Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 164 * 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 164 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 2200 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 20 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 -2096398.5 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 2 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 2300 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 -2096398.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 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 2300 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 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 20 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 164 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 025337,6229.651,-1117.061,38,1.1,51,-10.8 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.32 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -55.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 030123,6229.677,-1117.078,10,2.2,29,-10.8 MHEAD_RNG_PITCHd_Wd 282.5,19611,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.016132 ALTIM_BOTTOM_PING 675.7,97.1

SM_CCo 21518,143.25,0.617,0,0,508,557.32 _24V_AH 23.6,29.119

SM_GC 1.37,0.00,0.00,143.25,0.000,0.000,0.617,70,2183,508,-10.26,-0.45,557.32 _10V_AH 10.1,14.349

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53716,1041

TT8_MAMPS 0.023777 CAP_FILE_SIZE 138477,0

HUMID 1832 CFSIZE 260165632,248606720

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 34 GPS 090708,090402,6229.736,-1127.486,37,1.5,38,-10.9

ALTIM_TOP_PING 19.2,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 165 94.33 SBE_CT 763 24 432.41

Roll_motor 132 88 277.95 SBE_O2 711 19 318.92

VBD_pump_during_apogee 369 1153 10064.11 WL_BB2F 614 105 1523.34

VBD_pump_during_surface 143 617 2087.36 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 51 103 125.39 nil 0 0 0.00

Iridium_during_connect 56 160 214.62 nil 0 0 0.00

Iridium_during_xfer 152 223 805.10

Transponder_ping 14 420 143.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.17

TT8 1825 19 364.97

LPSleep 16934 2 374.58

TT8_Active 714 19 142.95

TT8_Sampling 2071 39 832.72

TT8_CF8 578 45 267.77

TT8_Kalman 0 81 0.00

Analog_circuits 1724 12 209.05

GPS_charging 0 0 0.00

Compass 2012 8 162.58

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.55 0.000 2 0.000 0.000 70 2315 3010

151 -0.85 -146.6 3.7 -2.9 6 176 11.35 2.47 -8.43 0.000 4 0.166 0.089 2108 3613 3380

406 -0.65 -146.6 42.6 -13.0 17 411 0.25 2.58 0.00 0.000 6 0.091 0.051 2157 2203 3380

724 -0.60 -146.6 70.3 -7.8 32 729 0.00 2.67 0.00 0.000 4 0.000 0.076 2157 3608 3381

757 -0.60 -146.6 73.3 -7.9 33 764 0.00 2.55 0.00 0.000 6 0.000 0.048 2157 2197 3381

1073 -0.60 -146.6 97.0 -7.9 49 1075 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2197 3381

1384 -0.60 -146.6 120.9 -8.0 64 1386 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2197 3381

1692 -0.60 -146.6 143.8 -6.9 79 1693 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2197 3381

2001 -0.60 -146.6 165.7 -7.2 94 2002 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2197 3381

2310 -0.60 -146.6 190.1 -8.3 109 2315 0.00 2.70 0.00 0.000 4 0.000 0.077 2157 3611 3381

2360 -0.60 -146.6 194.7 -8.9 111 2364 0.00 2.55 0.00 0.000 6 0.000 0.050 2157 2200 3381

2676 -0.60 -146.6 223.0 -9.1 126 2677 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2200 3381

2985 -0.60 -146.6 250.0 -8.5 141 2987 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2201 3381

3295 -0.60 -146.6 275.9 -8.2 156 3300 0.00 2.70 0.00 0.000 4 0.000 0.079 2157 3613 3381

3329 -0.60 -146.6 279.0 -8.6 157 3334 0.00 2.58 0.00 0.000 6 0.000 0.051 2157 2194 3381

3644 -0.60 -146.6 304.2 -8.0 173 3645 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2194 3381

3953 -0.60 -146.6 328.3 -7.8 188 3954 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2195 3381

4263 -0.60 -146.6 350.8 -7.1 203 4264 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2194 3381

4572 -0.60 -146.6 372.2 -7.1 218 4577 0.00 2.70 0.00 0.000 4 0.000 0.080 2157 3612 3380

4612 -0.60 -146.6 375.1 -7.5 220 4617 0.00 2.58 0.00 0.000 6 0.000 0.051 2157 2192 3381

4939 -0.60 -146.6 398.4 -7.4 236 4941 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2192 3380

5249 -0.60 -146.6 421.6 -7.8 251 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2192 3380

5558 -0.60 -146.6 446.5 -8.1 266 5559 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2192 3379

5867 -0.60 -146.6 470.5 -7.6 281 5872 0.00 2.70 0.00 0.000 4 0.000 0.081 2157 3607 3379

5912 -0.60 -146.6 474.5 -8.9 283 5916 0.00 2.55 0.00 0.000 6 0.000 0.051 2158 2196 3379

6235 -0.60 -146.6 500.4 -8.4 299 6236 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2196 3380

6542 -0.60 -146.6 526.4 -8.2 314 6544 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2196 3380

6852 -0.60 -146.6 551.2 -7.8 329 6853 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2196 3379

7160 -0.60 -146.6 577.8 -9.1 344 7161 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2196 3379

7469 -0.60 -146.6 603.9 -7.8 359 7474 0.00 2.70 0.00 0.000 4 0.000 0.081 2157 3606 3379

7514 -0.60 -146.6 607.2 -7.4 361 7518 0.00 2.55 0.00 0.000 6 0.000 0.051 2157 2194 3379

7836 -0.60 -146.6 625.9 -5.3 377 7838 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2194 3378

8144 -0.60 -146.6 646.4 -7.3 392 8148 0.00 2.70 0.00 0.000 4 0.000 0.082 2157 3606 3378

8201 -0.60 -146.6 650.6 -7.6 394 8207 0.00 2.55 0.00 0.000 6 0.000 0.052 2158 2197 3378

8517 -0.60 -146.6 667.3 -4.3 410 8518 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2197 3378

8826 -0.60 -146.6 680.4 -4.6 425 8827 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2197 3378

9135 -0.60 -146.6 697.1 -5.8 440 9140 0.00 2.72 0.00 0.000 4 0.000 0.086 2158 3607 3378

9168 -0.60 -146.6 699.3 -6.4 441 9174 0.00 2.58 0.00 0.000 6 0.000 0.055 2158 2198 3377

9484 -0.60 -146.6 719.4 -6.8 457 9488 0.00 2.72 0.00 0.000 4 0.000 0.086 2158 3609 3377

9546 -0.60 -146.6 723.6 -6.4 460 9550 0.00 2.58 0.00 0.000 6 0.000 0.055 2157 2196 3377

9873 -0.60 -146.6 742.1 -5.4 476 9874 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2196 3376

10182 -0.60 -146.6 760.5 -7.5 491 10186 0.00 2.72 0.00 0.000 4 0.000 0.088 2157 3603 3375

10204 -0.66 -146.6 762.2 -7.0 492 10208 0.00 2.58 0.00 0.000 6 0.000 0.058 2158 2202 3376

10235 end dive: BOTTOM_OBSTACLE_DETECTED

state 10235 begin apogee

10242 -0.31 0.0 763.8 5.4 494 10377 0.35 0.00 132.38 1.154 6 0.093 0.000 2228 2233 2781

10378 end apogee: CONTROL_FINISHED_OK

state 10378 begin climb

10381 0.85 146.6 769.9 0.0 501 10524 1.20 2.90 131.55 1.133 4 0.084 0.086 2477 3652 2183

10632 0.85 146.6 761.4 6.6 512 10638 0.00 2.65 0.00 0.000 6 0.000 0.059 2477 2235 2182

10948 0.90 192.0 746.7 4.8 528 10996 0.00 2.78 41.12 1.104 4 0.000 0.071 2477 832 1998

11025 0.97 218.6 742.4 5.3 531 11057 0.15 2.65 25.35 1.072 6 0.051 0.059 2514 2238 1890

11379 0.91 218.6 716.2 7.2 549 11383 0.00 2.78 0.00 0.000 4 0.000 0.087 2514 3657 1889

11419 0.86 218.6 713.0 8.5 551 11424 0.15 2.65 0.00 0.000 6 0.094 0.059 2485 2241 1889

11747 0.92 231.9 694.8 5.6 567 11766 0.00 0.00 13.32 1.014 6 0.000 0.000 2485 2241 1835

12077 0.99 243.8 675.6 5.7 583 12095 0.12 0.00 11.88 0.995 6 0.054 0.000 2517 2241 1787

12404 0.99 243.8 654.5 6.4 599 12405 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2241 1785

12713 0.99 243.8 632.9 7.6 614 12718 0.00 2.75 0.00 0.000 4 0.000 0.085 2517 3654 1785

12785 0.99 243.8 626.9 7.7 617 12790 0.00 2.62 0.00 0.000 6 0.000 0.058 2517 2238 1785

13101 0.99 243.8 603.9 7.6 632 13105 0.00 2.65 0.00 0.000 4 0.000 0.069 2517 827 1784

13133 0.99 243.8 601.3 7.4 633 13139 0.00 2.62 0.00 0.000 6 0.000 0.056 2517 2242 1784

13449 0.99 243.8 575.7 8.3 649 13454 0.00 2.70 0.00 0.000 4 0.000 0.081 2517 3656 1784

13489 0.99 243.8 572.3 8.6 651 13493 0.00 2.62 0.00 0.000 6 0.000 0.056 2517 2235 1784

13815 0.99 243.8 546.1 7.6 667 13820 0.00 2.65 0.00 0.000 4 0.000 0.067 2517 819 1784

13849 0.99 243.8 543.3 7.6 668 13855 0.00 2.62 0.00 0.000 6 0.000 0.055 2517 2240 1784

14164 0.99 243.8 519.0 7.6 684 14165 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2240 1784

14473 0.99 243.8 496.7 6.7 699 14478 0.00 2.70 0.00 0.000 4 0.000 0.081 2517 3651 1784

14518 0.99 243.8 493.6 6.9 701 14522 0.00 2.60 0.00 0.000 6 0.000 0.055 2517 2235 1785

14839 1.00 258.1 474.7 5.6 717 14858 0.00 0.00 14.07 0.890 6 0.000 0.000 2517 2235 1727

15168 1.00 258.1 453.9 6.8 733 15169 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1727

15477 1.00 258.1 430.4 7.6 748 15479 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1727

15786 1.00 258.1 406.9 7.5 763 15788 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2236 1728

16096 1.00 258.1 383.6 7.5 778 16100 0.00 2.72 0.00 0.000 4 0.000 0.081 2517 3651 1728

16135 1.00 258.1 380.3 8.3 780 16140 0.00 2.60 0.00 0.000 6 0.000 0.056 2517 2235 1729

16463 1.00 258.1 357.4 6.9 796 16464 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1728

16772 1.00 258.1 336.2 7.0 811 16773 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1728

17081 1.00 258.1 314.2 7.1 826 17083 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1729

17390 1.00 258.1 292.5 7.3 841 17391 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2235 1729

17700 1.00 258.1 270.1 7.3 856 17704 0.00 2.70 0.00 0.000 4 0.000 0.080 2517 3652 1729

17733 1.00 258.1 267.4 7.2 857 17739 0.00 2.58 0.00 0.000 6 0.000 0.055 2517 2241 1729

18048 1.00 258.1 243.6 7.4 873 18049 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2241 1730

18357 1.00 258.1 220.7 7.0 888 18359 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2241 1730

18667 1.00 258.1 200.1 6.5 903 18668 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2241 1730

18976 1.00 258.1 179.5 6.8 918 18977 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2241 1730

19285 1.00 258.1 158.2 6.9 933 19290 0.00 2.67 0.00 0.000 4 0.000 0.080 2517 3651 1730

19318 1.00 258.1 155.6 7.0 934 19324 0.00 2.58 0.00 0.000 6 0.000 0.054 2517 2239 1730

19635 1.00 258.1 135.0 6.4 950 19636 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2239 1730

19944 1.00 258.1 115.0 6.7 965 19945 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2239 1730

20253 1.00 258.1 91.5 8.0 980 20257 0.00 2.62 0.00 0.000 4 0.000 0.066 2517 819 1730

20297 1.00 258.1 87.8 9.0 982 20302 0.00 2.60 0.00 0.000 6 0.000 0.054 2517 2240 1730

20619 1.00 258.1 65.1 7.3 998 20623 0.00 2.67 0.00 0.000 4 0.000 0.078 2517 3654 1731

20685 1.00 258.1 59.2 8.9 1001 20689 0.00 2.58 0.00 0.000 6 0.000 0.054 2517 2241 1731

21006 1.00 258.1 33.9 7.2 1017 21011 0.00 2.60 0.00 0.000 4 0.000 0.064 2517 826 1731

21047 1.00 258.1 31.0 7.2 1019 21051 0.00 2.60 0.00 0.000 6 0.000 0.054 2517 2246 1731

21373 1.00 258.1 9.3 7.1 1035 21374 0.00 0.00 0.00 0.000 6 0.000 0.000 2517 2246 1731

21473 end climb: SURFACE_DEPTH_REACHED

state 21474 begin surface coast

21495 end surface coast: CONTROL_FINISHED_OK

state 21496 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	164	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	2200	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	20	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	-2096398.5	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	2	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	2300	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	025337,6229.651,-1117.061,38,1.1,51,-10.8	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.32	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-55.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	030123,6229.677,-1117.078,10,2.2,29,-10.8	MHEAD_RNG_PITCHd_Wd	282.5,19611,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.016132	ALTIM_BOTTOM_PING	675.7,97.1
SM_CCo	21518,143.25,0.617,0,0,508,557.32	_24V_AH	23.6,29.119
SM_GC	1.37,0.00,0.00,143.25,0.000,0.000,0.617,70,2183,508,-10.26,-0.45,557.32	_10V_AH	10.1,14.349
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53716,1041
TT8_MAMPS	0.023777	CAP_FILE_SIZE	138477,0
HUMID	1832	CFSIZE	260165632,248606720
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	34	GPS	090708,090402,6229.736,-1127.486,37,1.5,38,-10.9
ALTIM_TOP_PING	19.2,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	165	94.33	SBE_CT	763	24	432.41
Roll_motor	132	88	277.95	SBE_O2	711	19	318.92
VBD_pump_during_apogee	369	1153	10064.11	WL_BB2F	614	105	1523.34
VBD_pump_during_surface	143	617	2087.36	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	51	103	125.39	nil	0	0	0.00
Iridium_during_connect	56	160	214.62	nil	0	0	0.00
Iridium_during_xfer	152	223	805.10
Transponder_ping	14	420	143.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.17
TT8	1825	19	364.97
LPSleep	16934	2	374.58
TT8_Active	714	19	142.95
TT8_Sampling	2071	39	832.72
TT8_CF8	578	45	267.77
TT8_Kalman	0	81	0.00
Analog_circuits	1724	12	209.05
GPS_charging	0	0	0.00
Compass	2012	8	162.58
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.55	0.000	2	0.000	0.000	70	2315	3010
151	-0.85	-146.6	3.7	-2.9	6	176	11.35	2.47	-8.43	0.000	4	0.166	0.089	2108	3613	3380
406	-0.65	-146.6	42.6	-13.0	17	411	0.25	2.58	0.00	0.000	6	0.091	0.051	2157	2203	3380
724	-0.60	-146.6	70.3	-7.8	32	729	0.00	2.67	0.00	0.000	4	0.000	0.076	2157	3608	3381
757	-0.60	-146.6	73.3	-7.9	33	764	0.00	2.55	0.00	0.000	6	0.000	0.048	2157	2197	3381
1073	-0.60	-146.6	97.0	-7.9	49	1075	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2197	3381
1384	-0.60	-146.6	120.9	-8.0	64	1386	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2197	3381
1692	-0.60	-146.6	143.8	-6.9	79	1693	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2197	3381
2001	-0.60	-146.6	165.7	-7.2	94	2002	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2197	3381
2310	-0.60	-146.6	190.1	-8.3	109	2315	0.00	2.70	0.00	0.000	4	0.000	0.077	2157	3611	3381
2360	-0.60	-146.6	194.7	-8.9	111	2364	0.00	2.55	0.00	0.000	6	0.000	0.050	2157	2200	3381
2676	-0.60	-146.6	223.0	-9.1	126	2677	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2200	3381
2985	-0.60	-146.6	250.0	-8.5	141	2987	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2201	3381
3295	-0.60	-146.6	275.9	-8.2	156	3300	0.00	2.70	0.00	0.000	4	0.000	0.079	2157	3613	3381
3329	-0.60	-146.6	279.0	-8.6	157	3334	0.00	2.58	0.00	0.000	6	0.000	0.051	2157	2194	3381
3644	-0.60	-146.6	304.2	-8.0	173	3645	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2194	3381
3953	-0.60	-146.6	328.3	-7.8	188	3954	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2195	3381
4263	-0.60	-146.6	350.8	-7.1	203	4264	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2194	3381
4572	-0.60	-146.6	372.2	-7.1	218	4577	0.00	2.70	0.00	0.000	4	0.000	0.080	2157	3612	3380
4612	-0.60	-146.6	375.1	-7.5	220	4617	0.00	2.58	0.00	0.000	6	0.000	0.051	2157	2192	3381
4939	-0.60	-146.6	398.4	-7.4	236	4941	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2192	3380
5249	-0.60	-146.6	421.6	-7.8	251	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2192	3380
5558	-0.60	-146.6	446.5	-8.1	266	5559	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2192	3379
5867	-0.60	-146.6	470.5	-7.6	281	5872	0.00	2.70	0.00	0.000	4	0.000	0.081	2157	3607	3379
5912	-0.60	-146.6	474.5	-8.9	283	5916	0.00	2.55	0.00	0.000	6	0.000	0.051	2158	2196	3379
6235	-0.60	-146.6	500.4	-8.4	299	6236	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2196	3380
6542	-0.60	-146.6	526.4	-8.2	314	6544	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2196	3380
6852	-0.60	-146.6	551.2	-7.8	329	6853	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2196	3379
7160	-0.60	-146.6	577.8	-9.1	344	7161	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2196	3379
7469	-0.60	-146.6	603.9	-7.8	359	7474	0.00	2.70	0.00	0.000	4	0.000	0.081	2157	3606	3379
7514	-0.60	-146.6	607.2	-7.4	361	7518	0.00	2.55	0.00	0.000	6	0.000	0.051	2157	2194	3379
7836	-0.60	-146.6	625.9	-5.3	377	7838	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2194	3378
8144	-0.60	-146.6	646.4	-7.3	392	8148	0.00	2.70	0.00	0.000	4	0.000	0.082	2157	3606	3378
8201	-0.60	-146.6	650.6	-7.6	394	8207	0.00	2.55	0.00	0.000	6	0.000	0.052	2158	2197	3378
8517	-0.60	-146.6	667.3	-4.3	410	8518	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2197	3378
8826	-0.60	-146.6	680.4	-4.6	425	8827	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2197	3378
9135	-0.60	-146.6	697.1	-5.8	440	9140	0.00	2.72	0.00	0.000	4	0.000	0.086	2158	3607	3378
9168	-0.60	-146.6	699.3	-6.4	441	9174	0.00	2.58	0.00	0.000	6	0.000	0.055	2158	2198	3377
9484	-0.60	-146.6	719.4	-6.8	457	9488	0.00	2.72	0.00	0.000	4	0.000	0.086	2158	3609	3377
9546	-0.60	-146.6	723.6	-6.4	460	9550	0.00	2.58	0.00	0.000	6	0.000	0.055	2157	2196	3377
9873	-0.60	-146.6	742.1	-5.4	476	9874	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2196	3376
10182	-0.60	-146.6	760.5	-7.5	491	10186	0.00	2.72	0.00	0.000	4	0.000	0.088	2157	3603	3375
10204	-0.66	-146.6	762.2	-7.0	492	10208	0.00	2.58	0.00	0.000	6	0.000	0.058	2158	2202	3376
10235	end dive: BOTTOM_OBSTACLE_DETECTED
state	10235	begin apogee
10242	-0.31	0.0	763.8	5.4	494	10377	0.35	0.00	132.38	1.154	6	0.093	0.000	2228	2233	2781
10378	end apogee: CONTROL_FINISHED_OK
state	10378	begin climb
10381	0.85	146.6	769.9	0.0	501	10524	1.20	2.90	131.55	1.133	4	0.084	0.086	2477	3652	2183
10632	0.85	146.6	761.4	6.6	512	10638	0.00	2.65	0.00	0.000	6	0.000	0.059	2477	2235	2182
10948	0.90	192.0	746.7	4.8	528	10996	0.00	2.78	41.12	1.104	4	0.000	0.071	2477	832	1998
11025	0.97	218.6	742.4	5.3	531	11057	0.15	2.65	25.35	1.072	6	0.051	0.059	2514	2238	1890
11379	0.91	218.6	716.2	7.2	549	11383	0.00	2.78	0.00	0.000	4	0.000	0.087	2514	3657	1889
11419	0.86	218.6	713.0	8.5	551	11424	0.15	2.65	0.00	0.000	6	0.094	0.059	2485	2241	1889
11747	0.92	231.9	694.8	5.6	567	11766	0.00	0.00	13.32	1.014	6	0.000	0.000	2485	2241	1835
12077	0.99	243.8	675.6	5.7	583	12095	0.12	0.00	11.88	0.995	6	0.054	0.000	2517	2241	1787
12404	0.99	243.8	654.5	6.4	599	12405	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2241	1785
12713	0.99	243.8	632.9	7.6	614	12718	0.00	2.75	0.00	0.000	4	0.000	0.085	2517	3654	1785
12785	0.99	243.8	626.9	7.7	617	12790	0.00	2.62	0.00	0.000	6	0.000	0.058	2517	2238	1785
13101	0.99	243.8	603.9	7.6	632	13105	0.00	2.65	0.00	0.000	4	0.000	0.069	2517	827	1784
13133	0.99	243.8	601.3	7.4	633	13139	0.00	2.62	0.00	0.000	6	0.000	0.056	2517	2242	1784
13449	0.99	243.8	575.7	8.3	649	13454	0.00	2.70	0.00	0.000	4	0.000	0.081	2517	3656	1784
13489	0.99	243.8	572.3	8.6	651	13493	0.00	2.62	0.00	0.000	6	0.000	0.056	2517	2235	1784
13815	0.99	243.8	546.1	7.6	667	13820	0.00	2.65	0.00	0.000	4	0.000	0.067	2517	819	1784
13849	0.99	243.8	543.3	7.6	668	13855	0.00	2.62	0.00	0.000	6	0.000	0.055	2517	2240	1784
14164	0.99	243.8	519.0	7.6	684	14165	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2240	1784
14473	0.99	243.8	496.7	6.7	699	14478	0.00	2.70	0.00	0.000	4	0.000	0.081	2517	3651	1784
14518	0.99	243.8	493.6	6.9	701	14522	0.00	2.60	0.00	0.000	6	0.000	0.055	2517	2235	1785
14839	1.00	258.1	474.7	5.6	717	14858	0.00	0.00	14.07	0.890	6	0.000	0.000	2517	2235	1727
15168	1.00	258.1	453.9	6.8	733	15169	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1727
15477	1.00	258.1	430.4	7.6	748	15479	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1727
15786	1.00	258.1	406.9	7.5	763	15788	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2236	1728
16096	1.00	258.1	383.6	7.5	778	16100	0.00	2.72	0.00	0.000	4	0.000	0.081	2517	3651	1728
16135	1.00	258.1	380.3	8.3	780	16140	0.00	2.60	0.00	0.000	6	0.000	0.056	2517	2235	1729
16463	1.00	258.1	357.4	6.9	796	16464	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1728
16772	1.00	258.1	336.2	7.0	811	16773	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1728
17081	1.00	258.1	314.2	7.1	826	17083	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1729
17390	1.00	258.1	292.5	7.3	841	17391	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2235	1729
17700	1.00	258.1	270.1	7.3	856	17704	0.00	2.70	0.00	0.000	4	0.000	0.080	2517	3652	1729
17733	1.00	258.1	267.4	7.2	857	17739	0.00	2.58	0.00	0.000	6	0.000	0.055	2517	2241	1729
18048	1.00	258.1	243.6	7.4	873	18049	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2241	1730
18357	1.00	258.1	220.7	7.0	888	18359	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2241	1730
18667	1.00	258.1	200.1	6.5	903	18668	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2241	1730
18976	1.00	258.1	179.5	6.8	918	18977	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2241	1730
19285	1.00	258.1	158.2	6.9	933	19290	0.00	2.67	0.00	0.000	4	0.000	0.080	2517	3651	1730
19318	1.00	258.1	155.6	7.0	934	19324	0.00	2.58	0.00	0.000	6	0.000	0.054	2517	2239	1730
19635	1.00	258.1	135.0	6.4	950	19636	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2239	1730
19944	1.00	258.1	115.0	6.7	965	19945	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2239	1730
20253	1.00	258.1	91.5	8.0	980	20257	0.00	2.62	0.00	0.000	4	0.000	0.066	2517	819	1730
20297	1.00	258.1	87.8	9.0	982	20302	0.00	2.60	0.00	0.000	6	0.000	0.054	2517	2240	1730
20619	1.00	258.1	65.1	7.3	998	20623	0.00	2.67	0.00	0.000	4	0.000	0.078	2517	3654	1731
20685	1.00	258.1	59.2	8.9	1001	20689	0.00	2.58	0.00	0.000	6	0.000	0.054	2517	2241	1731
21006	1.00	258.1	33.9	7.2	1017	21011	0.00	2.60	0.00	0.000	4	0.000	0.064	2517	826	1731
21047	1.00	258.1	31.0	7.2	1019	21051	0.00	2.60	0.00	0.000	6	0.000	0.054	2517	2246	1731
21373	1.00	258.1	9.3	7.1	1035	21374	0.00	0.00	0.00	0.000	6	0.000	0.000	2517	2246	1731
21473	end climb: SURFACE_DEPTH_REACHED
state	21474	begin surface coast
21495	end surface coast: CONTROL_FINISHED_OK
state	21496	begin surface