Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 382 * 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 382 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2101817 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 -2101817

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 22 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 382 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 230526,6353.624,-914.539,42,1.9,43,-10.2 TGT_NAME IFRN1K

_CALLS 2 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.24 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -51.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 231339,6353.627,-914.497,15,1.9,15,-10.2 MHEAD_RNG_PITCHd_Wd 114.9,63078,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.026910 ALTIM_BOTTOM_PING 700.7,25.4

SM_CCo 21383,135.48,0.617,0,0,509,557.32 _24V_AH 23.3,61.566

SM_GC 1.18,0.00,0.00,135.48,0.000,0.000,0.617,73,2232,509,-10.38,0.06,557.32 _10V_AH 10.1,30.309

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53753,1033

TT8_MAMPS 0.023777 CAP_FILE_SIZE 140499,0

HUMID 1885 CFSIZE 260165632,237211648

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 61 GPS 180808,051401,6349.787,-913.345,36,1.3,42,-10.2

ALTIM_TOP_PING 19.8,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.68 SBE_CT 773 24 432.68

Roll_motor 136 85 273.26 SBE_O2 705 19 312.34

VBD_pump_during_apogee 398 1191 11079.52 WL_BB2F 623 105 1525.71

VBD_pump_during_surface 135 616 1946.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.75 nil 0 0 0.00

Iridium_during_connect 55 160 206.50 nil 0 0 0.00

Iridium_during_xfer 197 223 1027.18

Transponder_ping 21 420 212.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.75

TT8 1815 19 363.14

LPSleep 16840 2 372.50

TT8_Active 735 19 147.07

TT8_Sampling 1962 39 788.87

TT8_CF8 657 45 303.99

TT8_Kalman 0 81 0.00

Analog_circuits 1714 12 207.85

GPS_charging 0 0 0.00

Compass 1925 8 155.59

RAFOS 0 0 0.00

Guidance and control:

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -121.03 0.000 2 0.000 0.000 69 2247 3013

152 -0.85 -146.6 4.6 -3.8 6 175 11.88 0.00 -7.75 0.000 6 0.172 0.000 2143 2246 3381

478 -0.72 -146.6 44.3 -10.2 22 483 0.15 2.58 0.00 0.000 4 0.100 0.062 2175 3640 3381

502 -0.65 -146.6 46.6 -9.0 23 506 0.00 2.53 0.00 0.000 6 0.000 0.042 2175 2226 3381

824 -0.65 -146.6 71.6 -7.7 39 828 0.00 2.62 0.00 0.000 4 0.000 0.063 2175 3640 3382

864 -0.65 -146.6 75.1 -8.6 41 868 0.00 2.53 0.00 0.000 6 0.000 0.041 2175 2228 3382

1191 -0.65 -146.6 101.2 -7.6 57 1192 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2228 3382

1501 -0.65 -146.6 122.6 -6.8 72 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2228 3382

1811 -0.65 -146.6 144.1 -6.5 87 1815 0.00 2.62 0.00 0.000 4 0.000 0.065 2175 3638 3382

1844 -0.65 -146.6 146.7 -7.1 88 1850 0.00 2.53 0.00 0.000 6 0.000 0.042 2175 2223 3382

2160 -0.65 -146.6 168.7 -7.3 104 2161 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2223 3382

2468 -0.65 -146.6 190.6 -7.0 119 2473 0.00 2.65 0.00 0.000 4 0.000 0.066 2174 3643 3382

2496 -0.65 -146.6 192.7 -7.4 120 2500 0.00 2.53 0.00 0.000 6 0.000 0.043 2175 2230 3382

2812 -0.65 -146.6 213.0 -6.1 135 2813 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3382

3121 -0.65 -146.6 235.5 -7.7 150 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3382

3430 -0.65 -146.6 258.5 -7.2 165 3434 0.00 2.62 0.00 0.000 4 0.000 0.067 2175 3638 3382

3463 -0.65 -146.6 261.1 -7.7 166 3469 0.00 2.53 0.00 0.000 6 0.000 0.044 2174 2227 3382

3779 -0.65 -146.6 281.5 -6.1 182 3780 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2227 3382

4089 -0.65 -146.6 300.4 -6.0 197 4094 0.00 2.65 0.00 0.000 4 0.000 0.069 2175 3640 3382

4117 -0.65 -146.6 302.2 -6.4 198 4121 0.00 2.53 0.00 0.000 6 0.000 0.045 2175 2231 3382

4434 -0.65 -146.6 320.8 -5.9 213 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3382

4742 -0.65 -146.6 338.9 -5.8 228 4743 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3382

5052 -0.65 -146.6 358.5 -6.4 243 5053 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3381

5360 -0.65 -146.6 378.1 -6.3 258 5365 0.00 2.67 0.00 0.000 4 0.000 0.074 2175 3641 3381

5394 -0.65 -146.6 380.4 -6.9 259 5400 0.00 2.55 0.00 0.000 6 0.000 0.049 2175 2232 3381

5711 -0.65 -146.6 400.8 -6.5 275 5712 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2232 3380

6019 -0.70 -146.6 421.3 -7.0 290 6023 0.00 2.67 0.00 0.000 4 0.000 0.077 2175 3637 3379

6058 -0.70 -146.6 424.2 -8.0 292 6063 0.00 2.58 0.00 0.000 6 0.000 0.051 2175 2228 3379

6386 -0.75 -146.6 447.5 -7.1 308 6387 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2228 3378

6695 -0.82 -146.6 468.4 -6.6 323 6697 0.12 0.00 0.00 0.000 6 0.058 0.000 2146 2228 3377

7004 -0.77 -146.6 491.1 -7.4 338 7005 0.00 0.00 0.00 0.000 6 0.000 0.000 2145 2228 3375

7314 -0.77 -146.6 513.3 -7.0 353 7318 0.00 2.67 0.00 0.000 4 0.000 0.081 2144 3635 3374

7369 -0.71 -146.6 517.8 -8.6 355 7376 0.15 2.58 0.00 0.000 6 0.097 0.054 2172 2231 3374

7688 -0.77 -146.6 535.7 -5.6 371 7690 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2231 3373

7995 -0.82 -146.6 553.7 -6.1 386 7999 0.00 2.70 0.00 0.000 4 0.000 0.083 2172 3636 3371

8028 -0.86 -146.6 556.0 -6.6 387 8035 0.15 2.58 0.00 0.000 6 0.056 0.055 2139 2231 3372

8345 -0.81 -146.6 578.9 -7.1 403 8346 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2231 3371

8654 -0.76 -146.6 600.7 -7.3 418 8656 0.12 0.00 0.00 0.000 6 0.105 0.000 2162 2231 3370

8962 -0.76 -146.6 620.7 -6.5 433 8963 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2231 3369

9272 -0.76 -146.6 641.5 -6.6 448 9277 0.00 2.70 0.00 0.000 4 0.000 0.084 2162 3635 3368

9305 -0.76 -146.6 644.0 -7.2 449 9311 0.00 2.58 0.00 0.000 6 0.000 0.056 2162 2231 3368

9621 -0.76 -146.6 665.0 -6.6 465 9622 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2231 3366

9931 -0.76 -146.6 685.4 -7.1 480 9932 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2231 3366

10240 -0.76 -146.6 705.3 -7.2 495 10244 0.00 2.72 0.00 0.000 4 0.000 0.086 2162 3641 3365

10267 -0.76 -146.6 707.4 -7.9 496 10271 0.00 2.60 0.00 0.000 6 0.000 0.057 2162 2225 3365

10415 end dive: BOTTOM_OBSTACLE_DETECTED

state 10415 begin apogee

10422 -0.31 0.0 716.7 5.8 503 10557 0.50 0.00 130.77 1.192 6 0.109 0.000 2260 2225 2781

10558 end apogee: CONTROL_FINISHED_OK

state 10558 begin climb

10561 0.85 146.6 722.2 0.0 510 10703 1.23 2.88 131.80 1.173 4 0.082 0.082 2509 3647 2183

10755 0.75 146.6 719.1 6.0 519 10759 0.00 2.62 0.00 0.000 6 0.000 0.058 2509 2237 2183

11071 0.70 182.6 702.9 5.0 534 11111 0.15 0.00 33.72 1.133 6 0.105 0.000 2481 2237 2036

11421 0.74 182.6 682.8 6.4 551 11426 0.00 2.67 0.00 0.000 4 0.000 0.072 2481 824 2035

11449 0.80 193.9 681.1 5.7 552 11469 0.12 2.62 11.60 1.039 6 0.062 0.056 2509 2238 1990

11793 0.74 200.5 663.6 5.8 569 11802 0.00 0.00 7.47 0.957 6 0.000 0.000 2509 2238 1963

12100 0.74 200.5 641.5 7.2 584 12105 0.00 2.70 0.00 0.000 4 0.000 0.083 2509 3647 1963

12163 0.74 200.5 637.1 6.7 587 12167 0.00 2.62 0.00 0.000 6 0.000 0.058 2509 2237 1963

12489 0.74 200.5 616.8 6.4 603 12490 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2237 1963

12799 0.74 200.5 596.1 7.2 618 12800 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2237 1962

13107 0.74 200.5 576.9 6.6 633 13109 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2237 1962

13417 0.74 200.5 556.3 6.1 648 13418 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2237 1962

13727 0.77 220.6 538.5 5.4 663 13753 0.00 2.80 18.77 1.043 4 0.000 0.082 2509 3648 1881

13771 0.78 231.5 536.0 5.7 665 13788 0.00 2.65 11.45 0.979 6 0.000 0.058 2509 2235 1837

14098 0.80 249.6 517.7 5.5 681 14117 0.00 0.00 17.40 1.024 6 0.000 0.000 2509 2235 1763

14426 0.80 249.6 496.8 6.4 697 14427 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2235 1763

14735 0.80 249.6 476.7 6.4 712 14740 0.00 2.65 0.00 0.000 4 0.000 0.073 2509 828 1762

14763 0.80 249.6 474.7 6.8 713 14767 0.00 2.62 0.00 0.000 6 0.000 0.056 2509 2242 1762

15079 0.80 250.0 455.5 6.0 728 15081 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2242 1762

15388 0.80 250.2 437.3 6.0 743 15389 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2242 1762

15698 0.87 282.2 420.6 5.1 758 15733 0.00 2.72 28.92 1.001 4 0.000 0.068 2509 831 1630

15763 0.94 284.0 417.0 6.0 761 15769 0.12 2.65 0.00 0.000 6 0.092 0.054 2533 2245 1630

16090 0.94 284.0 393.1 7.6 777 16091 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2245 1630

16399 0.94 284.0 369.5 7.7 792 16400 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2245 1630

16709 0.94 284.0 346.1 7.3 807 16713 0.00 2.70 0.00 0.000 4 0.000 0.067 2533 825 1630

16736 0.94 284.0 344.0 6.9 808 16740 0.00 2.62 0.00 0.000 6 0.000 0.054 2533 2248 1630

17052 0.94 284.0 319.9 8.2 823 17056 0.00 2.70 0.00 0.000 4 0.000 0.066 2533 823 1630

17084 0.94 284.0 317.0 8.9 824 17091 0.00 2.60 0.00 0.000 6 0.000 0.054 2533 2238 1630

17400 0.94 284.0 290.3 7.9 840 17401 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2238 1630

17710 0.94 284.0 267.9 7.2 855 17714 0.00 2.65 0.00 0.000 4 0.000 0.074 2533 3648 1631

17754 0.94 284.0 264.3 7.6 857 17758 0.00 2.60 0.00 0.000 6 0.000 0.054 2533 2233 1632

18075 0.94 284.0 241.2 7.6 873 18080 0.00 0.00 3.55 0.545 6 0.000 0.000 2533 2233 1623

18385 0.94 284.0 217.8 7.8 888 18389 0.00 2.60 0.00 0.000 4 0.000 0.062 2533 827 1623

18424 0.94 284.0 214.5 8.9 890 18428 0.00 2.58 0.00 0.000 6 0.000 0.048 2533 2243 1623

18752 0.94 284.0 189.1 7.9 906 18753 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1624

19061 0.94 284.0 165.3 7.6 921 19065 0.00 2.65 0.00 0.000 4 0.000 0.059 2533 820 1625

19093 0.94 284.0 162.7 7.4 922 19099 0.00 2.58 0.00 0.000 6 0.000 0.046 2534 2243 1625

19411 0.94 284.0 137.9 7.8 938 19412 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2243 1627

19719 0.94 284.0 114.2 7.6 953 19724 0.00 2.62 0.00 0.000 4 0.000 0.058 2534 828 1627

19760 0.94 284.0 111.0 8.2 955 19764 0.00 2.58 0.00 0.000 6 0.000 0.045 2533 2249 1627

20086 0.94 284.0 86.5 7.0 971 20087 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2249 1628

20396 0.94 284.0 65.3 6.4 986 20401 0.00 2.62 0.00 0.000 4 0.000 0.057 2533 827 1629

20430 0.94 284.0 63.0 6.6 987 20436 0.00 2.55 0.00 0.000 6 0.000 0.044 2533 2243 1629

20747 0.94 284.0 42.3 6.6 1003 20748 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2244 1630

21056 0.94 284.0 21.1 6.4 1018 21060 0.00 2.60 0.00 0.000 4 0.000 0.064 2533 3654 1631

21083 0.99 284.0 19.0 6.8 1019 21095 0.00 2.55 3.47 0.417 6 0.000 0.045 2533 2235 1622

21341 end climb: SURFACE_DEPTH_REACHED

state 21341 begin surface coast

21361 end surface coast: CONTROL_FINISHED_OK

state 21361 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	382	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2101817	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	230526,6353.624,-914.539,42,1.9,43,-10.2	TGT_NAME	IFRN1K
_CALLS	2	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.24	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-51.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	231339,6353.627,-914.497,15,1.9,15,-10.2	MHEAD_RNG_PITCHd_Wd	114.9,63078,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.026910	ALTIM_BOTTOM_PING	700.7,25.4
SM_CCo	21383,135.48,0.617,0,0,509,557.32	_24V_AH	23.3,61.566
SM_GC	1.18,0.00,0.00,135.48,0.000,0.000,0.617,73,2232,509,-10.38,0.06,557.32	_10V_AH	10.1,30.309
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53753,1033
TT8_MAMPS	0.023777	CAP_FILE_SIZE	140499,0
HUMID	1885	CFSIZE	260165632,237211648
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	61	GPS	180808,051401,6349.787,-913.345,36,1.3,42,-10.2
ALTIM_TOP_PING	19.8,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.68	SBE_CT	773	24	432.68
Roll_motor	136	85	273.26	SBE_O2	705	19	312.34
VBD_pump_during_apogee	398	1191	11079.52	WL_BB2F	623	105	1525.71
VBD_pump_during_surface	135	616	1946.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.75	nil	0	0	0.00
Iridium_during_connect	55	160	206.50	nil	0	0	0.00
Iridium_during_xfer	197	223	1027.18
Transponder_ping	21	420	212.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.75
TT8	1815	19	363.14
LPSleep	16840	2	372.50
TT8_Active	735	19	147.07
TT8_Sampling	1962	39	788.87
TT8_CF8	657	45	303.99
TT8_Kalman	0	81	0.00
Analog_circuits	1714	12	207.85
GPS_charging	0	0	0.00
Compass	1925	8	155.59
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-121.03	0.000	2	0.000	0.000	69	2247	3013
152	-0.85	-146.6	4.6	-3.8	6	175	11.88	0.00	-7.75	0.000	6	0.172	0.000	2143	2246	3381
478	-0.72	-146.6	44.3	-10.2	22	483	0.15	2.58	0.00	0.000	4	0.100	0.062	2175	3640	3381
502	-0.65	-146.6	46.6	-9.0	23	506	0.00	2.53	0.00	0.000	6	0.000	0.042	2175	2226	3381
824	-0.65	-146.6	71.6	-7.7	39	828	0.00	2.62	0.00	0.000	4	0.000	0.063	2175	3640	3382
864	-0.65	-146.6	75.1	-8.6	41	868	0.00	2.53	0.00	0.000	6	0.000	0.041	2175	2228	3382
1191	-0.65	-146.6	101.2	-7.6	57	1192	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2228	3382
1501	-0.65	-146.6	122.6	-6.8	72	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2228	3382
1811	-0.65	-146.6	144.1	-6.5	87	1815	0.00	2.62	0.00	0.000	4	0.000	0.065	2175	3638	3382
1844	-0.65	-146.6	146.7	-7.1	88	1850	0.00	2.53	0.00	0.000	6	0.000	0.042	2175	2223	3382
2160	-0.65	-146.6	168.7	-7.3	104	2161	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2223	3382
2468	-0.65	-146.6	190.6	-7.0	119	2473	0.00	2.65	0.00	0.000	4	0.000	0.066	2174	3643	3382
2496	-0.65	-146.6	192.7	-7.4	120	2500	0.00	2.53	0.00	0.000	6	0.000	0.043	2175	2230	3382
2812	-0.65	-146.6	213.0	-6.1	135	2813	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3382
3121	-0.65	-146.6	235.5	-7.7	150	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3382
3430	-0.65	-146.6	258.5	-7.2	165	3434	0.00	2.62	0.00	0.000	4	0.000	0.067	2175	3638	3382
3463	-0.65	-146.6	261.1	-7.7	166	3469	0.00	2.53	0.00	0.000	6	0.000	0.044	2174	2227	3382
3779	-0.65	-146.6	281.5	-6.1	182	3780	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2227	3382
4089	-0.65	-146.6	300.4	-6.0	197	4094	0.00	2.65	0.00	0.000	4	0.000	0.069	2175	3640	3382
4117	-0.65	-146.6	302.2	-6.4	198	4121	0.00	2.53	0.00	0.000	6	0.000	0.045	2175	2231	3382
4434	-0.65	-146.6	320.8	-5.9	213	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3382
4742	-0.65	-146.6	338.9	-5.8	228	4743	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3382
5052	-0.65	-146.6	358.5	-6.4	243	5053	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3381
5360	-0.65	-146.6	378.1	-6.3	258	5365	0.00	2.67	0.00	0.000	4	0.000	0.074	2175	3641	3381
5394	-0.65	-146.6	380.4	-6.9	259	5400	0.00	2.55	0.00	0.000	6	0.000	0.049	2175	2232	3381
5711	-0.65	-146.6	400.8	-6.5	275	5712	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2232	3380
6019	-0.70	-146.6	421.3	-7.0	290	6023	0.00	2.67	0.00	0.000	4	0.000	0.077	2175	3637	3379
6058	-0.70	-146.6	424.2	-8.0	292	6063	0.00	2.58	0.00	0.000	6	0.000	0.051	2175	2228	3379
6386	-0.75	-146.6	447.5	-7.1	308	6387	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2228	3378
6695	-0.82	-146.6	468.4	-6.6	323	6697	0.12	0.00	0.00	0.000	6	0.058	0.000	2146	2228	3377
7004	-0.77	-146.6	491.1	-7.4	338	7005	0.00	0.00	0.00	0.000	6	0.000	0.000	2145	2228	3375
7314	-0.77	-146.6	513.3	-7.0	353	7318	0.00	2.67	0.00	0.000	4	0.000	0.081	2144	3635	3374
7369	-0.71	-146.6	517.8	-8.6	355	7376	0.15	2.58	0.00	0.000	6	0.097	0.054	2172	2231	3374
7688	-0.77	-146.6	535.7	-5.6	371	7690	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2231	3373
7995	-0.82	-146.6	553.7	-6.1	386	7999	0.00	2.70	0.00	0.000	4	0.000	0.083	2172	3636	3371
8028	-0.86	-146.6	556.0	-6.6	387	8035	0.15	2.58	0.00	0.000	6	0.056	0.055	2139	2231	3372
8345	-0.81	-146.6	578.9	-7.1	403	8346	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2231	3371
8654	-0.76	-146.6	600.7	-7.3	418	8656	0.12	0.00	0.00	0.000	6	0.105	0.000	2162	2231	3370
8962	-0.76	-146.6	620.7	-6.5	433	8963	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2231	3369
9272	-0.76	-146.6	641.5	-6.6	448	9277	0.00	2.70	0.00	0.000	4	0.000	0.084	2162	3635	3368
9305	-0.76	-146.6	644.0	-7.2	449	9311	0.00	2.58	0.00	0.000	6	0.000	0.056	2162	2231	3368
9621	-0.76	-146.6	665.0	-6.6	465	9622	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2231	3366
9931	-0.76	-146.6	685.4	-7.1	480	9932	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2231	3366
10240	-0.76	-146.6	705.3	-7.2	495	10244	0.00	2.72	0.00	0.000	4	0.000	0.086	2162	3641	3365
10267	-0.76	-146.6	707.4	-7.9	496	10271	0.00	2.60	0.00	0.000	6	0.000	0.057	2162	2225	3365
10415	end dive: BOTTOM_OBSTACLE_DETECTED
state	10415	begin apogee
10422	-0.31	0.0	716.7	5.8	503	10557	0.50	0.00	130.77	1.192	6	0.109	0.000	2260	2225	2781
10558	end apogee: CONTROL_FINISHED_OK
state	10558	begin climb
10561	0.85	146.6	722.2	0.0	510	10703	1.23	2.88	131.80	1.173	4	0.082	0.082	2509	3647	2183
10755	0.75	146.6	719.1	6.0	519	10759	0.00	2.62	0.00	0.000	6	0.000	0.058	2509	2237	2183
11071	0.70	182.6	702.9	5.0	534	11111	0.15	0.00	33.72	1.133	6	0.105	0.000	2481	2237	2036
11421	0.74	182.6	682.8	6.4	551	11426	0.00	2.67	0.00	0.000	4	0.000	0.072	2481	824	2035
11449	0.80	193.9	681.1	5.7	552	11469	0.12	2.62	11.60	1.039	6	0.062	0.056	2509	2238	1990
11793	0.74	200.5	663.6	5.8	569	11802	0.00	0.00	7.47	0.957	6	0.000	0.000	2509	2238	1963
12100	0.74	200.5	641.5	7.2	584	12105	0.00	2.70	0.00	0.000	4	0.000	0.083	2509	3647	1963
12163	0.74	200.5	637.1	6.7	587	12167	0.00	2.62	0.00	0.000	6	0.000	0.058	2509	2237	1963
12489	0.74	200.5	616.8	6.4	603	12490	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2237	1963
12799	0.74	200.5	596.1	7.2	618	12800	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2237	1962
13107	0.74	200.5	576.9	6.6	633	13109	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2237	1962
13417	0.74	200.5	556.3	6.1	648	13418	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2237	1962
13727	0.77	220.6	538.5	5.4	663	13753	0.00	2.80	18.77	1.043	4	0.000	0.082	2509	3648	1881
13771	0.78	231.5	536.0	5.7	665	13788	0.00	2.65	11.45	0.979	6	0.000	0.058	2509	2235	1837
14098	0.80	249.6	517.7	5.5	681	14117	0.00	0.00	17.40	1.024	6	0.000	0.000	2509	2235	1763
14426	0.80	249.6	496.8	6.4	697	14427	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2235	1763
14735	0.80	249.6	476.7	6.4	712	14740	0.00	2.65	0.00	0.000	4	0.000	0.073	2509	828	1762
14763	0.80	249.6	474.7	6.8	713	14767	0.00	2.62	0.00	0.000	6	0.000	0.056	2509	2242	1762
15079	0.80	250.0	455.5	6.0	728	15081	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2242	1762
15388	0.80	250.2	437.3	6.0	743	15389	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2242	1762
15698	0.87	282.2	420.6	5.1	758	15733	0.00	2.72	28.92	1.001	4	0.000	0.068	2509	831	1630
15763	0.94	284.0	417.0	6.0	761	15769	0.12	2.65	0.00	0.000	6	0.092	0.054	2533	2245	1630
16090	0.94	284.0	393.1	7.6	777	16091	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2245	1630
16399	0.94	284.0	369.5	7.7	792	16400	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2245	1630
16709	0.94	284.0	346.1	7.3	807	16713	0.00	2.70	0.00	0.000	4	0.000	0.067	2533	825	1630
16736	0.94	284.0	344.0	6.9	808	16740	0.00	2.62	0.00	0.000	6	0.000	0.054	2533	2248	1630
17052	0.94	284.0	319.9	8.2	823	17056	0.00	2.70	0.00	0.000	4	0.000	0.066	2533	823	1630
17084	0.94	284.0	317.0	8.9	824	17091	0.00	2.60	0.00	0.000	6	0.000	0.054	2533	2238	1630
17400	0.94	284.0	290.3	7.9	840	17401	0.00	0.00	0.00	0.000	6	0.000	0.000	2534	2238	1630
17710	0.94	284.0	267.9	7.2	855	17714	0.00	2.65	0.00	0.000	4	0.000	0.074	2533	3648	1631
17754	0.94	284.0	264.3	7.6	857	17758	0.00	2.60	0.00	0.000	6	0.000	0.054	2533	2233	1632
18075	0.94	284.0	241.2	7.6	873	18080	0.00	0.00	3.55	0.545	6	0.000	0.000	2533	2233	1623
18385	0.94	284.0	217.8	7.8	888	18389	0.00	2.60	0.00	0.000	4	0.000	0.062	2533	827	1623
18424	0.94	284.0	214.5	8.9	890	18428	0.00	2.58	0.00	0.000	6	0.000	0.048	2533	2243	1623
18752	0.94	284.0	189.1	7.9	906	18753	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1624
19061	0.94	284.0	165.3	7.6	921	19065	0.00	2.65	0.00	0.000	4	0.000	0.059	2533	820	1625
19093	0.94	284.0	162.7	7.4	922	19099	0.00	2.58	0.00	0.000	6	0.000	0.046	2534	2243	1625
19411	0.94	284.0	137.9	7.8	938	19412	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2243	1627
19719	0.94	284.0	114.2	7.6	953	19724	0.00	2.62	0.00	0.000	4	0.000	0.058	2534	828	1627
19760	0.94	284.0	111.0	8.2	955	19764	0.00	2.58	0.00	0.000	6	0.000	0.045	2533	2249	1627
20086	0.94	284.0	86.5	7.0	971	20087	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2249	1628
20396	0.94	284.0	65.3	6.4	986	20401	0.00	2.62	0.00	0.000	4	0.000	0.057	2533	827	1629
20430	0.94	284.0	63.0	6.6	987	20436	0.00	2.55	0.00	0.000	6	0.000	0.044	2533	2243	1629
20747	0.94	284.0	42.3	6.6	1003	20748	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2244	1630
21056	0.94	284.0	21.1	6.4	1018	21060	0.00	2.60	0.00	0.000	4	0.000	0.064	2533	3654	1631
21083	0.99	284.0	19.0	6.8	1019	21095	0.00	2.55	3.47	0.417	6	0.000	0.045	2533	2235	1622
21341	end climb: SURFACE_DEPTH_REACHED
state	21341	begin surface coast
21361	end surface coast: CONTROL_FINISHED_OK
state	21361	begin surface