Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 383 * 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 383 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 25 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 -2101848.5 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 -2101848.5

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 25 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 383 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 051401,6349.787,-913.345,36,1.3,42,-10.2 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 1.24 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -50.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 052005,6349.799,-913.384,11,2.4,30,-10.2 MHEAD_RNG_PITCHd_Wd 108.6,60764,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.026944 ALTIM_BOTTOM_PING 650.5,60.6

SM_CCo 20338,133.30,0.621,0,0,509,557.32 _24V_AH 23.3,61.733

SM_GC 1.28,0.00,0.00,133.30,0.000,0.000,0.621,71,2251,509,-10.39,0.62,557.32 _10V_AH 10.1,30.400

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50468,978

TT8_MAMPS 0.023777 CAP_FILE_SIZE 135386,0

HUMID 1874 CFSIZE 260165632,237158400

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 60 GPS 180808,110256,6349.689,-908.734,40,1.3,41,-10.1

ALTIM_TOP_PING 18.9,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 101.27 SBE_CT 723 24 404.33

Roll_motor 147 84 289.32 SBE_O2 667 19 295.52

VBD_pump_during_apogee 397 1173 10855.08 WL_BB2F 611 105 1496.92

VBD_pump_during_surface 133 621 1929.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.52 nil 0 0 0.00

Iridium_during_connect 26 160 97.94 nil 0 0 0.00

Iridium_during_xfer 167 223 872.45

Transponder_ping 20 420 203.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.58

TT8 1734 19 346.79

LPSleep 15839 2 350.35

TT8_Active 714 19 142.79

TT8_Sampling 1985 39 798.23

TT8_CF8 559 45 258.81

TT8_Kalman 0 81 0.00

Analog_circuits 1710 12 207.28

GPS_charging 0 0 0.00

Compass 1929 8 155.92

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.40 0.000 2 0.000 0.000 71 2231 2990

153 -0.85 -146.6 4.6 -3.7 6 176 11.82 0.00 -8.55 0.000 6 0.170 0.000 2142 2230 3380

480 -0.70 -146.6 42.8 -10.0 22 485 0.15 2.62 0.00 0.000 4 0.098 0.061 2174 3644 3381

558 -0.70 -146.6 49.8 -8.7 25 565 0.00 2.53 0.00 0.000 6 0.000 0.041 2174 2225 3382

874 -0.70 -146.6 73.9 -7.6 41 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2225 3382

1186 -0.70 -146.6 94.1 -6.0 56 1190 0.00 2.62 0.00 0.000 4 0.000 0.063 2174 3638 3382

1218 -0.70 -146.6 96.7 -7.1 57 1224 0.00 2.50 0.00 0.000 6 0.000 0.041 2174 2230 3382

1534 -0.70 -146.6 118.7 -7.5 73 1535 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3382

1846 -0.70 -146.6 141.1 -6.9 88 1847 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2230 3382

2152 -0.70 -146.6 162.0 -6.9 103 2156 0.00 2.62 0.00 0.000 4 0.000 0.066 2175 3637 3383

2180 -0.70 -146.6 164.2 -8.2 104 2184 0.00 2.53 0.00 0.000 6 0.000 0.044 2175 2225 3382

2496 -0.70 -146.6 186.5 -7.2 119 2497 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2226 3382

2805 -0.70 -146.6 209.0 -7.4 134 2806 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2224 3382

3114 -0.70 -146.6 230.6 -7.0 149 3118 0.00 2.62 0.00 0.000 4 0.000 0.067 2175 3637 3382

3158 -0.70 -146.6 233.9 -7.4 151 3163 0.00 2.50 0.00 0.000 6 0.000 0.044 2175 2230 3382

3480 -0.70 -146.6 254.5 -6.6 167 3481 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3382

3790 -0.70 -146.6 274.6 -6.2 182 3791 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3382

4099 -0.70 -146.6 293.5 -6.2 197 4100 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3382

4407 -0.70 -146.6 313.2 -6.6 212 4412 0.00 2.62 0.00 0.000 4 0.000 0.071 2175 3638 3382

4458 -0.70 -146.6 316.8 -6.8 214 4462 0.00 2.53 0.00 0.000 6 0.000 0.048 2175 2231 3382

4774 -0.70 -146.6 338.1 -6.7 229 4775 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2231 3382

5084 -0.70 -146.6 359.9 -7.5 244 5088 0.00 2.65 0.00 0.000 4 0.000 0.074 2175 3635 3381

5111 -0.70 -146.6 362.1 -7.7 245 5115 0.00 2.53 0.00 0.000 6 0.000 0.048 2175 2229 3381

5427 -0.70 -146.6 384.7 -6.9 260 5428 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2230 3380

5736 -0.75 -146.6 405.6 -6.4 275 5740 0.00 2.67 0.00 0.000 4 0.000 0.076 2175 3641 3379

5769 -0.75 -146.6 408.1 -7.5 276 5775 0.00 2.58 0.00 0.000 6 0.000 0.051 2175 2225 3379

6086 -0.80 -146.6 429.8 -7.0 292 6087 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3379

6394 -0.86 -146.6 452.6 -7.3 307 6399 0.15 2.70 0.00 0.000 4 0.051 0.077 2128 3640 3378

6427 -0.75 -146.6 455.9 -11.0 308 6434 0.20 2.58 0.00 0.000 6 0.095 0.053 2166 2229 3378

6744 -0.75 -146.6 479.6 -7.1 324 6745 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3377

7053 -0.75 -146.6 501.0 -7.1 339 7058 0.00 2.67 0.00 0.000 4 0.000 0.080 2166 3634 3375

7080 -0.75 -146.6 503.2 -7.7 340 7084 0.00 2.58 0.00 0.000 6 0.000 0.053 2166 2223 3375

7396 -0.75 -146.6 524.8 -6.8 355 7398 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2223 3375

7705 -0.75 -146.6 546.2 -6.8 370 7706 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2223 3373

8014 -0.75 -146.6 565.7 -6.1 385 8019 0.00 2.70 0.00 0.000 4 0.000 0.082 2166 3636 3372

8055 -0.75 -146.6 568.2 -6.8 387 8059 0.00 2.58 0.00 0.000 6 0.000 0.054 2166 2225 3372

8382 -0.80 -146.6 589.0 -5.7 403 8383 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2225 3371

8690 -0.80 -146.6 608.7 -7.1 418 8692 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2225 3371

9001 -0.84 -146.6 629.7 -5.3 433 9006 0.00 2.72 0.00 0.000 4 0.000 0.084 2166 3634 3370

9046 -0.84 -146.6 631.5 -4.8 435 9050 0.00 2.58 0.00 0.000 6 0.000 0.055 2166 2230 3370

9368 -0.84 -146.6 653.2 -7.1 451 9369 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3368

9677 -0.89 -146.6 674.8 -8.4 466 9679 0.15 0.00 0.00 0.000 6 0.058 0.000 2127 2230 3367

9983 end dive: BOTTOM_OBSTACLE_DETECTED

state 9983 begin apogee

9990 -0.31 0.0 701.1 8.3 481 10127 0.68 0.00 130.77 1.174 6 0.102 0.000 2260 2230 2781

10127 end apogee: CONTROL_FINISHED_OK

state 10127 begin climb

10130 0.85 146.6 706.7 0.0 488 10274 1.20 2.75 131.18 1.160 4 0.087 0.069 2507 832 2182

10328 0.73 146.6 704.7 6.0 497 10333 0.00 2.62 0.00 0.000 6 0.000 0.058 2506 2236 2182

10650 0.70 203.0 688.2 4.5 513 10712 0.12 2.78 51.00 1.138 4 0.111 0.081 2484 3649 1952

10771 0.83 273.8 683.3 4.1 518 10843 0.12 2.62 63.85 1.139 6 0.061 0.058 2515 2238 1664

11152 0.83 273.8 659.8 6.1 537 11157 0.00 2.70 0.00 0.000 4 0.000 0.073 2515 829 1663

11208 0.83 273.8 656.4 7.7 539 11214 0.00 2.62 0.00 0.000 6 0.000 0.058 2514 2240 1662

11524 0.83 273.8 634.9 7.8 555 11525 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2240 1663

11833 0.83 273.8 609.6 8.2 570 11834 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2239 1660

12142 0.83 273.8 588.0 7.4 585 12146 0.00 2.67 0.00 0.000 4 0.000 0.071 2515 830 1660

12175 0.83 273.8 585.4 7.3 586 12181 0.00 2.62 0.00 0.000 6 0.000 0.058 2515 2243 1660

12491 0.83 273.8 562.8 7.0 602 12492 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2244 1660

12800 0.83 273.8 543.2 7.5 617 12801 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2243 1660

13110 0.83 273.8 520.8 7.4 632 13115 0.00 2.70 0.00 0.000 4 0.000 0.072 2515 832 1659

13143 0.83 273.8 518.2 7.7 633 13149 0.00 2.62 0.00 0.000 6 0.000 0.058 2515 2245 1659

13459 0.83 273.8 496.8 6.5 649 13463 0.00 2.70 0.00 0.000 4 0.000 0.071 2515 830 1659

13492 0.83 273.8 494.7 6.2 650 13498 0.00 2.62 0.00 0.000 6 0.000 0.058 2515 2247 1658

13812 0.87 274.6 475.7 6.0 666 13813 0.00 0.00 0.00 0.000 6 0.000 0.000 2514 2247 1659

14117 0.87 279.7 457.7 5.9 681 14130 0.00 2.72 6.20 0.851 4 0.000 0.070 2515 830 1640

14172 0.91 279.7 454.2 6.3 683 14176 0.00 2.62 0.00 0.000 6 0.000 0.057 2515 2240 1639

14488 0.97 290.3 435.6 5.7 698 14504 0.12 2.70 10.55 0.931 4 0.081 0.070 2540 832 1597

14528 0.97 290.3 433.0 6.5 699 14532 0.00 2.65 0.00 0.000 6 0.000 0.056 2541 2246 1596

14855 0.97 290.3 410.5 7.1 715 14859 0.00 2.67 0.00 0.000 4 0.000 0.080 2540 3652 1596

14882 0.97 290.3 408.4 8.1 716 14886 0.00 2.60 0.00 0.000 6 0.000 0.059 2540 2243 1596

15198 0.97 290.3 384.9 7.8 731 15202 0.00 2.67 0.00 0.000 4 0.000 0.071 2540 828 1596

15248 0.97 290.3 380.6 8.7 733 15252 0.00 2.60 0.00 0.000 6 0.000 0.054 2540 2240 1596

15564 0.97 290.3 351.3 9.7 748 15565 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2240 1596

15873 0.97 290.3 323.0 8.7 763 15877 0.00 2.65 0.00 0.000 4 0.000 0.067 2541 828 1596

15929 0.97 290.3 318.2 8.6 765 15935 0.00 2.60 0.00 0.000 6 0.000 0.054 2540 2245 1597

16246 0.97 290.3 293.0 7.8 781 16247 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2245 1596

16554 0.97 290.3 270.4 7.0 796 16559 0.00 2.67 0.00 0.000 4 0.000 0.064 2541 825 1597

16617 0.97 290.3 266.0 7.3 799 16622 0.00 2.60 0.00 0.000 6 0.000 0.051 2540 2242 1597

16944 0.97 290.3 243.8 6.9 815 16948 0.00 2.65 0.00 0.000 4 0.000 0.063 2540 822 1597

16994 0.97 290.3 240.3 7.2 817 16998 0.00 2.60 0.00 0.000 6 0.000 0.049 2540 2249 1598

17310 0.97 290.3 219.0 7.1 832 17311 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2249 1597

17618 0.97 290.3 194.9 8.1 847 17620 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2249 1599

17928 0.97 290.3 169.1 8.4 862 17932 0.00 2.65 0.00 0.000 4 0.000 0.060 2541 824 1600

17961 0.97 290.3 166.2 8.9 863 17967 0.00 2.58 0.00 0.000 6 0.000 0.046 2541 2248 1600

18277 0.97 290.3 141.2 7.5 879 18278 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2248 1601

18586 0.97 290.3 118.0 7.1 894 18591 0.00 2.65 0.00 0.000 4 0.000 0.058 2541 820 1602

18609 0.97 290.3 116.2 7.0 895 18613 0.00 2.58 0.00 0.000 6 0.000 0.046 2540 2248 1601

18930 0.97 290.3 92.2 7.2 911 18932 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2248 1603

19239 0.97 290.3 72.7 6.6 926 19244 0.00 2.65 0.00 0.000 4 0.000 0.058 2540 821 1604

19303 0.97 290.3 68.5 6.0 929 19308 0.00 2.58 0.00 0.000 6 0.000 0.044 2541 2247 1604

19632 0.97 290.3 46.7 6.8 945 19633 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2247 1604

19940 0.97 290.3 26.5 6.6 960 19949 0.00 2.65 3.45 0.418 4 0.000 0.057 2540 826 1597

20002 1.01 290.3 22.4 6.5 962 20008 0.00 2.55 0.00 0.000 6 0.000 0.044 2540 2249 1597

20294 end climb: SURFACE_DEPTH_REACHED

state 20294 begin surface coast

20316 end surface coast: CONTROL_FINISHED_OK

state 20317 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	383	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	25	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	-2101848.5	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	051401,6349.787,-913.345,36,1.3,42,-10.2	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	1.24	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-50.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	052005,6349.799,-913.384,11,2.4,30,-10.2	MHEAD_RNG_PITCHd_Wd	108.6,60764,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.026944	ALTIM_BOTTOM_PING	650.5,60.6
SM_CCo	20338,133.30,0.621,0,0,509,557.32	_24V_AH	23.3,61.733
SM_GC	1.28,0.00,0.00,133.30,0.000,0.000,0.621,71,2251,509,-10.39,0.62,557.32	_10V_AH	10.1,30.400
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50468,978
TT8_MAMPS	0.023777	CAP_FILE_SIZE	135386,0
HUMID	1874	CFSIZE	260165632,237158400
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	60	GPS	180808,110256,6349.689,-908.734,40,1.3,41,-10.1
ALTIM_TOP_PING	18.9,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	101.27	SBE_CT	723	24	404.33
Roll_motor	147	84	289.32	SBE_O2	667	19	295.52
VBD_pump_during_apogee	397	1173	10855.08	WL_BB2F	611	105	1496.92
VBD_pump_during_surface	133	621	1929.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.52	nil	0	0	0.00
Iridium_during_connect	26	160	97.94	nil	0	0	0.00
Iridium_during_xfer	167	223	872.45
Transponder_ping	20	420	203.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.58
TT8	1734	19	346.79
LPSleep	15839	2	350.35
TT8_Active	714	19	142.79
TT8_Sampling	1985	39	798.23
TT8_CF8	559	45	258.81
TT8_Kalman	0	81	0.00
Analog_circuits	1710	12	207.28
GPS_charging	0	0	0.00
Compass	1929	8	155.92
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.40	0.000	2	0.000	0.000	71	2231	2990
153	-0.85	-146.6	4.6	-3.7	6	176	11.82	0.00	-8.55	0.000	6	0.170	0.000	2142	2230	3380
480	-0.70	-146.6	42.8	-10.0	22	485	0.15	2.62	0.00	0.000	4	0.098	0.061	2174	3644	3381
558	-0.70	-146.6	49.8	-8.7	25	565	0.00	2.53	0.00	0.000	6	0.000	0.041	2174	2225	3382
874	-0.70	-146.6	73.9	-7.6	41	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2225	3382
1186	-0.70	-146.6	94.1	-6.0	56	1190	0.00	2.62	0.00	0.000	4	0.000	0.063	2174	3638	3382
1218	-0.70	-146.6	96.7	-7.1	57	1224	0.00	2.50	0.00	0.000	6	0.000	0.041	2174	2230	3382
1534	-0.70	-146.6	118.7	-7.5	73	1535	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3382
1846	-0.70	-146.6	141.1	-6.9	88	1847	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2230	3382
2152	-0.70	-146.6	162.0	-6.9	103	2156	0.00	2.62	0.00	0.000	4	0.000	0.066	2175	3637	3383
2180	-0.70	-146.6	164.2	-8.2	104	2184	0.00	2.53	0.00	0.000	6	0.000	0.044	2175	2225	3382
2496	-0.70	-146.6	186.5	-7.2	119	2497	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2226	3382
2805	-0.70	-146.6	209.0	-7.4	134	2806	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2224	3382
3114	-0.70	-146.6	230.6	-7.0	149	3118	0.00	2.62	0.00	0.000	4	0.000	0.067	2175	3637	3382
3158	-0.70	-146.6	233.9	-7.4	151	3163	0.00	2.50	0.00	0.000	6	0.000	0.044	2175	2230	3382
3480	-0.70	-146.6	254.5	-6.6	167	3481	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3382
3790	-0.70	-146.6	274.6	-6.2	182	3791	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3382
4099	-0.70	-146.6	293.5	-6.2	197	4100	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3382
4407	-0.70	-146.6	313.2	-6.6	212	4412	0.00	2.62	0.00	0.000	4	0.000	0.071	2175	3638	3382
4458	-0.70	-146.6	316.8	-6.8	214	4462	0.00	2.53	0.00	0.000	6	0.000	0.048	2175	2231	3382
4774	-0.70	-146.6	338.1	-6.7	229	4775	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2231	3382
5084	-0.70	-146.6	359.9	-7.5	244	5088	0.00	2.65	0.00	0.000	4	0.000	0.074	2175	3635	3381
5111	-0.70	-146.6	362.1	-7.7	245	5115	0.00	2.53	0.00	0.000	6	0.000	0.048	2175	2229	3381
5427	-0.70	-146.6	384.7	-6.9	260	5428	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2230	3380
5736	-0.75	-146.6	405.6	-6.4	275	5740	0.00	2.67	0.00	0.000	4	0.000	0.076	2175	3641	3379
5769	-0.75	-146.6	408.1	-7.5	276	5775	0.00	2.58	0.00	0.000	6	0.000	0.051	2175	2225	3379
6086	-0.80	-146.6	429.8	-7.0	292	6087	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3379
6394	-0.86	-146.6	452.6	-7.3	307	6399	0.15	2.70	0.00	0.000	4	0.051	0.077	2128	3640	3378
6427	-0.75	-146.6	455.9	-11.0	308	6434	0.20	2.58	0.00	0.000	6	0.095	0.053	2166	2229	3378
6744	-0.75	-146.6	479.6	-7.1	324	6745	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3377
7053	-0.75	-146.6	501.0	-7.1	339	7058	0.00	2.67	0.00	0.000	4	0.000	0.080	2166	3634	3375
7080	-0.75	-146.6	503.2	-7.7	340	7084	0.00	2.58	0.00	0.000	6	0.000	0.053	2166	2223	3375
7396	-0.75	-146.6	524.8	-6.8	355	7398	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2223	3375
7705	-0.75	-146.6	546.2	-6.8	370	7706	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2223	3373
8014	-0.75	-146.6	565.7	-6.1	385	8019	0.00	2.70	0.00	0.000	4	0.000	0.082	2166	3636	3372
8055	-0.75	-146.6	568.2	-6.8	387	8059	0.00	2.58	0.00	0.000	6	0.000	0.054	2166	2225	3372
8382	-0.80	-146.6	589.0	-5.7	403	8383	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2225	3371
8690	-0.80	-146.6	608.7	-7.1	418	8692	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2225	3371
9001	-0.84	-146.6	629.7	-5.3	433	9006	0.00	2.72	0.00	0.000	4	0.000	0.084	2166	3634	3370
9046	-0.84	-146.6	631.5	-4.8	435	9050	0.00	2.58	0.00	0.000	6	0.000	0.055	2166	2230	3370
9368	-0.84	-146.6	653.2	-7.1	451	9369	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3368
9677	-0.89	-146.6	674.8	-8.4	466	9679	0.15	0.00	0.00	0.000	6	0.058	0.000	2127	2230	3367
9983	end dive: BOTTOM_OBSTACLE_DETECTED
state	9983	begin apogee
9990	-0.31	0.0	701.1	8.3	481	10127	0.68	0.00	130.77	1.174	6	0.102	0.000	2260	2230	2781
10127	end apogee: CONTROL_FINISHED_OK
state	10127	begin climb
10130	0.85	146.6	706.7	0.0	488	10274	1.20	2.75	131.18	1.160	4	0.087	0.069	2507	832	2182
10328	0.73	146.6	704.7	6.0	497	10333	0.00	2.62	0.00	0.000	6	0.000	0.058	2506	2236	2182
10650	0.70	203.0	688.2	4.5	513	10712	0.12	2.78	51.00	1.138	4	0.111	0.081	2484	3649	1952
10771	0.83	273.8	683.3	4.1	518	10843	0.12	2.62	63.85	1.139	6	0.061	0.058	2515	2238	1664
11152	0.83	273.8	659.8	6.1	537	11157	0.00	2.70	0.00	0.000	4	0.000	0.073	2515	829	1663
11208	0.83	273.8	656.4	7.7	539	11214	0.00	2.62	0.00	0.000	6	0.000	0.058	2514	2240	1662
11524	0.83	273.8	634.9	7.8	555	11525	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2240	1663
11833	0.83	273.8	609.6	8.2	570	11834	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2239	1660
12142	0.83	273.8	588.0	7.4	585	12146	0.00	2.67	0.00	0.000	4	0.000	0.071	2515	830	1660
12175	0.83	273.8	585.4	7.3	586	12181	0.00	2.62	0.00	0.000	6	0.000	0.058	2515	2243	1660
12491	0.83	273.8	562.8	7.0	602	12492	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2244	1660
12800	0.83	273.8	543.2	7.5	617	12801	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2243	1660
13110	0.83	273.8	520.8	7.4	632	13115	0.00	2.70	0.00	0.000	4	0.000	0.072	2515	832	1659
13143	0.83	273.8	518.2	7.7	633	13149	0.00	2.62	0.00	0.000	6	0.000	0.058	2515	2245	1659
13459	0.83	273.8	496.8	6.5	649	13463	0.00	2.70	0.00	0.000	4	0.000	0.071	2515	830	1659
13492	0.83	273.8	494.7	6.2	650	13498	0.00	2.62	0.00	0.000	6	0.000	0.058	2515	2247	1658
13812	0.87	274.6	475.7	6.0	666	13813	0.00	0.00	0.00	0.000	6	0.000	0.000	2514	2247	1659
14117	0.87	279.7	457.7	5.9	681	14130	0.00	2.72	6.20	0.851	4	0.000	0.070	2515	830	1640
14172	0.91	279.7	454.2	6.3	683	14176	0.00	2.62	0.00	0.000	6	0.000	0.057	2515	2240	1639
14488	0.97	290.3	435.6	5.7	698	14504	0.12	2.70	10.55	0.931	4	0.081	0.070	2540	832	1597
14528	0.97	290.3	433.0	6.5	699	14532	0.00	2.65	0.00	0.000	6	0.000	0.056	2541	2246	1596
14855	0.97	290.3	410.5	7.1	715	14859	0.00	2.67	0.00	0.000	4	0.000	0.080	2540	3652	1596
14882	0.97	290.3	408.4	8.1	716	14886	0.00	2.60	0.00	0.000	6	0.000	0.059	2540	2243	1596
15198	0.97	290.3	384.9	7.8	731	15202	0.00	2.67	0.00	0.000	4	0.000	0.071	2540	828	1596
15248	0.97	290.3	380.6	8.7	733	15252	0.00	2.60	0.00	0.000	6	0.000	0.054	2540	2240	1596
15564	0.97	290.3	351.3	9.7	748	15565	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2240	1596
15873	0.97	290.3	323.0	8.7	763	15877	0.00	2.65	0.00	0.000	4	0.000	0.067	2541	828	1596
15929	0.97	290.3	318.2	8.6	765	15935	0.00	2.60	0.00	0.000	6	0.000	0.054	2540	2245	1597
16246	0.97	290.3	293.0	7.8	781	16247	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2245	1596
16554	0.97	290.3	270.4	7.0	796	16559	0.00	2.67	0.00	0.000	4	0.000	0.064	2541	825	1597
16617	0.97	290.3	266.0	7.3	799	16622	0.00	2.60	0.00	0.000	6	0.000	0.051	2540	2242	1597
16944	0.97	290.3	243.8	6.9	815	16948	0.00	2.65	0.00	0.000	4	0.000	0.063	2540	822	1597
16994	0.97	290.3	240.3	7.2	817	16998	0.00	2.60	0.00	0.000	6	0.000	0.049	2540	2249	1598
17310	0.97	290.3	219.0	7.1	832	17311	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2249	1597
17618	0.97	290.3	194.9	8.1	847	17620	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2249	1599
17928	0.97	290.3	169.1	8.4	862	17932	0.00	2.65	0.00	0.000	4	0.000	0.060	2541	824	1600
17961	0.97	290.3	166.2	8.9	863	17967	0.00	2.58	0.00	0.000	6	0.000	0.046	2541	2248	1600
18277	0.97	290.3	141.2	7.5	879	18278	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2248	1601
18586	0.97	290.3	118.0	7.1	894	18591	0.00	2.65	0.00	0.000	4	0.000	0.058	2541	820	1602
18609	0.97	290.3	116.2	7.0	895	18613	0.00	2.58	0.00	0.000	6	0.000	0.046	2540	2248	1601
18930	0.97	290.3	92.2	7.2	911	18932	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2248	1603
19239	0.97	290.3	72.7	6.6	926	19244	0.00	2.65	0.00	0.000	4	0.000	0.058	2540	821	1604
19303	0.97	290.3	68.5	6.0	929	19308	0.00	2.58	0.00	0.000	6	0.000	0.044	2541	2247	1604
19632	0.97	290.3	46.7	6.8	945	19633	0.00	0.00	0.00	0.000	6	0.000	0.000	2541	2247	1604
19940	0.97	290.3	26.5	6.6	960	19949	0.00	2.65	3.45	0.418	4	0.000	0.057	2540	826	1597
20002	1.01	290.3	22.4	6.5	962	20008	0.00	2.55	0.00	0.000	6	0.000	0.044	2540	2249	1597
20294	end climb: SURFACE_DEPTH_REACHED
state	20294	begin surface coast
20316	end surface coast: CONTROL_FINISHED_OK
state	20317	begin surface