Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 365 * 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 365 HEADING -1 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 15 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 -2085831.8 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 1 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 -2085831.8

CAPUPLOAD 0 HEADING -1 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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 15 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 365 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 204456,6236.251,-400.390,39,1.7,39,-6.9 TGT_NAME FSCN_NW

_CALLS 3 TGT_LATLONG 6215.000,-330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.155,-0.158

_SM_DEPTHo 1.84 KALMAN_X 31939.2,197.9,4600.6,231633.1,-18678.4

_SM_ANGLEo -65.5 KALMAN_Y -40484.0,-569.4,168.3,148269.8,7037.7

GPS2 205821,6236.197,-400.575,14,1.7,14,-6.9 MHEAD_RNG_PITCHd_Wd 153.0,47288,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.002887 ALTIM_BOTTOM_PING 700.2,44.1

SM_CCo 21617,37.03,0.642,2,0,1593,300.00 _24V_AH 23.3,57.149

SM_GC 1.97,0.00,0.00,37.03,0.000,0.000,0.642,74,2409,1593,-10.75,0.25,300.00 _10V_AH 10.1,30.203

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53841,1040

TT8_MAMPS 0.023777 CFSIZE 260165632,238784512

HUMID 2107 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,2,0

TCM_TEMP 16.20 GPS 220108,030137,6233.999,-356.802,42,2.0,42,-6.8

XPDR_PINGS 102

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 173 103.40 SBE_CT 773 24 432.69

Roll_motor 108 95 242.49 SBE_O2 715 19 316.55

VBD_pump_during_apogee 335 1203 9403.13 WL_BB2F 606 105 1485.00

VBD_pump_during_surface 37 641 553.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 234.85 nil 0 0 0.00

Iridium_during_connect 117 160 437.44 nil 0 0 0.00

Iridium_during_xfer 322 223 1676.98

Transponder_ping 31 420 308.26

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.12

TT8 1830 19 366.15

LPSleep 17224 2 380.99

TT8_Active 512 19 102.51

TT8_Sampling 2040 39 820.38

TT8_CF8 857 45 396.85

TT8_Kalman 33 81 27.55

Analog_circuits 1488 12 180.35

GPS_charging 0 0 0.00

Compass 2004 8 162.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.85 -146.6 0.0 0.0 0 86 0.00 0.00 -61.40 0.000 2 0.000 0.000 72 2399 3110

90 -0.85 -146.6 4.2 -6.0 3 115 12.20 2.67 -7.07 0.000 4 0.173 0.095 2219 3772 3418

368 -0.85 -146.6 36.0 -8.9 15 372 0.00 2.58 0.00 0.000 6 0.000 0.059 2219 2396 3417

684 -0.85 -146.6 63.3 -9.8 30 688 0.00 2.67 0.00 0.000 4 0.000 0.083 2219 3769 3419

779 -0.85 -146.6 71.6 -8.5 34 783 0.00 2.55 0.00 0.000 6 0.000 0.060 2219 2400 3419

1094 -0.85 -146.6 97.2 -6.6 49 1095 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3419

1404 -0.85 -146.6 117.2 -5.3 64 1408 0.00 2.70 0.00 0.000 4 0.000 0.077 2219 984 3420

1453 -0.85 -146.6 120.3 -6.7 66 1457 0.00 2.65 0.00 0.000 6 0.000 0.063 2219 2407 3420

1770 -0.85 -146.6 142.9 -6.6 81 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2407 3420

2078 -0.85 -146.6 162.3 -6.8 96 2083 0.00 2.70 0.00 0.000 4 0.000 0.074 2219 983 3420

2127 -0.85 -146.6 165.8 -6.9 98 2132 0.00 2.62 0.00 0.000 6 0.000 0.064 2219 2400 3420

2443 -0.85 -146.6 187.9 -7.1 113 2445 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3420

2752 -0.85 -146.6 210.0 -7.1 128 2753 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3420

3062 -0.85 -146.6 230.1 -6.3 143 3066 0.00 2.70 0.00 0.000 4 0.000 0.075 2219 980 3421

3134 -0.85 -146.6 235.1 -7.1 146 3138 0.00 2.65 0.00 0.000 6 0.000 0.064 2219 2404 3421

3450 -0.85 -146.6 255.5 -6.3 161 3451 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3421

3762 -0.85 -146.6 276.1 -7.1 176 3763 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3421

4068 -0.85 -146.6 299.3 -7.7 191 4073 0.00 2.72 0.00 0.000 4 0.000 0.077 2219 977 3421

4112 -0.85 -146.6 302.8 -7.8 193 4117 0.00 2.67 0.00 0.000 6 0.000 0.067 2219 2403 3421

4434 -0.85 -146.6 324.1 -6.4 209 4435 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2403 3421

4742 -0.85 -146.6 346.4 -7.8 224 4743 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2403 3421

5052 -0.85 -146.6 372.7 -8.7 239 5056 0.00 2.72 0.00 0.000 4 0.000 0.081 2219 983 3421

5130 -0.85 -146.6 379.5 -8.6 242 5136 0.00 2.67 0.00 0.000 6 0.000 0.069 2219 2398 3421

5445 -0.85 -146.6 403.6 -7.2 258 5446 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2399 3421

5754 -0.85 -146.6 423.6 -6.2 273 5758 0.00 2.72 0.00 0.000 4 0.000 0.081 2219 984 3421

5826 -0.85 -146.6 428.0 -6.0 276 5831 0.00 2.70 0.00 0.000 6 0.000 0.070 2219 2408 3421

6142 -0.85 -146.6 447.5 -6.2 291 6146 0.00 2.75 0.00 0.000 4 0.000 0.082 2219 983 3421

6186 -0.85 -146.6 450.3 -6.4 293 6191 0.00 2.70 0.00 0.000 6 0.000 0.071 2219 2407 3421

6508 -0.85 -146.6 469.3 -5.9 309 6510 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2406 3420

6816 -0.85 -146.6 487.9 -6.1 324 6818 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2406 3420

7126 -0.85 -146.6 505.0 -5.2 339 7131 0.00 2.75 0.00 0.000 4 0.000 0.084 2219 985 3420

7188 -0.85 -146.6 508.6 -6.4 342 7193 0.00 2.70 0.00 0.000 6 0.000 0.074 2219 2410 3419

7514 -0.85 -146.6 527.8 -6.1 358 7515 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2410 3417

7826 -0.85 -146.6 545.9 -5.8 373 7827 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2410 3416

8133 -0.85 -146.6 564.1 -5.9 388 8138 0.00 2.75 0.00 0.000 4 0.000 0.084 2219 986 3415

8182 -0.85 -146.6 567.3 -6.3 390 8187 0.00 2.67 0.00 0.000 6 0.000 0.074 2219 2403 3415

8498 -0.85 -146.6 586.3 -6.0 405 8500 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2403 3414

8807 -0.85 -146.6 605.9 -6.4 420 8808 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2403 3413

9117 -0.85 -146.6 625.5 -6.6 435 9122 0.00 2.75 0.00 0.000 4 0.000 0.085 2219 982 3412

9184 -0.85 -146.6 630.3 -7.6 438 9188 0.00 2.70 0.00 0.000 6 0.000 0.073 2219 2404 3412

9504 -0.85 -146.6 651.8 -6.9 454 9505 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2404 3411

9813 -0.85 -146.6 672.8 -6.7 469 9818 0.00 2.72 0.00 0.000 4 0.000 0.085 2219 986 3410

9869 -0.85 -146.6 676.6 -7.0 471 9876 0.00 2.67 0.00 0.000 6 0.000 0.073 2219 2398 3410

10185 -0.85 -146.6 697.1 -6.9 487 10186 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2398 3409

10494 -0.85 -146.6 718.6 -6.9 502 10495 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2399 3409

10739 end dive: BOTTOM_OBSTACLE_DETECTED

state 10739 begin apogee

10746 -0.31 0.0 734.6 6.4 514 10873 0.62 0.00 123.15 1.203 6 0.118 0.000 2341 2190 2817

10873 end apogee: CONTROL_FINISHED_OK

state 10874 begin climb

10876 0.85 146.6 738.8 0.0 520 11007 1.23 2.83 122.18 1.171 4 0.096 0.083 2588 798 2218

11060 0.85 146.6 732.6 6.1 528 11066 0.00 2.67 0.00 0.000 6 0.000 0.067 2588 2201 2217

11376 0.85 146.6 713.8 6.1 544 11377 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2217

11685 0.85 151.9 695.2 5.9 559 11692 0.00 0.00 5.47 0.912 6 0.000 0.000 2588 2201 2197

11995 0.85 151.9 676.6 6.2 574 11996 0.00 0.00 0.00 0.000 6 0.000 0.000 2587 2202 2197

12303 0.85 151.9 657.9 6.3 589 12308 0.00 2.78 0.00 0.000 4 0.000 0.096 2587 3613 2197

12343 0.85 151.9 655.3 6.9 591 12348 0.00 2.72 0.00 0.000 6 0.000 0.075 2587 2202 2196

12670 0.85 151.9 635.2 6.1 607 12671 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2202 2196

12980 0.86 156.9 617.1 5.9 622 12988 0.00 0.00 5.90 0.924 6 0.000 0.000 2588 2202 2177

13288 0.87 165.9 599.4 5.8 637 13299 0.00 0.00 9.27 1.035 6 0.000 0.000 2588 2202 2140

13597 0.88 174.5 581.7 5.8 652 13608 0.00 0.00 8.82 1.015 6 0.000 0.000 2587 2202 2105

13906 0.88 175.3 563.3 6.0 667 13907 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2105

14217 0.88 175.3 543.0 6.7 682 14219 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2103

14524 0.88 175.3 520.7 7.4 697 14526 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2103

14834 0.88 175.3 498.2 7.1 712 14835 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2103

15144 0.88 175.3 476.3 6.9 727 15145 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2200 2103

15452 0.88 175.3 455.2 6.6 742 15453 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2103

15761 0.88 175.3 434.5 6.6 757 15763 0.00 0.00 0.00 0.000 6 0.000 0.000 2588 2201 2102

16072 0.90 193.7 416.2 5.5 772 16091 0.00 0.00 17.00 1.019 6 0.000 0.000 2588 2201 2027

16400 0.95 245.7 400.7 4.6 788 16446 0.15 0.00 43.55 1.052 6 0.076 0.000 2622 2201 1815

16749 0.95 245.7 377.8 6.8 805 16751 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1812

17059 0.95 245.7 356.6 7.1 820 17061 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2201 1811

17368 0.95 245.7 333.5 7.4 835 17372 0.00 2.75 0.00 0.000 4 0.000 0.086 2622 782 1812

17439 0.95 245.7 327.8 7.7 838 17444 0.00 2.67 0.00 0.000 6 0.000 0.064 2622 2201 1811

17756 0.95 245.7 303.9 7.6 853 17760 0.00 2.75 0.00 0.000 4 0.000 0.083 2622 781 1811

17795 0.95 245.7 300.6 8.8 855 17799 0.00 2.67 0.00 0.000 6 0.000 0.063 2622 2206 1811

18121 0.95 245.7 270.3 10.0 871 18122 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2206 1811

18431 0.95 245.7 241.5 9.1 886 18432 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2206 1811

18739 0.95 245.7 217.1 7.3 901 18741 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2206 1811

19050 0.95 245.7 195.3 6.9 916 19051 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2206 1811

19359 0.95 245.7 172.8 8.1 931 19363 0.00 2.72 0.00 0.000 4 0.000 0.076 2622 781 1812

19398 0.95 245.7 169.2 9.5 933 19402 0.00 2.65 0.00 0.000 6 0.000 0.058 2622 2207 1812

19724 0.95 245.7 145.5 6.4 949 19725 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2208 1813

20034 0.95 245.7 124.5 6.7 964 20035 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2207 1814

20343 0.95 245.7 100.4 8.1 979 20347 0.00 2.70 0.00 0.000 4 0.000 0.073 2622 782 1815

20398 0.95 245.7 95.4 9.2 981 20404 0.00 2.62 0.00 0.000 6 0.000 0.056 2622 2210 1815

20714 0.95 245.7 68.5 8.6 997 20715 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2210 1816

21024 0.95 245.7 44.2 7.5 1012 21025 0.00 0.00 0.00 0.000 6 0.000 0.000 2622 2210 1817

21332 0.95 245.7 20.3 8.6 1027 21337 0.00 2.70 0.00 0.000 4 0.000 0.072 2622 783 1818

21377 0.95 245.7 16.6 8.2 1029 21381 0.00 2.60 0.00 0.000 6 0.000 0.055 2622 2201 1818

21572 end climb: SURFACE_DEPTH_REACHED

state 21572 begin surface coast

21595 end surface coast: CONTROL_FINISHED_OK

state 21595 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	365	HEADING	-1	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	15	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	-2085831.8	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	1	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	204456,6236.251,-400.390,39,1.7,39,-6.9	TGT_NAME	FSCN_NW
_CALLS	3	TGT_LATLONG	6215.000,-330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.155,-0.158
_SM_DEPTHo	1.84	KALMAN_X	31939.2,197.9,4600.6,231633.1,-18678.4
_SM_ANGLEo	-65.5	KALMAN_Y	-40484.0,-569.4,168.3,148269.8,7037.7
GPS2	205821,6236.197,-400.575,14,1.7,14,-6.9	MHEAD_RNG_PITCHd_Wd	153.0,47288,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.9,1.002887	ALTIM_BOTTOM_PING	700.2,44.1
SM_CCo	21617,37.03,0.642,2,0,1593,300.00	_24V_AH	23.3,57.149
SM_GC	1.97,0.00,0.00,37.03,0.000,0.000,0.642,74,2409,1593,-10.75,0.25,300.00	_10V_AH	10.1,30.203
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53841,1040
TT8_MAMPS	0.023777	CFSIZE	260165632,238784512
HUMID	2107	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
TCM_TEMP	16.20	GPS	220108,030137,6233.999,-356.802,42,2.0,42,-6.8
XPDR_PINGS	102

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	173	103.40	SBE_CT	773	24	432.69
Roll_motor	108	95	242.49	SBE_O2	715	19	316.55
VBD_pump_during_apogee	335	1203	9403.13	WL_BB2F	606	105	1485.00
VBD_pump_during_surface	37	641	553.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	234.85	nil	0	0	0.00
Iridium_during_connect	117	160	437.44	nil	0	0	0.00
Iridium_during_xfer	322	223	1676.98
Transponder_ping	31	420	308.26
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.12
TT8	1830	19	366.15
LPSleep	17224	2	380.99
TT8_Active	512	19	102.51
TT8_Sampling	2040	39	820.38
TT8_CF8	857	45	396.85
TT8_Kalman	33	81	27.55
Analog_circuits	1488	12	180.35
GPS_charging	0	0	0.00
Compass	2004	8	162.00
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.85	-146.6	0.0	0.0	0	86	0.00	0.00	-61.40	0.000	2	0.000	0.000	72	2399	3110
90	-0.85	-146.6	4.2	-6.0	3	115	12.20	2.67	-7.07	0.000	4	0.173	0.095	2219	3772	3418
368	-0.85	-146.6	36.0	-8.9	15	372	0.00	2.58	0.00	0.000	6	0.000	0.059	2219	2396	3417
684	-0.85	-146.6	63.3	-9.8	30	688	0.00	2.67	0.00	0.000	4	0.000	0.083	2219	3769	3419
779	-0.85	-146.6	71.6	-8.5	34	783	0.00	2.55	0.00	0.000	6	0.000	0.060	2219	2400	3419
1094	-0.85	-146.6	97.2	-6.6	49	1095	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3419
1404	-0.85	-146.6	117.2	-5.3	64	1408	0.00	2.70	0.00	0.000	4	0.000	0.077	2219	984	3420
1453	-0.85	-146.6	120.3	-6.7	66	1457	0.00	2.65	0.00	0.000	6	0.000	0.063	2219	2407	3420
1770	-0.85	-146.6	142.9	-6.6	81	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2407	3420
2078	-0.85	-146.6	162.3	-6.8	96	2083	0.00	2.70	0.00	0.000	4	0.000	0.074	2219	983	3420
2127	-0.85	-146.6	165.8	-6.9	98	2132	0.00	2.62	0.00	0.000	6	0.000	0.064	2219	2400	3420
2443	-0.85	-146.6	187.9	-7.1	113	2445	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3420
2752	-0.85	-146.6	210.0	-7.1	128	2753	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3420
3062	-0.85	-146.6	230.1	-6.3	143	3066	0.00	2.70	0.00	0.000	4	0.000	0.075	2219	980	3421
3134	-0.85	-146.6	235.1	-7.1	146	3138	0.00	2.65	0.00	0.000	6	0.000	0.064	2219	2404	3421
3450	-0.85	-146.6	255.5	-6.3	161	3451	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3421
3762	-0.85	-146.6	276.1	-7.1	176	3763	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3421
4068	-0.85	-146.6	299.3	-7.7	191	4073	0.00	2.72	0.00	0.000	4	0.000	0.077	2219	977	3421
4112	-0.85	-146.6	302.8	-7.8	193	4117	0.00	2.67	0.00	0.000	6	0.000	0.067	2219	2403	3421
4434	-0.85	-146.6	324.1	-6.4	209	4435	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2403	3421
4742	-0.85	-146.6	346.4	-7.8	224	4743	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2403	3421
5052	-0.85	-146.6	372.7	-8.7	239	5056	0.00	2.72	0.00	0.000	4	0.000	0.081	2219	983	3421
5130	-0.85	-146.6	379.5	-8.6	242	5136	0.00	2.67	0.00	0.000	6	0.000	0.069	2219	2398	3421
5445	-0.85	-146.6	403.6	-7.2	258	5446	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2399	3421
5754	-0.85	-146.6	423.6	-6.2	273	5758	0.00	2.72	0.00	0.000	4	0.000	0.081	2219	984	3421
5826	-0.85	-146.6	428.0	-6.0	276	5831	0.00	2.70	0.00	0.000	6	0.000	0.070	2219	2408	3421
6142	-0.85	-146.6	447.5	-6.2	291	6146	0.00	2.75	0.00	0.000	4	0.000	0.082	2219	983	3421
6186	-0.85	-146.6	450.3	-6.4	293	6191	0.00	2.70	0.00	0.000	6	0.000	0.071	2219	2407	3421
6508	-0.85	-146.6	469.3	-5.9	309	6510	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2406	3420
6816	-0.85	-146.6	487.9	-6.1	324	6818	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2406	3420
7126	-0.85	-146.6	505.0	-5.2	339	7131	0.00	2.75	0.00	0.000	4	0.000	0.084	2219	985	3420
7188	-0.85	-146.6	508.6	-6.4	342	7193	0.00	2.70	0.00	0.000	6	0.000	0.074	2219	2410	3419
7514	-0.85	-146.6	527.8	-6.1	358	7515	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2410	3417
7826	-0.85	-146.6	545.9	-5.8	373	7827	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2410	3416
8133	-0.85	-146.6	564.1	-5.9	388	8138	0.00	2.75	0.00	0.000	4	0.000	0.084	2219	986	3415
8182	-0.85	-146.6	567.3	-6.3	390	8187	0.00	2.67	0.00	0.000	6	0.000	0.074	2219	2403	3415
8498	-0.85	-146.6	586.3	-6.0	405	8500	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2403	3414
8807	-0.85	-146.6	605.9	-6.4	420	8808	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2403	3413
9117	-0.85	-146.6	625.5	-6.6	435	9122	0.00	2.75	0.00	0.000	4	0.000	0.085	2219	982	3412
9184	-0.85	-146.6	630.3	-7.6	438	9188	0.00	2.70	0.00	0.000	6	0.000	0.073	2219	2404	3412
9504	-0.85	-146.6	651.8	-6.9	454	9505	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2404	3411
9813	-0.85	-146.6	672.8	-6.7	469	9818	0.00	2.72	0.00	0.000	4	0.000	0.085	2219	986	3410
9869	-0.85	-146.6	676.6	-7.0	471	9876	0.00	2.67	0.00	0.000	6	0.000	0.073	2219	2398	3410
10185	-0.85	-146.6	697.1	-6.9	487	10186	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2398	3409
10494	-0.85	-146.6	718.6	-6.9	502	10495	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2399	3409
10739	end dive: BOTTOM_OBSTACLE_DETECTED
state	10739	begin apogee
10746	-0.31	0.0	734.6	6.4	514	10873	0.62	0.00	123.15	1.203	6	0.118	0.000	2341	2190	2817
10873	end apogee: CONTROL_FINISHED_OK
state	10874	begin climb
10876	0.85	146.6	738.8	0.0	520	11007	1.23	2.83	122.18	1.171	4	0.096	0.083	2588	798	2218
11060	0.85	146.6	732.6	6.1	528	11066	0.00	2.67	0.00	0.000	6	0.000	0.067	2588	2201	2217
11376	0.85	146.6	713.8	6.1	544	11377	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2217
11685	0.85	151.9	695.2	5.9	559	11692	0.00	0.00	5.47	0.912	6	0.000	0.000	2588	2201	2197
11995	0.85	151.9	676.6	6.2	574	11996	0.00	0.00	0.00	0.000	6	0.000	0.000	2587	2202	2197
12303	0.85	151.9	657.9	6.3	589	12308	0.00	2.78	0.00	0.000	4	0.000	0.096	2587	3613	2197
12343	0.85	151.9	655.3	6.9	591	12348	0.00	2.72	0.00	0.000	6	0.000	0.075	2587	2202	2196
12670	0.85	151.9	635.2	6.1	607	12671	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2202	2196
12980	0.86	156.9	617.1	5.9	622	12988	0.00	0.00	5.90	0.924	6	0.000	0.000	2588	2202	2177
13288	0.87	165.9	599.4	5.8	637	13299	0.00	0.00	9.27	1.035	6	0.000	0.000	2588	2202	2140
13597	0.88	174.5	581.7	5.8	652	13608	0.00	0.00	8.82	1.015	6	0.000	0.000	2587	2202	2105
13906	0.88	175.3	563.3	6.0	667	13907	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2105
14217	0.88	175.3	543.0	6.7	682	14219	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2103
14524	0.88	175.3	520.7	7.4	697	14526	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2103
14834	0.88	175.3	498.2	7.1	712	14835	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2103
15144	0.88	175.3	476.3	6.9	727	15145	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2200	2103
15452	0.88	175.3	455.2	6.6	742	15453	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2103
15761	0.88	175.3	434.5	6.6	757	15763	0.00	0.00	0.00	0.000	6	0.000	0.000	2588	2201	2102
16072	0.90	193.7	416.2	5.5	772	16091	0.00	0.00	17.00	1.019	6	0.000	0.000	2588	2201	2027
16400	0.95	245.7	400.7	4.6	788	16446	0.15	0.00	43.55	1.052	6	0.076	0.000	2622	2201	1815
16749	0.95	245.7	377.8	6.8	805	16751	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1812
17059	0.95	245.7	356.6	7.1	820	17061	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2201	1811
17368	0.95	245.7	333.5	7.4	835	17372	0.00	2.75	0.00	0.000	4	0.000	0.086	2622	782	1812
17439	0.95	245.7	327.8	7.7	838	17444	0.00	2.67	0.00	0.000	6	0.000	0.064	2622	2201	1811
17756	0.95	245.7	303.9	7.6	853	17760	0.00	2.75	0.00	0.000	4	0.000	0.083	2622	781	1811
17795	0.95	245.7	300.6	8.8	855	17799	0.00	2.67	0.00	0.000	6	0.000	0.063	2622	2206	1811
18121	0.95	245.7	270.3	10.0	871	18122	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2206	1811
18431	0.95	245.7	241.5	9.1	886	18432	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2206	1811
18739	0.95	245.7	217.1	7.3	901	18741	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2206	1811
19050	0.95	245.7	195.3	6.9	916	19051	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2206	1811
19359	0.95	245.7	172.8	8.1	931	19363	0.00	2.72	0.00	0.000	4	0.000	0.076	2622	781	1812
19398	0.95	245.7	169.2	9.5	933	19402	0.00	2.65	0.00	0.000	6	0.000	0.058	2622	2207	1812
19724	0.95	245.7	145.5	6.4	949	19725	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2208	1813
20034	0.95	245.7	124.5	6.7	964	20035	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2207	1814
20343	0.95	245.7	100.4	8.1	979	20347	0.00	2.70	0.00	0.000	4	0.000	0.073	2622	782	1815
20398	0.95	245.7	95.4	9.2	981	20404	0.00	2.62	0.00	0.000	6	0.000	0.056	2622	2210	1815
20714	0.95	245.7	68.5	8.6	997	20715	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2210	1816
21024	0.95	245.7	44.2	7.5	1012	21025	0.00	0.00	0.00	0.000	6	0.000	0.000	2622	2210	1817
21332	0.95	245.7	20.3	8.6	1027	21337	0.00	2.70	0.00	0.000	4	0.000	0.072	2622	783	1818
21377	0.95	245.7	16.6	8.2	1029	21381	0.00	2.60	0.00	0.000	6	0.000	0.055	2622	2201	1818
21572	end climb: SURFACE_DEPTH_REACHED
state	21572	begin surface coast
21595	end surface coast: CONTROL_FINISHED_OK
state	21595	begin surface