Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 369 * 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 369 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 21 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 -2101518 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 -2101518

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 21 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 369 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 134252,6417.695,-950.123,40,3.4,59,-10.7 TGT_NAME NS

_CALLS 1 TGT_LATLONG 6412.000,-940.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.23 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 134853,6417.664,-950.130,16,2.9,35,-10.7 MHEAD_RNG_PITCHd_Wd 152.8,13294,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.025141 ALTIM_BOTTOM_PING 625.9,42.9

SM_CCo 18948,116.50,0.623,0,0,509,557.32 _24V_AH 23.4,59.279

SM_GC 1.24,0.00,0.00,116.50,0.000,0.000,0.623,72,2236,509,-10.39,0.17,557.32 _10V_AH 10.1,29.045

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47375,911

TT8_MAMPS 0.02301 CAP_FILE_SIZE 134230,0

HUMID 1885 CFSIZE 260165632,238133248

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

XPDR_PINGS 55 GPS 140808,190808,6415.533,-948.012,32,1.8,33,-10.7

ALTIM_TOP_PING 18.7,17.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 100.25 SBE_CT 674 24 378.72

Roll_motor 166 79 308.44 SBE_O2 621 19 276.22

VBD_pump_during_apogee 425 1144 11390.07 WL_BB2F 554 105 1362.70

VBD_pump_during_surface 116 622 1697.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.15 nil 0 0 0.00

Iridium_during_connect 28 160 105.94 nil 0 0 0.00

Iridium_during_xfer 157 223 822.76

Transponder_ping 19 420 189.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.35

TT8 1645 19 329.13

LPSleep 14602 2 322.98

TT8_Active 736 19 147.19

TT8_Sampling 1887 39 758.56

TT8_CF8 552 45 255.78

TT8_Kalman 0 81 0.00

Analog_circuits 1699 12 205.92

GPS_charging 0 0 0.00

Compass 1825 8 147.52

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.93 0.000 2 0.000 0.000 69 2252 2998

153 -0.85 -146.6 4.6 -4.1 6 179 11.68 2.58 -8.40 0.000 4 0.170 0.074 2142 3637 3381

315 -0.73 -146.6 26.3 -9.3 13 320 0.15 2.55 0.00 0.000 6 0.098 0.042 2172 2219 3381

631 -0.73 -146.6 54.7 -9.3 28 632 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2219 3381

942 -0.73 -146.6 80.2 -7.9 43 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2218 3382

1249 -0.73 -146.6 103.1 -7.6 58 1254 0.00 2.62 0.00 0.000 4 0.000 0.062 2170 3637 3383

1276 -0.73 -146.6 105.4 -8.3 59 1280 0.00 2.53 0.00 0.000 6 0.000 0.042 2170 2227 3383

1593 -0.73 -146.6 129.8 -8.3 74 1594 0.00 0.00 0.00 0.000 6 0.000 0.000 2172 2227 3383

1901 -0.73 -146.6 155.6 -8.6 89 1902 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2227 3383

2210 -0.73 -146.6 178.6 -6.8 104 2214 0.00 2.62 0.00 0.000 4 0.000 0.064 2171 3641 3383

2238 -0.73 -146.6 180.8 -7.6 105 2242 0.00 2.53 0.00 0.000 6 0.000 0.043 2171 2229 3383

2554 -0.73 -146.6 202.1 -6.7 120 2558 0.00 2.58 0.00 0.000 4 0.000 0.055 2170 811 3383

2581 -0.73 -146.6 204.0 -6.9 121 2585 0.00 2.55 0.00 0.000 6 0.000 0.044 2171 2229 3383

2899 -0.73 -146.6 225.8 -7.1 136 2904 0.00 2.60 0.00 0.000 4 0.000 0.065 2171 3638 3383

2935 -0.73 -146.6 228.5 -7.4 137 2941 0.00 2.53 0.00 0.000 6 0.000 0.044 2171 2227 3383

3251 -0.73 -146.6 250.4 -7.1 153 3255 0.00 2.58 0.00 0.000 4 0.000 0.055 2171 815 3383

3284 -0.78 -146.6 252.9 -6.9 154 3290 0.00 2.55 0.00 0.000 6 0.000 0.044 2171 2230 3383

3600 -0.78 -146.6 274.6 -6.5 170 3605 0.00 2.60 0.00 0.000 4 0.000 0.066 2171 3641 3383

3639 -0.78 -146.6 277.4 -6.9 171 3645 0.00 2.53 0.00 0.000 6 0.000 0.044 2171 2230 3383

3955 -0.78 -146.6 293.9 -4.7 187 3959 0.00 2.58 0.00 0.000 4 0.000 0.056 2171 817 3383

3989 -0.83 -146.6 295.7 -5.3 188 3995 0.00 2.55 0.00 0.000 6 0.000 0.044 2171 2231 3383

4305 -0.83 -146.6 316.8 -7.6 204 4309 0.00 2.60 0.00 0.000 4 0.000 0.067 2171 3640 3383

4344 -0.83 -146.6 320.1 -8.7 206 4349 0.00 2.53 0.00 0.000 6 0.000 0.045 2171 2231 3382

4672 -0.83 -146.6 345.3 -6.9 222 4673 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2231 3383

4981 -0.83 -146.6 363.2 -6.0 237 4985 0.00 2.65 0.00 0.000 4 0.000 0.070 2171 3641 3383

5013 -0.83 -146.6 365.6 -7.5 238 5019 0.00 2.53 0.00 0.000 6 0.000 0.048 2171 2232 3382

5330 -0.83 -146.6 386.3 -6.4 254 5334 0.00 2.58 0.00 0.000 4 0.000 0.061 2171 820 3382

5363 -0.91 -146.6 388.7 -7.3 255 5370 0.17 2.58 0.00 0.000 6 0.044 0.049 2119 2237 3382

5679 -0.77 -146.6 415.2 -8.8 271 5684 0.17 2.62 0.00 0.000 4 0.092 0.072 2156 3637 3381

5747 -0.77 -146.6 420.8 -7.8 274 5751 0.00 2.55 0.00 0.000 6 0.000 0.051 2156 2232 3382

6067 -0.77 -146.6 443.4 -6.8 290 6072 0.00 2.65 0.00 0.000 4 0.000 0.064 2156 813 3381

6101 -0.77 -146.6 445.7 -6.9 291 6107 0.00 2.60 0.00 0.000 6 0.000 0.052 2156 2232 3381

6417 -0.77 -146.6 467.1 -7.3 307 6421 0.00 2.65 0.00 0.000 4 0.000 0.077 2156 3637 3380

6456 -0.77 -146.6 470.2 -8.0 309 6461 0.00 2.58 0.00 0.000 6 0.000 0.054 2156 2228 3379

6784 -0.77 -146.6 494.0 -7.1 325 6788 0.00 2.62 0.00 0.000 4 0.000 0.068 2156 820 3378

6816 -0.77 -146.6 496.5 -7.5 326 6822 0.00 2.60 0.00 0.000 6 0.000 0.054 2156 2230 3378

7132 -0.77 -146.6 517.3 -6.6 342 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3377

7442 -0.77 -146.6 537.6 -6.7 357 7443 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3375

7750 -0.77 -146.6 558.4 -6.8 372 7752 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2231 3374

8060 -0.77 -146.6 580.0 -7.1 387 8061 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2231 3373

8370 -0.77 -146.6 602.1 -7.1 402 8371 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3372

8678 -0.77 -146.6 622.9 -6.9 417 8679 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3371

8987 -0.77 -146.6 644.3 -7.4 432 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2232 3370

9191 end dive: BOTTOM_OBSTACLE_DETECTED

state 9191 begin apogee

9198 -0.31 0.0 659.0 6.9 442 9334 0.52 0.00 130.20 1.144 6 0.100 0.000 2260 2232 2782

9335 end apogee: CONTROL_FINISHED_OK

state 9335 begin climb

9338 0.85 146.6 665.3 0.0 449 9473 1.20 0.00 131.48 1.129 6 0.085 0.000 2506 2231 2183

9772 0.81 179.1 650.6 5.1 470 9807 0.00 2.75 30.35 1.084 4 0.000 0.069 2507 829 2049

9916 0.81 179.1 642.2 6.3 475 9922 0.00 2.62 0.00 0.000 6 0.000 0.057 2507 2241 2048

10232 0.82 190.2 624.2 5.7 491 10245 0.00 0.00 11.15 0.999 6 0.000 0.000 2507 2240 2005

10542 0.82 190.2 605.6 6.3 506 10543 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2240 2004

10850 0.82 190.2 585.8 6.5 521 10851 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 2004

11159 0.82 190.2 566.8 6.0 536 11161 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 2003

11470 0.84 208.9 549.5 5.5 551 11494 0.00 2.80 17.40 1.036 4 0.000 0.070 2507 830 1929

11513 0.87 232.9 547.0 5.3 553 11542 0.00 2.65 22.80 1.045 6 0.000 0.056 2507 2241 1830

11866 0.87 232.9 525.3 6.1 570 11867 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 1830

12175 0.88 243.0 507.5 5.7 585 12190 0.00 2.75 10.30 0.956 4 0.000 0.071 2507 829 1790

12214 0.88 243.0 505.1 6.3 586 12218 0.00 2.62 0.00 0.000 6 0.000 0.056 2507 2241 1789

12541 0.88 243.0 482.7 7.0 602 12542 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2241 1789

12849 0.88 243.0 460.5 7.3 617 12854 0.00 2.70 0.00 0.000 4 0.000 0.071 2507 828 1789

12873 0.88 243.0 459.0 6.1 618 12877 0.00 2.62 0.00 0.000 6 0.000 0.056 2507 2242 1789

13194 0.88 243.0 437.5 6.3 634 13195 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2242 1789

13503 0.88 243.0 418.8 6.2 649 13504 0.00 0.00 0.00 0.000 6 0.000 0.000 2507 2242 1788

13812 0.88 243.0 397.9 6.9 664 13816 0.00 2.67 0.00 0.000 4 0.000 0.079 2507 3653 1788

13833 0.88 243.0 396.4 6.8 665 13838 0.00 2.62 0.00 0.000 6 0.000 0.058 2507 2235 1788

14156 0.92 243.0 375.4 6.1 681 14161 0.10 2.65 0.00 0.000 4 0.083 0.071 2529 830 1788

14196 0.92 243.0 372.5 6.9 683 14200 0.00 2.60 0.00 0.000 6 0.000 0.054 2529 2241 1788

14523 0.94 258.6 352.5 5.6 699 14542 0.00 0.00 14.85 0.907 6 0.000 0.000 2529 2241 1726

14852 0.97 291.8 335.8 5.1 715 14886 0.00 2.72 29.38 0.927 4 0.000 0.064 2529 826 1591

14904 1.01 322.1 332.9 5.2 717 14939 0.00 2.62 27.45 0.912 6 0.000 0.051 2529 2242 1466

15270 1.01 322.1 306.5 8.7 735 15274 0.00 2.67 0.00 0.000 4 0.000 0.063 2529 822 1465

15303 1.05 322.1 303.3 8.4 736 15310 0.15 2.60 0.00 0.000 6 0.085 0.050 2558 2243 1465

15620 0.99 322.1 274.5 9.1 752 15624 0.00 2.65 0.00 0.000 4 0.000 0.062 2558 823 1465

15647 0.95 322.1 271.7 9.9 753 15652 0.12 2.60 0.00 0.000 6 0.100 0.048 2536 2246 1465

15963 0.95 322.1 243.5 9.2 768 15964 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2246 1466

16274 0.95 322.1 216.3 8.2 783 16278 0.00 2.65 0.00 0.000 4 0.000 0.060 2536 823 1467

16318 0.95 322.1 212.5 8.3 785 16323 0.00 2.58 0.00 0.000 6 0.000 0.045 2536 2243 1467

16639 0.95 322.1 187.1 8.3 801 16643 0.00 2.62 0.00 0.000 4 0.000 0.060 2536 823 1468

16672 0.95 322.1 184.1 8.9 802 16678 0.00 2.58 0.00 0.000 6 0.000 0.045 2536 2244 1468

16988 0.95 322.1 157.1 8.5 818 16992 0.00 2.62 0.00 0.000 4 0.000 0.059 2536 825 1468

17015 0.95 322.1 154.6 8.1 819 17019 0.00 2.58 0.00 0.000 6 0.000 0.045 2536 2249 1468

17332 0.95 322.1 127.7 8.5 834 17336 0.00 2.65 0.00 0.000 4 0.000 0.058 2536 821 1469

17359 0.95 322.1 125.2 8.4 835 17363 0.00 2.58 0.00 0.000 6 0.000 0.044 2536 2246 1469

17676 0.95 322.1 99.5 7.9 850 17680 0.00 2.62 0.00 0.000 4 0.000 0.058 2536 827 1470

17709 0.99 322.1 96.9 7.1 851 17715 0.00 2.55 0.00 0.000 6 0.000 0.044 2536 2243 1470

18026 0.99 322.1 75.7 6.7 867 18030 0.00 2.62 0.00 0.000 4 0.000 0.058 2536 823 1471

18059 1.04 322.1 73.1 7.3 868 18065 0.00 2.55 0.00 0.000 6 0.000 0.044 2536 2242 1471

18377 1.04 322.1 51.3 6.9 884 18381 0.00 2.62 0.00 0.000 4 0.000 0.058 2536 825 1471

18401 1.08 322.1 49.4 7.8 885 18406 0.12 2.55 0.00 0.000 6 0.049 0.044 2564 2240 1471

18724 1.08 322.1 18.7 9.0 901 18729 0.00 2.60 0.00 0.000 4 0.000 0.064 2565 3653 1473

18765 1.08 322.1 14.6 9.3 903 18769 0.00 2.55 0.00 0.000 6 0.000 0.050 2565 2239 1473

18903 end climb: SURFACE_DEPTH_REACHED

state 18903 begin surface coast

18925 end surface coast: CONTROL_FINISHED_OK

state 18925 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	369	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	21	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	-2101518	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	134252,6417.695,-950.123,40,3.4,59,-10.7	TGT_NAME	NS
_CALLS	1	TGT_LATLONG	6412.000,-940.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.23	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	134853,6417.664,-950.130,16,2.9,35,-10.7	MHEAD_RNG_PITCHd_Wd	152.8,13294,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.025141	ALTIM_BOTTOM_PING	625.9,42.9
SM_CCo	18948,116.50,0.623,0,0,509,557.32	_24V_AH	23.4,59.279
SM_GC	1.24,0.00,0.00,116.50,0.000,0.000,0.623,72,2236,509,-10.39,0.17,557.32	_10V_AH	10.1,29.045
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47375,911
TT8_MAMPS	0.02301	CAP_FILE_SIZE	134230,0
HUMID	1885	CFSIZE	260165632,238133248
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
XPDR_PINGS	55	GPS	140808,190808,6415.533,-948.012,32,1.8,33,-10.7
ALTIM_TOP_PING	18.7,17.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	100.25	SBE_CT	674	24	378.72
Roll_motor	166	79	308.44	SBE_O2	621	19	276.22
VBD_pump_during_apogee	425	1144	11390.07	WL_BB2F	554	105	1362.70
VBD_pump_during_surface	116	622	1697.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.15	nil	0	0	0.00
Iridium_during_connect	28	160	105.94	nil	0	0	0.00
Iridium_during_xfer	157	223	822.76
Transponder_ping	19	420	189.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.35
TT8	1645	19	329.13
LPSleep	14602	2	322.98
TT8_Active	736	19	147.19
TT8_Sampling	1887	39	758.56
TT8_CF8	552	45	255.78
TT8_Kalman	0	81	0.00
Analog_circuits	1699	12	205.92
GPS_charging	0	0	0.00
Compass	1825	8	147.52
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.93	0.000	2	0.000	0.000	69	2252	2998
153	-0.85	-146.6	4.6	-4.1	6	179	11.68	2.58	-8.40	0.000	4	0.170	0.074	2142	3637	3381
315	-0.73	-146.6	26.3	-9.3	13	320	0.15	2.55	0.00	0.000	6	0.098	0.042	2172	2219	3381
631	-0.73	-146.6	54.7	-9.3	28	632	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2219	3381
942	-0.73	-146.6	80.2	-7.9	43	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2218	3382
1249	-0.73	-146.6	103.1	-7.6	58	1254	0.00	2.62	0.00	0.000	4	0.000	0.062	2170	3637	3383
1276	-0.73	-146.6	105.4	-8.3	59	1280	0.00	2.53	0.00	0.000	6	0.000	0.042	2170	2227	3383
1593	-0.73	-146.6	129.8	-8.3	74	1594	0.00	0.00	0.00	0.000	6	0.000	0.000	2172	2227	3383
1901	-0.73	-146.6	155.6	-8.6	89	1902	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2227	3383
2210	-0.73	-146.6	178.6	-6.8	104	2214	0.00	2.62	0.00	0.000	4	0.000	0.064	2171	3641	3383
2238	-0.73	-146.6	180.8	-7.6	105	2242	0.00	2.53	0.00	0.000	6	0.000	0.043	2171	2229	3383
2554	-0.73	-146.6	202.1	-6.7	120	2558	0.00	2.58	0.00	0.000	4	0.000	0.055	2170	811	3383
2581	-0.73	-146.6	204.0	-6.9	121	2585	0.00	2.55	0.00	0.000	6	0.000	0.044	2171	2229	3383
2899	-0.73	-146.6	225.8	-7.1	136	2904	0.00	2.60	0.00	0.000	4	0.000	0.065	2171	3638	3383
2935	-0.73	-146.6	228.5	-7.4	137	2941	0.00	2.53	0.00	0.000	6	0.000	0.044	2171	2227	3383
3251	-0.73	-146.6	250.4	-7.1	153	3255	0.00	2.58	0.00	0.000	4	0.000	0.055	2171	815	3383
3284	-0.78	-146.6	252.9	-6.9	154	3290	0.00	2.55	0.00	0.000	6	0.000	0.044	2171	2230	3383
3600	-0.78	-146.6	274.6	-6.5	170	3605	0.00	2.60	0.00	0.000	4	0.000	0.066	2171	3641	3383
3639	-0.78	-146.6	277.4	-6.9	171	3645	0.00	2.53	0.00	0.000	6	0.000	0.044	2171	2230	3383
3955	-0.78	-146.6	293.9	-4.7	187	3959	0.00	2.58	0.00	0.000	4	0.000	0.056	2171	817	3383
3989	-0.83	-146.6	295.7	-5.3	188	3995	0.00	2.55	0.00	0.000	6	0.000	0.044	2171	2231	3383
4305	-0.83	-146.6	316.8	-7.6	204	4309	0.00	2.60	0.00	0.000	4	0.000	0.067	2171	3640	3383
4344	-0.83	-146.6	320.1	-8.7	206	4349	0.00	2.53	0.00	0.000	6	0.000	0.045	2171	2231	3382
4672	-0.83	-146.6	345.3	-6.9	222	4673	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2231	3383
4981	-0.83	-146.6	363.2	-6.0	237	4985	0.00	2.65	0.00	0.000	4	0.000	0.070	2171	3641	3383
5013	-0.83	-146.6	365.6	-7.5	238	5019	0.00	2.53	0.00	0.000	6	0.000	0.048	2171	2232	3382
5330	-0.83	-146.6	386.3	-6.4	254	5334	0.00	2.58	0.00	0.000	4	0.000	0.061	2171	820	3382
5363	-0.91	-146.6	388.7	-7.3	255	5370	0.17	2.58	0.00	0.000	6	0.044	0.049	2119	2237	3382
5679	-0.77	-146.6	415.2	-8.8	271	5684	0.17	2.62	0.00	0.000	4	0.092	0.072	2156	3637	3381
5747	-0.77	-146.6	420.8	-7.8	274	5751	0.00	2.55	0.00	0.000	6	0.000	0.051	2156	2232	3382
6067	-0.77	-146.6	443.4	-6.8	290	6072	0.00	2.65	0.00	0.000	4	0.000	0.064	2156	813	3381
6101	-0.77	-146.6	445.7	-6.9	291	6107	0.00	2.60	0.00	0.000	6	0.000	0.052	2156	2232	3381
6417	-0.77	-146.6	467.1	-7.3	307	6421	0.00	2.65	0.00	0.000	4	0.000	0.077	2156	3637	3380
6456	-0.77	-146.6	470.2	-8.0	309	6461	0.00	2.58	0.00	0.000	6	0.000	0.054	2156	2228	3379
6784	-0.77	-146.6	494.0	-7.1	325	6788	0.00	2.62	0.00	0.000	4	0.000	0.068	2156	820	3378
6816	-0.77	-146.6	496.5	-7.5	326	6822	0.00	2.60	0.00	0.000	6	0.000	0.054	2156	2230	3378
7132	-0.77	-146.6	517.3	-6.6	342	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3377
7442	-0.77	-146.6	537.6	-6.7	357	7443	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3375
7750	-0.77	-146.6	558.4	-6.8	372	7752	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2231	3374
8060	-0.77	-146.6	580.0	-7.1	387	8061	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2231	3373
8370	-0.77	-146.6	602.1	-7.1	402	8371	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3372
8678	-0.77	-146.6	622.9	-6.9	417	8679	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3371
8987	-0.77	-146.6	644.3	-7.4	432	8989	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2232	3370
9191	end dive: BOTTOM_OBSTACLE_DETECTED
state	9191	begin apogee
9198	-0.31	0.0	659.0	6.9	442	9334	0.52	0.00	130.20	1.144	6	0.100	0.000	2260	2232	2782
9335	end apogee: CONTROL_FINISHED_OK
state	9335	begin climb
9338	0.85	146.6	665.3	0.0	449	9473	1.20	0.00	131.48	1.129	6	0.085	0.000	2506	2231	2183
9772	0.81	179.1	650.6	5.1	470	9807	0.00	2.75	30.35	1.084	4	0.000	0.069	2507	829	2049
9916	0.81	179.1	642.2	6.3	475	9922	0.00	2.62	0.00	0.000	6	0.000	0.057	2507	2241	2048
10232	0.82	190.2	624.2	5.7	491	10245	0.00	0.00	11.15	0.999	6	0.000	0.000	2507	2240	2005
10542	0.82	190.2	605.6	6.3	506	10543	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2240	2004
10850	0.82	190.2	585.8	6.5	521	10851	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	2004
11159	0.82	190.2	566.8	6.0	536	11161	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	2003
11470	0.84	208.9	549.5	5.5	551	11494	0.00	2.80	17.40	1.036	4	0.000	0.070	2507	830	1929
11513	0.87	232.9	547.0	5.3	553	11542	0.00	2.65	22.80	1.045	6	0.000	0.056	2507	2241	1830
11866	0.87	232.9	525.3	6.1	570	11867	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	1830
12175	0.88	243.0	507.5	5.7	585	12190	0.00	2.75	10.30	0.956	4	0.000	0.071	2507	829	1790
12214	0.88	243.0	505.1	6.3	586	12218	0.00	2.62	0.00	0.000	6	0.000	0.056	2507	2241	1789
12541	0.88	243.0	482.7	7.0	602	12542	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2241	1789
12849	0.88	243.0	460.5	7.3	617	12854	0.00	2.70	0.00	0.000	4	0.000	0.071	2507	828	1789
12873	0.88	243.0	459.0	6.1	618	12877	0.00	2.62	0.00	0.000	6	0.000	0.056	2507	2242	1789
13194	0.88	243.0	437.5	6.3	634	13195	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2242	1789
13503	0.88	243.0	418.8	6.2	649	13504	0.00	0.00	0.00	0.000	6	0.000	0.000	2507	2242	1788
13812	0.88	243.0	397.9	6.9	664	13816	0.00	2.67	0.00	0.000	4	0.000	0.079	2507	3653	1788
13833	0.88	243.0	396.4	6.8	665	13838	0.00	2.62	0.00	0.000	6	0.000	0.058	2507	2235	1788
14156	0.92	243.0	375.4	6.1	681	14161	0.10	2.65	0.00	0.000	4	0.083	0.071	2529	830	1788
14196	0.92	243.0	372.5	6.9	683	14200	0.00	2.60	0.00	0.000	6	0.000	0.054	2529	2241	1788
14523	0.94	258.6	352.5	5.6	699	14542	0.00	0.00	14.85	0.907	6	0.000	0.000	2529	2241	1726
14852	0.97	291.8	335.8	5.1	715	14886	0.00	2.72	29.38	0.927	4	0.000	0.064	2529	826	1591
14904	1.01	322.1	332.9	5.2	717	14939	0.00	2.62	27.45	0.912	6	0.000	0.051	2529	2242	1466
15270	1.01	322.1	306.5	8.7	735	15274	0.00	2.67	0.00	0.000	4	0.000	0.063	2529	822	1465
15303	1.05	322.1	303.3	8.4	736	15310	0.15	2.60	0.00	0.000	6	0.085	0.050	2558	2243	1465
15620	0.99	322.1	274.5	9.1	752	15624	0.00	2.65	0.00	0.000	4	0.000	0.062	2558	823	1465
15647	0.95	322.1	271.7	9.9	753	15652	0.12	2.60	0.00	0.000	6	0.100	0.048	2536	2246	1465
15963	0.95	322.1	243.5	9.2	768	15964	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2246	1466
16274	0.95	322.1	216.3	8.2	783	16278	0.00	2.65	0.00	0.000	4	0.000	0.060	2536	823	1467
16318	0.95	322.1	212.5	8.3	785	16323	0.00	2.58	0.00	0.000	6	0.000	0.045	2536	2243	1467
16639	0.95	322.1	187.1	8.3	801	16643	0.00	2.62	0.00	0.000	4	0.000	0.060	2536	823	1468
16672	0.95	322.1	184.1	8.9	802	16678	0.00	2.58	0.00	0.000	6	0.000	0.045	2536	2244	1468
16988	0.95	322.1	157.1	8.5	818	16992	0.00	2.62	0.00	0.000	4	0.000	0.059	2536	825	1468
17015	0.95	322.1	154.6	8.1	819	17019	0.00	2.58	0.00	0.000	6	0.000	0.045	2536	2249	1468
17332	0.95	322.1	127.7	8.5	834	17336	0.00	2.65	0.00	0.000	4	0.000	0.058	2536	821	1469
17359	0.95	322.1	125.2	8.4	835	17363	0.00	2.58	0.00	0.000	6	0.000	0.044	2536	2246	1469
17676	0.95	322.1	99.5	7.9	850	17680	0.00	2.62	0.00	0.000	4	0.000	0.058	2536	827	1470
17709	0.99	322.1	96.9	7.1	851	17715	0.00	2.55	0.00	0.000	6	0.000	0.044	2536	2243	1470
18026	0.99	322.1	75.7	6.7	867	18030	0.00	2.62	0.00	0.000	4	0.000	0.058	2536	823	1471
18059	1.04	322.1	73.1	7.3	868	18065	0.00	2.55	0.00	0.000	6	0.000	0.044	2536	2242	1471
18377	1.04	322.1	51.3	6.9	884	18381	0.00	2.62	0.00	0.000	4	0.000	0.058	2536	825	1471
18401	1.08	322.1	49.4	7.8	885	18406	0.12	2.55	0.00	0.000	6	0.049	0.044	2564	2240	1471
18724	1.08	322.1	18.7	9.0	901	18729	0.00	2.60	0.00	0.000	4	0.000	0.064	2565	3653	1473
18765	1.08	322.1	14.6	9.3	903	18769	0.00	2.55	0.00	0.000	6	0.000	0.050	2565	2239	1473
18903	end climb: SURFACE_DEPTH_REACHED
state	18903	begin surface coast
18925	end surface coast: CONTROL_FINISHED_OK
state	18925	begin surface