 -0.76 -146.6 125.0 -6.8 79 1672 0.00 2.58 0.00 0.000 4 0.000 0.057 2185 821 3381

1701 -0.85 -146.6 127.4 -6.7 80 1708 0.17 2.55 0.00 0.000 6 0.041 0.046 2130 2233 3382

2018 -0.71 -146.6 158.2 -9.9 96 2023 0.17 2.62 0.00 0.000 4 0.087 0.067 2169 3640 3382

2058 -0.71 -146.6 161.8 -8.5 98 2062 0.00 2.53 0.00 0.000 6 0.000 0.044 2169 2232 3382

2385 -0.71 -146.6 187.4 -7.8 114 2386 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2232 3381

2693 -0.71 -146.6 211.2 -7.7 129 2695 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3381

3003 -0.71 -146.6 233.9 -7.5 144 3004 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2231 3381

3313 -0.71 -146.6 257.0 -7.7 159 3314 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3382

3621 -0.71 -146.6 281.1 -7.8 174 3622 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3382

3931 -0.71 -146.6 303.6 -6.7 189 3935 0.00 2.65 0.00 0.000 4 0.000 0.072 2170 3637 3382

3958 -0.71 -146.6 305.4 -7.0 190 3963 0.00 2.53 0.00 0.000 6 0.000 0.047 2169 2231 3381

4274 -0.71 -146.6 326.8 -7.0 205 4275 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3382

4583 -0.71 -146.6 347.0 -6.3 220 4587 0.00 2.60 0.00 0.000 4 0.000 0.061 2169 821 3381

4611 -0.76 -146.6 348.9 -6.8 221 4616 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2229 3381

4927 -0.76 -146.6 368.5 -6.4 236 4932 0.00 2.65 0.00 0.000 4 0.000 0.075 2169 3639 3380

4955 -0.76 -146.6 370.5 -7.2 237 4959 0.00 2.55 0.00 0.000 6 0.000 0.049 2169 2232 3380

5271 -0.76 -146.6 391.0 -6.5 252 5272 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3380

5580 -0.76 -146.6 409.5 -5.8 267 5581 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3379

5889 -0.76 -146.6 430.0 -7.1 282 5890 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3378

6199 -0.76 -146.6 452.0 -7.2 297 6200 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3377

6508 -0.76 -146.6 473.5 -6.8 312 6509 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3376

6817 -0.76 -146.6 493.6 -6.5 327 6818 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3375

7127 -0.80 -146.6 514.1 -6.7 342 7128 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2231 3374

7436 -0.85 -146.6 535.8 -7.0 357 7441 0.12 2.70 0.00 0.000 4 0.056 0.081 2134 3637 3373

7464 -0.78 -146.6 538.3 -9.2 358 7469 0.12 2.60 0.00 0.000 6 0.103 0.054 2157 2224 3373

7780 -0.78 -146.6 561.8 -7.1 373 7781 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2224 3373

8088 -0.78 -146.6 584.4 -7.0 388 8090 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2224 3371

8398 -0.78 -146.6 606.1 -7.2 403 8399 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2224 3370

8708 -0.78 -146.6 627.5 -6.3 418 8712 0.00 2.72 0.00 0.000 4 0.000 0.084 2157 3638 3368

8729 -0.78 -146.6 629.0 -6.5 419 8733 0.00 2.60 0.00 0.000 6 0.000 0.055 2157 2225 3369

9050 -0.78 -146.6 649.6 -6.8 435 9051 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2225 3368

9360 -0.78 -146.6 668.2 -6.9 450 9361 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2225 3366

9668 -0.78 -146.6 688.1 -6.1 465 9669 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2225 3366

9978 -0.78 -146.6 709.2 -7.3 480 9979 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2225 3365

10140 end dive: BOTTOM_OBSTACLE_DETECTED

state 10140 begin apogee

10147 -0.31 0.0 721.7 7.2 488 10288 0.52 0.00 132.80 1.184 6 0.108 0.000 2259 2225 2781

10289 end apogee: CONTROL_FINISHED_OK

state 10289 begin climb

10292 0.85 146.6 728.3 0.0 495 10432 1.23 2.78 132.18 1.177 4 0.078 0.071 2512 829 2182

10557 0.80 198.0 721.1 4.6 508 10611 0.00 2.62 46.95 1.146 6 0.000 0.058 2512 2239 1973

10932 0.75 198.0 699.2 6.3 526 10937 0.00 2.70 0.00 0.000 4 0.000 0.071 2513 831 1973

10988 0.75 198.0 695.3 6.9 528 10994 0.00 2.62 0.00 0.000 6 0.000 0.057 2511 2240 1972

11303 0.76 204.5 677.7 5.8 544 11317 0.00 2.78 7.15 0.948 4 0.000 0.082 2511 3642 1948

11330 0.76 204.5 675.4 9.0 545 11334 0.00 2.62 0.00 0.000 6 0.000 0.058 2511 2242 1948

11652 0.78 216.6 657.5 5.7 561 11673 0.00 2.80 12.50 1.053 4 0.000 0.072 2511 828 1897

11697 0.78 216.6 654.5 6.3 563 11702 0.00 2.65 0.00 0.000 6 0.000 0.058 2511 2238 1897

12024 0.78 216.6 633.1 6.3 579 12026 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2238 1897

12333 0.78 216.6 613.9 6.5 594 12337 0.00 2.70 0.00 0.000 4 0.000 0.071 2511 826 1896

12354 0.78 216.6 612.5 6.1 595 12359 0.00 2.62 0.00 0.000 6 0.000 0.057 2512 2241 1896

12677 0.78 216.6 591.6 6.8 611 12678 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2241 1896

12985 0.78 216.6 571.1 6.4 626 12986 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 1896

13294 0.78 216.6 550.0 6.7 641 13299 0.00 2.72 0.00 0.000 4 0.000 0.072 2511 822 1896

13328 0.78 216.6 547.7 6.7 642 13334 0.00 2.62 0.00 0.000 6 0.000 0.058 2511 2241 1895

13644 0.78 216.6 526.4 6.8 658 13645 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 1895

13954 0.78 216.6 505.5 6.8 673 13955 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 1895

14262 0.78 216.6 485.5 6.2 688 14263 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 1895

14572 0.78 216.6 464.8 7.3 703 14573 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2241 1895

14880 0.78 216.6 441.3 7.4 718 14885 0.00 2.70 0.00 0.000 4 0.000 0.071 2511 829 1894

14908 0.78 216.6 439.3 7.9 719 14912 0.00 2.62 0.00 0.000 6 0.000 0.058 2511 2245 1894

15224 0.78 216.6 418.3 6.4 734 15229 0.00 2.70 0.00 0.000 4 0.000 0.071 2511 828 1894

15257 0.78 216.6 416.1 6.9 735 15263 0.00 2.62 0.00 0.000 6 0.000 0.057 2512 2245 1894

15573 0.79 227.5 397.1 5.7 751 15589 0.00 2.72 10.52 0.910 4 0.000 0.080 2511 3649 1852

15618 0.79 233.5 394.4 5.8 752 15634 0.00 2.65 6.93 0.832 6 0.000 0.058 2511 2231 1829

15943 0.81 250.6 376.3 5.5 768 15965 0.00 2.78 16.40 0.938 4 0.000 0.070 2511 827 1758

16000 0.82 261.4 373.2 5.7 770 16016 0.00 2.62 11.02 0.890 6 0.000 0.054 2511 2240 1716

16341 0.88 272.0 354.3 5.7 787 16357 0.00 0.00 10.73 0.874 6 0.000 0.000 2511 2240 1671

16667 0.93 272.0 333.7 6.4 803 16668 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2240 1671

16977 0.99 272.0 313.0 6.8 818 16982 0.15 2.67 0.00 0.000 4 0.060 0.066 2550 823 1671

17005 0.95 272.0 310.5 9.2 819 17010 0.00 2.62 0.00 0.000 6 0.000 0.053 2551 2248 1671

17322 0.89 272.0 281.6 9.2 834 17324 0.15 0.00 0.00 0.000 6 0.092 0.000 2521 2248 1670

17630 0.89 272.0 256.4 8.1 849 17631 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2248 1671

17939 0.89 272.0 234.1 6.7 864 17944 0.00 2.65 0.00 0.000 4 0.000 0.062 2521 828 1672

17967 0.89 272.0 232.2 6.2 865 17971 0.00 2.58 0.00 0.000 6 0.000 0.050 2520 2239 1672

18283 0.89 272.0 209.5 7.4 880 18284 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2241 1672

18592 0.89 272.0 186.7 7.6 895 18596 0.00 2.62 0.00 0.000 4 0.000 0.061 2521 828 1673

18619 0.89 272.0 184.4 7.6 896 18623 0.00 2.58 0.00 0.000 6 0.000 0.048 2521 2242 1673

18935 0.89 272.0 160.0 7.8 911 18936 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2242 1674

19245 0.89 272.0 135.1 8.2 926 19246 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2242 1675

19553 0.89 272.0 111.6 7.4 941 19554 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2242 1675

19863 0.89 272.0 88.5 7.4 956 19864 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2242 1676

20172 0.89 272.0 65.8 6.9 971 20176 0.00 2.62 0.00 0.000 4 0.000 0.058 2522 827 1677

20227 0.89 272.0 62.1 6.5 973 20233 0.00 2.55 0.00 0.000 6 0.000 0.048 2521 2241 1677

20543 0.89 272.0 40.1 7.4 989 20548 0.00 2.62 0.00 0.000 4 0.000 0.067 2521 3653 1678

20565 0.89 272.0 38.2 7.5 990 20570 0.00 2.58 0.00 0.000 6 0.000 0.048 2521 2229 1678

20887 0.89 272.0 15.9 6.5 1006 20891 0.00 2.65 0.00 0.000 4 0.000 0.065 2521 3650 1679

20954 0.89 272.0 10.7 6.4 1009 20959 0.00 2.53 0.00 0.000 6 0.000 0.046 2521 2241 1679

21089 end climb: SURFACE_DEPTH_REACHED

state 21089 begin surface coast

21109 end surface coast: CONTROL_FINISHED_OK

state 21109 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	380	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-2101779.5	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	110938,6356.093,-923.488,34,1.3,35,-10.3	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.26	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-53.8	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	111508,6356.081,-923.502,13,1.9,13,-10.3	MHEAD_RNG_PITCHd_Wd	117.0,71411,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026866	ALTIM_BOTTOM_PING	700.4,30.9
SM_CCo	21131,141.32,0.622,0,0,508,557.32	_24V_AH	23.3,61.232
SM_GC	1.21,0.00,0.00,141.32,0.000,0.000,0.622,67,2238,508,-10.41,0.23,557.32	_10V_AH	10.1,30.126
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50444,1017
TT8_MAMPS	0.023777	CAP_FILE_SIZE	139414,0
HUMID	1882	CFSIZE	260165632,237346816
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
XPDR_PINGS	55	GPS	170808,171125,6353.266,-921.546,26,1.4,43,-10.3
ALTIM_TOP_PING	20.0,19.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	98.88	SBE_CT	756	24	423.19
Roll_motor	142	83	276.71	SBE_O2	695	19	307.71
VBD_pump_during_apogee	387	1184	10683.31	WL_BB2F	613	105	1500.48
VBD_pump_during_surface	141	622	2048.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.14	nil	0	0	0.00
Iridium_during_connect	27	160	101.47	nil	0	0	0.00
Iridium_during_xfer	148	223	773.12
Transponder_ping	20	420	195.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.03
TT8	1791	19	358.28
LPSleep	16548	2	366.04
TT8_Active	709	19	141.90
TT8_Sampling	1995	39	802.23
TT8_CF8	555	45	257.09
TT8_Kalman	0	81	0.00
Analog_circuits	1717	12	208.11
GPS_charging	0	0	0.00
Compass	1956	8	158.05
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
26	-0.85	-146.6	0.0	0.0	0	130	0.00	0.00	-101.32	0.000	2	0.000	0.000	70	2244	2544
133	-0.85	-146.6	3.1	-2.0	5	181	11.68	2.62	-29.23	0.000	4	0.169	0.064	2142	812	3379
221	-0.77	-146.6	10.0	-9.2	9	226	0.00	2.60	0.00	0.000	6	0.000	0.047	2142	2235	3379
544	-0.63	-146.6	40.7	-9.3	25	549	0.20	2.62	0.00	0.000	4	0.097	0.064	2185	3643	3380
584	-0.63	-146.6	43.7	-7.0	27	588	0.00	2.53	0.00	0.000	6	0.000	0.044	2185	2225	3379
911	-0.63	-146.6	67.8	-8.1	43	915	0.00	2.58	0.00	0.000	4	0.000	0.054	2185	812	3380
961	-0.71	-146.6	72.1	-8.4	45	965	0.00	2.58	0.00	0.000	6	0.000	0.044	2185	2237	3380
1277	-0.71	-146.6	97.0	-8.1	60	1281	0.00	2.60	0.00	0.000	4	0.000	0.066	2185	3636	3381
1340	-0.76	-146.6	102.1	-7.6	63	1345	0.00	2.53	0.00	0.000	6	0.000	0.043	2185	2224	3381
1668	-0.76	-146.6	125.0	-6.8	79	1672	0.00	2.58	0.00	0.000	4	0.000	0.057	2185	821	3381
1701	-0.85	-146.6	127.4	-6.7	80	1708	0.17	2.55	0.00	0.000	6	0.041	0.046	2130	2233	3382
2018	-0.71	-146.6	158.2	-9.9	96	2023	0.17	2.62	0.00	0.000	4	0.087	0.067	2169	3640	3382
2058	-0.71	-146.6	161.8	-8.5	98	2062	0.00	2.53	0.00	0.000	6	0.000	0.044	2169	2232	3382
2385	-0.71	-146.6	187.4	-7.8	114	2386	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2232	3381
2693	-0.71	-146.6	211.2	-7.7	129	2695	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3381
3003	-0.71	-146.6	233.9	-7.5	144	3004	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2231	3381
3313	-0.71	-146.6	257.0	-7.7	159	3314	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3382
3621	-0.71	-146.6	281.1	-7.8	174	3622	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3382
3931	-0.71	-146.6	303.6	-6.7	189	3935	0.00	2.65	0.00	0.000	4	0.000	0.072	2170	3637	3382
3958	-0.71	-146.6	305.4	-7.0	190	3963	0.00	2.53	0.00	0.000	6	0.000	0.047	2169	2231	3381
4274	-0.71	-146.6	326.8	-7.0	205	4275	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3382
4583	-0.71	-146.6	347.0	-6.3	220	4587	0.00	2.60	0.00	0.000	4	0.000	0.061	2169	821	3381
4611	-0.76	-146.6	348.9	-6.8	221	4616	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2229	3381
4927	-0.76	-146.6	368.5	-6.4	236	4932	0.00	2.65	0.00	0.000	4	0.000	0.075	2169	3639	3380
4955	-0.76	-146.6	370.5	-7.2	237	4959	0.00	2.55	0.00	0.000	6	0.000	0.049	2169	2232	3380
5271	-0.76	-146.6	391.0	-6.5	252	5272	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3380
5580	-0.76	-146.6	409.5	-5.8	267	5581	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3379
5889	-0.76	-146.6	430.0	-7.1	282	5890	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3378
6199	-0.76	-146.6	452.0	-7.2	297	6200	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3377
6508	-0.76	-146.6	473.5	-6.8	312	6509	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3376
6817	-0.76	-146.6	493.6	-6.5	327	6818	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3375
7127	-0.80	-146.6	514.1	-6.7	342	7128	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2231	3374
7436	-0.85	-146.6	535.8	-7.0	357	7441	0.12	2.70	0.00	0.000	4	0.056	0.081	2134	3637	3373
7464	-0.78	-146.6	538.3	-9.2	358	7469	0.12	2.60	0.00	0.000	6	0.103	0.054	2157	2224	3373
7780	-0.78	-146.6	561.8	-7.1	373	7781	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2224	3373
8088	-0.78	-146.6	584.4	-7.0	388	8090	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2224	3371
8398	-0.78	-146.6	606.1	-7.2	403	8399	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2224	3370
8708	-0.78	-146.6	627.5	-6.3	418	8712	0.00	2.72	0.00	0.000	4	0.000	0.084	2157	3638	3368
8729	-0.78	-146.6	629.0	-6.5	419	8733	0.00	2.60	0.00	0.000	6	0.000	0.055	2157	2225	3369
9050	-0.78	-146.6	649.6	-6.8	435	9051	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2225	3368
9360	-0.78	-146.6	668.2	-6.9	450	9361	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2225	3366
9668	-0.78	-146.6	688.1	-6.1	465	9669	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2225	3366
9978	-0.78	-146.6	709.2	-7.3	480	9979	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2225	3365
10140	end dive: BOTTOM_OBSTACLE_DETECTED
state	10140	begin apogee
10147	-0.31	0.0	721.7	7.2	488	10288	0.52	0.00	132.80	1.184	6	0.108	0.000	2259	2225	2781
10289	end apogee: CONTROL_FINISHED_OK
state	10289	begin climb
10292	0.85	146.6	728.3	0.0	495	10432	1.23	2.78	132.18	1.177	4	0.078	0.071	2512	829	2182
10557	0.80	198.0	721.1	4.6	508	10611	0.00	2.62	46.95	1.146	6	0.000	0.058	2512	2239	1973
10932	0.75	198.0	699.2	6.3	526	10937	0.00	2.70	0.00	0.000	4	0.000	0.071	2513	831	1973
10988	0.75	198.0	695.3	6.9	528	10994	0.00	2.62	0.00	0.000	6	0.000	0.057	2511	2240	1972
11303	0.76	204.5	677.7	5.8	544	11317	0.00	2.78	7.15	0.948	4	0.000	0.082	2511	3642	1948
11330	0.76	204.5	675.4	9.0	545	11334	0.00	2.62	0.00	0.000	6	0.000	0.058	2511	2242	1948
11652	0.78	216.6	657.5	5.7	561	11673	0.00	2.80	12.50	1.053	4	0.000	0.072	2511	828	1897
11697	0.78	216.6	654.5	6.3	563	11702	0.00	2.65	0.00	0.000	6	0.000	0.058	2511	2238	1897
12024	0.78	216.6	633.1	6.3	579	12026	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2238	1897
12333	0.78	216.6	613.9	6.5	594	12337	0.00	2.70	0.00	0.000	4	0.000	0.071	2511	826	1896
12354	0.78	216.6	612.5	6.1	595	12359	0.00	2.62	0.00	0.000	6	0.000	0.057	2512	2241	1896
12677	0.78	216.6	591.6	6.8	611	12678	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2241	1896
12985	0.78	216.6	571.1	6.4	626	12986	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	1896
13294	0.78	216.6	550.0	6.7	641	13299	0.00	2.72	0.00	0.000	4	0.000	0.072	2511	822	1896
13328	0.78	216.6	547.7	6.7	642	13334	0.00	2.62	0.00	0.000	6	0.000	0.058	2511	2241	1895
13644	0.78	216.6	526.4	6.8	658	13645	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	1895
13954	0.78	216.6	505.5	6.8	673	13955	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	1895
14262	0.78	216.6	485.5	6.2	688	14263	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	1895
14572	0.78	216.6	464.8	7.3	703	14573	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2241	1895
14880	0.78	216.6	441.3	7.4	718	14885	0.00	2.70	0.00	0.000	4	0.000	0.071	2511	829	1894
14908	0.78	216.6	439.3	7.9	719	14912	0.00	2.62	0.00	0.000	6	0.000	0.058	2511	2245	1894
15224	0.78	216.6	418.3	6.4	734	15229	0.00	2.70	0.00	0.000	4	0.000	0.071	2511	828	1894
15257	0.78	216.6	416.1	6.9	735	15263	0.00	2.62	0.00	0.000	6	0.000	0.057	2512	2245	1894
15573	0.79	227.5	397.1	5.7	751	15589	0.00	2.72	10.52	0.910	4	0.000	0.080	2511	3649	1852
15618	0.79	233.5	394.4	5.8	752	15634	0.00	2.65	6.93	0.832	6	0.000	0.058	2511	2231	1829
15943	0.81	250.6	376.3	5.5	768	15965	0.00	2.78	16.40	0.938	4	0.000	0.070	2511	827	1758
16000	0.82	261.4	373.2	5.7	770	16016	0.00	2.62	11.02	0.890	6	0.000	0.054	2511	2240	1716
16341	0.88	272.0	354.3	5.7	787	16357	0.00	0.00	10.73	0.874	6	0.000	0.000	2511	2240	1671
16667	0.93	272.0	333.7	6.4	803	16668	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2240	1671
16977	0.99	272.0	313.0	6.8	818	16982	0.15	2.67	0.00	0.000	4	0.060	0.066	2550	823	1671
17005	0.95	272.0	310.5	9.2	819	17010	0.00	2.62	0.00	0.000	6	0.000	0.053	2551	2248	1671
17322	0.89	272.0	281.6	9.2	834	17324	0.15	0.00	0.00	0.000	6	0.092	0.000	2521	2248	1670
17630	0.89	272.0	256.4	8.1	849	17631	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2248	1671
17939	0.89	272.0	234.1	6.7	864	17944	0.00	2.65	0.00	0.000	4	0.000	0.062	2521	828	1672
17967	0.89	272.0	232.2	6.2	865	17971	0.00	2.58	0.00	0.000	6	0.000	0.050	2520	2239	1672
18283	0.89	272.0	209.5	7.4	880	18284	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2241	1672
18592	0.89	272.0	186.7	7.6	895	18596	0.00	2.62	0.00	0.000	4	0.000	0.061	2521	828	1673
18619	0.89	272.0	184.4	7.6	896	18623	0.00	2.58	0.00	0.000	6	0.000	0.048	2521	2242	1673
18935	0.89	272.0	160.0	7.8	911	18936	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2242	1674
19245	0.89	272.0	135.1	8.2	926	19246	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2242	1675
19553	0.89	272.0	111.6	7.4	941	19554	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2242	1675
19863	0.89	272.0	88.5	7.4	956	19864	0.00	0.00	0.00	0.000	6	0.000	0.000	2521	2242	1676
20172	0.89	272.0	65.8	6.9	971	20176	0.00	2.62	0.00	0.000	4	0.000	0.058	2522	827	1677
20227	0.89	272.0	62.1	6.5	973	20233	0.00	2.55	0.00	0.000	6	0.000	0.048	2521	2241	1677
20543	0.89	272.0	40.1	7.4	989	20548	0.00	2.62	0.00	0.000	4	0.000	0.067	2521	3653	1678
20565	0.89	272.0	38.2	7.5	990	20570	0.00	2.58	0.00	0.000	6	0.000	0.048	2521	2229	1678
20887	0.89	272.0	15.9	6.5	1006	20891	0.00	2.65	0.00	0.000	4	0.000	0.065	2521	3650	1679
20954	0.89	272.0	10.7	6.4	1009	20959	0.00	2.53	0.00	0.000	6	0.000	0.046	2521	2241	1679
21089	end climb: SURFACE_DEPTH_REACHED
state	21089	begin surface coast
21109	end surface coast: CONTROL_FINISHED_OK
state	21109	begin surface