Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 419 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 419 HEADING 315 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2087265 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2087265

CAPUPLOAD 0 HEADING 315 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 419 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 160037,6207.974,-34.299,40,1.7,45,-4.9 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 6215.746,-37.843

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.202,-0.090

_SM_DEPTHo 1.40 KALMAN_X 109567.5,-3587.3,-866.2,330188.0,76350.7

_SM_ANGLEo -59.7 KALMAN_Y 54287.1,-2872.2,-674.1,-29543.7,60742.0

GPS2 160729,6208.109,-34.289,13,2.3,32,-4.9 MHEAD_RNG_PITCHd_Wd 319.9,20000,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014084 ALTIM_BOTTOM_PING 700.1,48.6

SM_CCo 21562,45.55,0.637,1,0,1594,300.00 _24V_AH 23.3,64.880

SM_GC 1.29,0.00,0.00,45.55,0.000,0.000,0.637,71,2403,1594,-10.76,0.08,300.00 _10V_AH 10.1,35.025

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53673,1041

TT8_MAMPS 0.023777 CFSIZE 260165632,235520000

HUMID 2113 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,1,0

TCM_TEMP 16.80 GPS 030208,220937,6211.747,-34.059,58,1.4,59,-4.9

XPDR_PINGS 86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 101.92 SBE_CT 774 24 432.92

Roll_motor 129 99 300.57 SBE_O2 716 19 317.35

VBD_pump_during_apogee 317 1230 9099.78 WL_BB2F 605 105 1481.72

VBD_pump_during_surface 45 637 676.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.27 nil 0 0 0.00

Iridium_during_connect 36 160 137.26 nil 0 0 0.00

Iridium_during_xfer 191 223 995.40

Transponder_ping 27 420 269.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.72

TT8 1844 19 368.91

LPSleep 16972 2 375.42

TT8_Active 512 19 102.44

TT8_Sampling 2095 39 842.52

TT8_CF8 601 45 278.20

TT8_Kalman 0 81 0.00

Analog_circuits 1525 12 184.84

GPS_charging 0 0 0.00

Compass 2037 8 164.62

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -0.85 -146.6 0.0 0.0 0 93 0.00 0.00 -60.65 0.000 2 0.000 0.000 72 2401 3060

97 -0.85 -146.6 3.5 -4.9 3 123 12.12 2.70 -8.80 0.000 4 0.171 0.079 2220 982 3416

376 -0.85 -146.6 31.1 -9.6 15 382 0.00 2.62 0.00 0.000 6 0.000 0.059 2221 2408 3417

693 -0.85 -146.6 58.9 -8.9 31 695 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2408 3418

1002 -0.85 -146.6 86.9 -8.5 46 1007 0.00 2.70 0.00 0.000 4 0.000 0.070 2220 976 3418

1064 -0.85 -146.6 92.6 -9.5 49 1069 0.00 2.62 0.00 0.000 6 0.000 0.060 2220 2400 3418

1393 -0.85 -146.6 121.8 -8.5 65 1394 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3418

1702 -0.85 -146.6 144.5 -6.8 80 1703 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3417

2010 -0.85 -146.6 168.7 -8.4 95 2014 0.00 2.67 0.00 0.000 4 0.000 0.071 2220 980 3418

2053 -0.85 -146.6 172.3 -7.4 97 2058 0.00 2.62 0.00 0.000 6 0.000 0.061 2220 2401 3418

2375 -0.85 -146.6 195.9 -6.9 113 2377 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2401 3418

2684 -0.85 -146.6 217.4 -6.3 128 2688 0.00 2.62 0.00 0.000 4 0.000 0.082 2220 3771 3418

2727 -0.85 -146.6 221.0 -8.7 130 2732 0.00 2.53 0.00 0.000 6 0.000 0.058 2220 2398 3418

3049 -0.85 -146.6 248.2 -7.8 146 3054 0.00 2.67 0.00 0.000 4 0.000 0.075 2220 984 3418

3082 -0.85 -146.6 250.8 -7.1 147 3088 0.00 2.62 0.00 0.000 6 0.000 0.063 2220 2403 3418

3398 -0.85 -146.6 273.4 -6.7 163 3399 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2403 3418

3708 -0.85 -146.6 295.3 -7.4 178 3712 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 983 3418

3757 -0.85 -146.6 299.3 -7.6 180 3762 0.00 2.62 0.00 0.000 6 0.000 0.063 2220 2401 3418

4073 -0.85 -146.6 321.9 -7.4 195 4074 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2403 3419

4383 -0.85 -146.6 346.5 -7.6 210 4387 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 983 3419

4438 -0.85 -146.6 351.1 -7.9 212 4444 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2404 3419

4753 -0.85 -146.6 373.7 -7.1 228 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3419

5064 -0.85 -146.6 394.5 -6.5 243 5068 0.00 2.67 0.00 0.000 4 0.000 0.073 2220 983 3419

5137 -0.85 -146.6 399.7 -6.9 246 5142 0.00 2.62 0.00 0.000 6 0.000 0.062 2220 2400 3418

5457 -0.85 -146.6 421.3 -6.8 262 5459 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3419

5768 -0.85 -146.6 443.8 -7.6 277 5772 0.00 2.62 0.00 0.000 4 0.000 0.086 2220 3766 3419

5817 -0.85 -146.6 447.8 -7.9 279 5821 0.00 2.53 0.00 0.000 6 0.000 0.061 2220 2401 3419

6132 -0.85 -146.6 471.0 -7.4 294 6137 0.00 2.67 0.00 0.000 4 0.000 0.078 2220 985 3419

6206 -0.85 -146.6 476.6 -7.9 297 6210 0.00 2.62 0.00 0.000 6 0.000 0.064 2220 2400 3419

6521 -0.85 -146.6 499.2 -7.2 312 6522 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2400 3419

6830 -0.85 -146.6 521.1 -7.2 327 6835 0.00 2.67 0.00 0.000 4 0.000 0.076 2220 984 3419

6881 -0.85 -146.6 524.6 -7.3 329 6889 0.00 2.65 0.00 0.000 6 0.000 0.065 2220 2411 3419

7205 -0.85 -146.6 547.1 -6.7 345 7206 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2411 3419

7514 -0.85 -146.6 566.1 -6.2 360 7518 0.00 2.72 0.00 0.000 4 0.000 0.077 2220 983 3419

7572 -0.85 -146.6 569.5 -5.9 362 7578 0.00 2.67 0.00 0.000 6 0.000 0.067 2220 2404 3418

7887 -0.85 -146.6 587.8 -5.6 378 7889 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3418

8197 -0.85 -146.6 605.6 -5.6 393 8202 0.00 2.72 0.00 0.000 4 0.000 0.081 2220 984 3417

8241 -0.85 -146.6 608.4 -6.7 395 8246 0.00 2.67 0.00 0.000 6 0.000 0.071 2220 2404 3417

8563 -0.85 -146.6 627.8 -5.9 411 8564 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2404 3417

8873 -0.85 -146.6 647.1 -6.2 426 8877 0.00 2.72 0.00 0.000 4 0.000 0.082 2220 986 3416

8918 -0.85 -146.6 650.2 -6.2 428 8922 0.00 2.67 0.00 0.000 6 0.000 0.073 2220 2399 3415

9238 -0.85 -146.6 671.8 -7.1 444 9242 0.00 2.72 0.00 0.000 4 0.000 0.083 2220 986 3414

9278 -0.85 -146.6 674.7 -7.8 446 9285 0.00 2.65 0.00 0.000 6 0.000 0.073 2220 2395 3414

9613 -0.85 -146.6 696.5 -6.1 462 9614 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2395 3412

9922 -0.85 -146.6 714.6 -5.7 477 9926 0.00 2.72 0.00 0.000 4 0.000 0.085 2220 986 3411

9984 -0.85 -146.6 718.4 -6.1 480 9989 0.00 2.70 0.00 0.000 6 0.000 0.074 2220 2405 3411

10309 end dive: BOTTOM_OBSTACLE_DETECTED

state 10309 begin apogee

10316 -0.31 0.0 738.8 6.3 496 10442 0.62 0.00 123.68 1.230 6 0.120 0.000 2341 2199 2817

10443 end apogee: CONTROL_FINISHED_OK

state 10443 begin climb

10446 0.85 146.6 742.7 0.0 502 10574 1.25 0.00 123.22 1.203 6 0.106 0.000 2588 2199 2218

10883 0.85 146.6 721.1 6.2 524 10887 0.00 2.85 0.00 0.000 4 0.000 0.100 2588 3619 2217

10967 0.85 146.6 715.5 6.9 528 10972 0.00 2.72 0.00 0.000 6 0.000 0.075 2588 2202 2217

11294 0.85 146.6 695.6 6.3 544 11295 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2203 2216

11603 0.85 146.8 676.6 6.0 559 11604 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2214

11912 0.85 146.8 658.0 6.1 574 11914 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2213

12221 0.85 146.8 638.8 6.4 589 12222 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2213

12530 0.85 146.8 619.7 6.0 604 12531 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2213

12840 0.85 146.8 600.7 6.3 619 12841 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2211

13149 0.85 146.8 581.0 6.3 634 13153 0.00 2.80 0.00 0.000 4 0.000 0.097 2588 3613 2210

13215 0.85 146.8 576.4 6.2 637 13219 0.00 2.70 0.00 0.000 6 0.000 0.073 2588 2196 2211

13537 0.86 160.6 557.2 5.6 653 13554 0.00 0.00 11.62 1.040 6 0.000 0.000 2588 2196 2162

13866 0.87 168.7 538.1 5.8 669 13876 0.00 0.00 8.57 0.976 6 0.000 0.000 2588 2196 2128

14173 0.88 179.9 520.2 5.7 684 14186 0.00 0.00 10.75 1.001 6 0.000 0.000 2588 2196 2083

14483 0.89 189.3 501.9 5.7 699 14498 0.00 2.85 9.38 0.963 4 0.000 0.094 2588 3613 2045

14526 0.89 189.3 499.1 6.3 700 14530 0.00 2.70 0.00 0.000 6 0.000 0.070 2588 2200 2045

14848 0.91 208.8 481.0 5.5 716 14872 0.00 2.83 17.48 1.024 4 0.000 0.081 2588 791 1965

14914 0.93 222.4 477.3 5.6 719 14936 0.12 2.65 12.75 0.984 6 0.083 0.063 2614 2202 1909

15244 0.93 222.4 455.6 6.3 735 15249 0.00 2.78 0.00 0.000 4 0.000 0.091 2614 3619 1908

15279 0.93 222.4 453.2 7.0 736 15285 0.00 2.70 0.00 0.000 6 0.000 0.070 2614 2200 1908

15595 0.93 222.4 433.2 6.3 752 15599 0.00 2.72 0.00 0.000 4 0.000 0.079 2614 781 1908

15638 0.93 222.4 430.1 7.3 754 15643 0.00 2.65 0.00 0.000 6 0.000 0.059 2614 2201 1907

15960 0.93 222.4 408.0 6.8 770 15962 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1907

16269 0.93 222.4 388.0 6.3 785 16270 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1907

16578 0.93 222.4 368.4 6.4 800 16579 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1907

16888 0.93 222.4 346.7 8.2 815 16889 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1908

17197 0.93 222.4 321.8 7.7 830 17198 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1909

17506 0.93 222.4 297.7 7.7 845 17507 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1910

17816 0.93 222.4 274.3 7.6 860 17817 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1911

18124 0.93 222.4 250.2 7.4 875 18129 0.00 2.67 0.00 0.000 4 0.000 0.070 2614 778 1911

18169 0.93 222.4 246.8 6.8 877 18173 0.00 2.62 0.00 0.000 6 0.000 0.054 2614 2203 1911

18490 0.93 222.4 224.5 7.3 893 18491 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2203 1912

18798 0.93 222.4 202.6 6.6 908 18800 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2203 1912

19108 0.93 222.4 181.6 6.5 923 19109 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2203 1913

19417 0.93 222.4 160.5 7.2 938 19421 0.00 2.67 0.00 0.000 4 0.000 0.070 2613 781 1914

19473 0.93 222.4 156.2 7.9 940 19479 0.00 2.60 0.00 0.000 6 0.000 0.054 2614 2202 1914

19789 0.93 222.4 132.7 6.7 956 19790 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2202 1915

20098 0.93 222.4 108.3 8.0 971 20099 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2202 1915

20408 0.93 222.4 85.9 7.3 986 20409 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2202 1916

20716 0.93 222.4 62.0 8.1 1001 20718 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1915

21026 0.93 222.4 38.5 9.0 1016 21027 0.00 0.00 0.00 0.000 6 0.000 0.000 2614 2201 1916

21337 0.93 222.4 12.8 7.5 1031 21338 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2202 1916

21518 end climb: SURFACE_DEPTH_REACHED

state 21518 begin surface coast

21540 end surface coast: CONTROL_FINISHED_OK

state 21540 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	419	HEADING	315	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2087265	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	160037,6207.974,-34.299,40,1.7,45,-4.9	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	6215.746,-37.843
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.202,-0.090
_SM_DEPTHo	1.40	KALMAN_X	109567.5,-3587.3,-866.2,330188.0,76350.7
_SM_ANGLEo	-59.7	KALMAN_Y	54287.1,-2872.2,-674.1,-29543.7,60742.0
GPS2	160729,6208.109,-34.289,13,2.3,32,-4.9	MHEAD_RNG_PITCHd_Wd	319.9,20000,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014084	ALTIM_BOTTOM_PING	700.1,48.6
SM_CCo	21562,45.55,0.637,1,0,1594,300.00	_24V_AH	23.3,64.880
SM_GC	1.29,0.00,0.00,45.55,0.000,0.000,0.637,71,2403,1594,-10.76,0.08,300.00	_10V_AH	10.1,35.025
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53673,1041
TT8_MAMPS	0.023777	CFSIZE	260165632,235520000
HUMID	2113	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
TCM_TEMP	16.80	GPS	030208,220937,6211.747,-34.059,58,1.4,59,-4.9
XPDR_PINGS	86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	101.92	SBE_CT	774	24	432.92
Roll_motor	129	99	300.57	SBE_O2	716	19	317.35
VBD_pump_during_apogee	317	1230	9099.78	WL_BB2F	605	105	1481.72
VBD_pump_during_surface	45	637	676.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.27	nil	0	0	0.00
Iridium_during_connect	36	160	137.26	nil	0	0	0.00
Iridium_during_xfer	191	223	995.40
Transponder_ping	27	420	269.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.72
TT8	1844	19	368.91
LPSleep	16972	2	375.42
TT8_Active	512	19	102.44
TT8_Sampling	2095	39	842.52
TT8_CF8	601	45	278.20
TT8_Kalman	0	81	0.00
Analog_circuits	1525	12	184.84
GPS_charging	0	0	0.00
Compass	2037	8	164.62
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-0.85	-146.6	0.0	0.0	0	93	0.00	0.00	-60.65	0.000	2	0.000	0.000	72	2401	3060
97	-0.85	-146.6	3.5	-4.9	3	123	12.12	2.70	-8.80	0.000	4	0.171	0.079	2220	982	3416
376	-0.85	-146.6	31.1	-9.6	15	382	0.00	2.62	0.00	0.000	6	0.000	0.059	2221	2408	3417
693	-0.85	-146.6	58.9	-8.9	31	695	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2408	3418
1002	-0.85	-146.6	86.9	-8.5	46	1007	0.00	2.70	0.00	0.000	4	0.000	0.070	2220	976	3418
1064	-0.85	-146.6	92.6	-9.5	49	1069	0.00	2.62	0.00	0.000	6	0.000	0.060	2220	2400	3418
1393	-0.85	-146.6	121.8	-8.5	65	1394	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3418
1702	-0.85	-146.6	144.5	-6.8	80	1703	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3417
2010	-0.85	-146.6	168.7	-8.4	95	2014	0.00	2.67	0.00	0.000	4	0.000	0.071	2220	980	3418
2053	-0.85	-146.6	172.3	-7.4	97	2058	0.00	2.62	0.00	0.000	6	0.000	0.061	2220	2401	3418
2375	-0.85	-146.6	195.9	-6.9	113	2377	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2401	3418
2684	-0.85	-146.6	217.4	-6.3	128	2688	0.00	2.62	0.00	0.000	4	0.000	0.082	2220	3771	3418
2727	-0.85	-146.6	221.0	-8.7	130	2732	0.00	2.53	0.00	0.000	6	0.000	0.058	2220	2398	3418
3049	-0.85	-146.6	248.2	-7.8	146	3054	0.00	2.67	0.00	0.000	4	0.000	0.075	2220	984	3418
3082	-0.85	-146.6	250.8	-7.1	147	3088	0.00	2.62	0.00	0.000	6	0.000	0.063	2220	2403	3418
3398	-0.85	-146.6	273.4	-6.7	163	3399	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2403	3418
3708	-0.85	-146.6	295.3	-7.4	178	3712	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	983	3418
3757	-0.85	-146.6	299.3	-7.6	180	3762	0.00	2.62	0.00	0.000	6	0.000	0.063	2220	2401	3418
4073	-0.85	-146.6	321.9	-7.4	195	4074	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2403	3419
4383	-0.85	-146.6	346.5	-7.6	210	4387	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	983	3419
4438	-0.85	-146.6	351.1	-7.9	212	4444	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2404	3419
4753	-0.85	-146.6	373.7	-7.1	228	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3419
5064	-0.85	-146.6	394.5	-6.5	243	5068	0.00	2.67	0.00	0.000	4	0.000	0.073	2220	983	3419
5137	-0.85	-146.6	399.7	-6.9	246	5142	0.00	2.62	0.00	0.000	6	0.000	0.062	2220	2400	3418
5457	-0.85	-146.6	421.3	-6.8	262	5459	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3419
5768	-0.85	-146.6	443.8	-7.6	277	5772	0.00	2.62	0.00	0.000	4	0.000	0.086	2220	3766	3419
5817	-0.85	-146.6	447.8	-7.9	279	5821	0.00	2.53	0.00	0.000	6	0.000	0.061	2220	2401	3419
6132	-0.85	-146.6	471.0	-7.4	294	6137	0.00	2.67	0.00	0.000	4	0.000	0.078	2220	985	3419
6206	-0.85	-146.6	476.6	-7.9	297	6210	0.00	2.62	0.00	0.000	6	0.000	0.064	2220	2400	3419
6521	-0.85	-146.6	499.2	-7.2	312	6522	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2400	3419
6830	-0.85	-146.6	521.1	-7.2	327	6835	0.00	2.67	0.00	0.000	4	0.000	0.076	2220	984	3419
6881	-0.85	-146.6	524.6	-7.3	329	6889	0.00	2.65	0.00	0.000	6	0.000	0.065	2220	2411	3419
7205	-0.85	-146.6	547.1	-6.7	345	7206	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2411	3419
7514	-0.85	-146.6	566.1	-6.2	360	7518	0.00	2.72	0.00	0.000	4	0.000	0.077	2220	983	3419
7572	-0.85	-146.6	569.5	-5.9	362	7578	0.00	2.67	0.00	0.000	6	0.000	0.067	2220	2404	3418
7887	-0.85	-146.6	587.8	-5.6	378	7889	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3418
8197	-0.85	-146.6	605.6	-5.6	393	8202	0.00	2.72	0.00	0.000	4	0.000	0.081	2220	984	3417
8241	-0.85	-146.6	608.4	-6.7	395	8246	0.00	2.67	0.00	0.000	6	0.000	0.071	2220	2404	3417
8563	-0.85	-146.6	627.8	-5.9	411	8564	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2404	3417
8873	-0.85	-146.6	647.1	-6.2	426	8877	0.00	2.72	0.00	0.000	4	0.000	0.082	2220	986	3416
8918	-0.85	-146.6	650.2	-6.2	428	8922	0.00	2.67	0.00	0.000	6	0.000	0.073	2220	2399	3415
9238	-0.85	-146.6	671.8	-7.1	444	9242	0.00	2.72	0.00	0.000	4	0.000	0.083	2220	986	3414
9278	-0.85	-146.6	674.7	-7.8	446	9285	0.00	2.65	0.00	0.000	6	0.000	0.073	2220	2395	3414
9613	-0.85	-146.6	696.5	-6.1	462	9614	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2395	3412
9922	-0.85	-146.6	714.6	-5.7	477	9926	0.00	2.72	0.00	0.000	4	0.000	0.085	2220	986	3411
9984	-0.85	-146.6	718.4	-6.1	480	9989	0.00	2.70	0.00	0.000	6	0.000	0.074	2220	2405	3411
10309	end dive: BOTTOM_OBSTACLE_DETECTED
state	10309	begin apogee
10316	-0.31	0.0	738.8	6.3	496	10442	0.62	0.00	123.68	1.230	6	0.120	0.000	2341	2199	2817
10443	end apogee: CONTROL_FINISHED_OK
state	10443	begin climb
10446	0.85	146.6	742.7	0.0	502	10574	1.25	0.00	123.22	1.203	6	0.106	0.000	2588	2199	2218
10883	0.85	146.6	721.1	6.2	524	10887	0.00	2.85	0.00	0.000	4	0.000	0.100	2588	3619	2217
10967	0.85	146.6	715.5	6.9	528	10972	0.00	2.72	0.00	0.000	6	0.000	0.075	2588	2202	2217
11294	0.85	146.6	695.6	6.3	544	11295	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2203	2216
11603	0.85	146.8	676.6	6.0	559	11604	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2214
11912	0.85	146.8	658.0	6.1	574	11914	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2213
12221	0.85	146.8	638.8	6.4	589	12222	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2213
12530	0.85	146.8	619.7	6.0	604	12531	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2213
12840	0.85	146.8	600.7	6.3	619	12841	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2211
13149	0.85	146.8	581.0	6.3	634	13153	0.00	2.80	0.00	0.000	4	0.000	0.097	2588	3613	2210
13215	0.85	146.8	576.4	6.2	637	13219	0.00	2.70	0.00	0.000	6	0.000	0.073	2588	2196	2211
13537	0.86	160.6	557.2	5.6	653	13554	0.00	0.00	11.62	1.040	6	0.000	0.000	2588	2196	2162
13866	0.87	168.7	538.1	5.8	669	13876	0.00	0.00	8.57	0.976	6	0.000	0.000	2588	2196	2128
14173	0.88	179.9	520.2	5.7	684	14186	0.00	0.00	10.75	1.001	6	0.000	0.000	2588	2196	2083
14483	0.89	189.3	501.9	5.7	699	14498	0.00	2.85	9.38	0.963	4	0.000	0.094	2588	3613	2045
14526	0.89	189.3	499.1	6.3	700	14530	0.00	2.70	0.00	0.000	6	0.000	0.070	2588	2200	2045
14848	0.91	208.8	481.0	5.5	716	14872	0.00	2.83	17.48	1.024	4	0.000	0.081	2588	791	1965
14914	0.93	222.4	477.3	5.6	719	14936	0.12	2.65	12.75	0.984	6	0.083	0.063	2614	2202	1909
15244	0.93	222.4	455.6	6.3	735	15249	0.00	2.78	0.00	0.000	4	0.000	0.091	2614	3619	1908
15279	0.93	222.4	453.2	7.0	736	15285	0.00	2.70	0.00	0.000	6	0.000	0.070	2614	2200	1908
15595	0.93	222.4	433.2	6.3	752	15599	0.00	2.72	0.00	0.000	4	0.000	0.079	2614	781	1908
15638	0.93	222.4	430.1	7.3	754	15643	0.00	2.65	0.00	0.000	6	0.000	0.059	2614	2201	1907
15960	0.93	222.4	408.0	6.8	770	15962	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1907
16269	0.93	222.4	388.0	6.3	785	16270	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1907
16578	0.93	222.4	368.4	6.4	800	16579	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1907
16888	0.93	222.4	346.7	8.2	815	16889	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1908
17197	0.93	222.4	321.8	7.7	830	17198	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1909
17506	0.93	222.4	297.7	7.7	845	17507	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1910
17816	0.93	222.4	274.3	7.6	860	17817	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1911
18124	0.93	222.4	250.2	7.4	875	18129	0.00	2.67	0.00	0.000	4	0.000	0.070	2614	778	1911
18169	0.93	222.4	246.8	6.8	877	18173	0.00	2.62	0.00	0.000	6	0.000	0.054	2614	2203	1911
18490	0.93	222.4	224.5	7.3	893	18491	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2203	1912
18798	0.93	222.4	202.6	6.6	908	18800	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2203	1912
19108	0.93	222.4	181.6	6.5	923	19109	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2203	1913
19417	0.93	222.4	160.5	7.2	938	19421	0.00	2.67	0.00	0.000	4	0.000	0.070	2613	781	1914
19473	0.93	222.4	156.2	7.9	940	19479	0.00	2.60	0.00	0.000	6	0.000	0.054	2614	2202	1914
19789	0.93	222.4	132.7	6.7	956	19790	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2202	1915
20098	0.93	222.4	108.3	8.0	971	20099	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2202	1915
20408	0.93	222.4	85.9	7.3	986	20409	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2202	1916
20716	0.93	222.4	62.0	8.1	1001	20718	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1915
21026	0.93	222.4	38.5	9.0	1016	21027	0.00	0.00	0.00	0.000	6	0.000	0.000	2614	2201	1916
21337	0.93	222.4	12.8	7.5	1031	21338	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2202	1916
21518	end climb: SURFACE_DEPTH_REACHED
state	21518	begin surface coast
21540	end surface coast: CONTROL_FINISHED_OK
state	21540	begin surface