Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 381 * 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 381 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 150

D_TGT 990 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2230 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2240 ALTIM_PULSE 5

D_FINISH 0 SM_CC 557.32159 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 4

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 21 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 -2101801 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 -2101801

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2330 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 381 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 171125,6353.266,-921.546,26,1.4,43,-10.3 TGT_NAME IFRN1K

_CALLS 1 TGT_LATLONG 6345.000,-800.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.31 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 171715,6353.304,-921.617,20,1.6,20,-10.3 MHEAD_RNG_PITCHd_Wd 113.3,68600,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.014793 ALTIM_BOTTOM_PING 700.3,26.1

SM_CCo 20652,137.05,0.621,0,0,509,557.32 _24V_AH 23.3,61.397

SM_GC 1.24,0.00,0.00,137.05,0.000,0.000,0.621,70,2245,509,-10.39,0.42,557.32 _10V_AH 10.1,30.216

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50556,998

TT8_MAMPS 0.02301 CAP_FILE_SIZE 131702,0

HUMID 1891 CFSIZE 260165632,237289472

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 52 GPS 170808,230526,6353.624,-914.539,42,1.9,43,-10.2

ALTIM_TOP_PING 19.7,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 100.93 SBE_CT 743 24 415.85

Roll_motor 120 85 241.59 SBE_O2 680 19 301.31

VBD_pump_during_apogee 391 1177 10741.74 WL_BB2F 611 105 1496.05

VBD_pump_during_surface 137 621 1983.88 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.87 nil 0 0 0.00

Iridium_during_connect 27 160 100.73 nil 0 0 0.00

Iridium_during_xfer 161 223 841.52

Transponder_ping 19 420 188.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 20 50 10.51

TT8 1744 19 348.86

LPSleep 16200 2 358.33

TT8_Active 701 19 140.31

TT8_Sampling 1937 39 778.74

TT8_CF8 551 45 255.18

TT8_Kalman 0 81 0.00

Analog_circuits 1668 12 202.26

GPS_charging 0 0 0.00

Compass 1894 8 153.10

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 151 0.00 0.00 -121.38 0.000 2 0.000 0.000 66 2237 3025

154 -0.85 -146.6 4.5 -3.7 6 179 11.75 2.60 -7.55 0.000 4 0.171 0.074 2143 3638 3380

214 -0.70 -146.6 16.8 -11.0 8 221 0.17 2.53 0.00 0.000 6 0.094 0.044 2176 2230 3380

530 -0.70 -146.6 43.6 -8.8 24 534 0.00 2.62 0.00 0.000 4 0.000 0.064 2176 3640 3380

580 -0.70 -146.6 48.0 -7.8 26 584 0.00 2.53 0.00 0.000 6 0.000 0.042 2176 2228 3380

896 -0.70 -146.6 70.0 -6.6 41 901 0.00 2.58 0.00 0.000 4 0.000 0.054 2176 814 3381

930 -0.75 -146.6 72.5 -6.8 42 936 0.00 2.55 0.00 0.000 6 0.000 0.045 2176 2231 3381

1248 -0.75 -146.6 93.2 -6.7 58 1249 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3382

1556 -0.75 -146.6 115.4 -7.6 73 1557 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2231 3382

1864 -0.75 -146.6 137.0 -6.7 88 1869 0.00 2.62 0.00 0.000 4 0.000 0.067 2176 3640 3382

1905 -0.75 -146.6 139.7 -7.1 90 1909 0.00 2.53 0.00 0.000 6 0.000 0.044 2176 2230 3383

2232 -0.75 -146.6 160.5 -6.0 106 2233 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3383

2541 -0.75 -146.6 180.6 -6.9 121 2542 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3383

2850 -0.75 -146.6 202.3 -7.1 136 2851 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3382

3160 -0.75 -146.6 223.2 -6.4 151 3161 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3382

3469 -0.75 -146.6 243.1 -6.9 166 3473 0.00 2.65 0.00 0.000 4 0.000 0.069 2176 3641 3382

3502 -0.75 -146.6 245.5 -7.5 167 3508 0.00 2.53 0.00 0.000 6 0.000 0.044 2176 2230 3383

3818 -0.75 -146.6 266.6 -6.3 183 3819 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3382

4127 -0.75 -146.6 285.9 -6.0 198 4131 0.00 2.58 0.00 0.000 4 0.000 0.057 2176 820 3382

4160 -0.83 -146.6 288.0 -6.0 199 4167 0.12 2.55 0.00 0.000 6 0.048 0.048 2135 2229 3382

4477 -0.73 -146.6 311.5 -7.3 215 4482 0.17 2.65 0.00 0.000 4 0.087 0.071 2173 3644 3382

4527 -0.73 -146.6 314.8 -6.3 217 4531 0.00 2.55 0.00 0.000 6 0.000 0.048 2173 2230 3382

4843 -0.73 -146.6 330.0 -4.7 232 4844 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2229 3382

5153 -0.73 -146.6 345.2 -5.6 247 5157 0.00 2.58 0.00 0.000 4 0.000 0.061 2173 821 3381

5186 -0.80 -146.6 347.4 -6.4 248 5192 0.00 2.58 0.00 0.000 6 0.000 0.051 2173 2233 3382

5501 -0.80 -146.6 367.4 -6.7 264 5506 0.00 2.65 0.00 0.000 4 0.000 0.076 2173 3637 3381

5558 -0.80 -146.6 371.6 -8.1 266 5564 0.00 2.55 0.00 0.000 6 0.000 0.051 2173 2231 3380

5874 -0.80 -146.6 393.0 -6.8 282 5875 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2231 3380

6183 -0.80 -146.6 414.2 -6.6 297 6184 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2231 3378

6493 -0.80 -146.6 432.3 -5.5 312 6494 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2231 3378

6804 -0.85 -146.6 450.8 -6.3 327 6806 0.12 0.00 0.00 0.000 6 0.054 0.000 2136 2231 3376

7113 -0.79 -146.6 475.8 -8.1 342 7114 0.10 0.00 0.00 0.000 6 0.101 0.000 2155 2231 3375

7420 -0.79 -146.6 497.8 -7.0 357 7424 0.00 2.70 0.00 0.000 4 0.000 0.082 2155 3636 3374

7464 -0.79 -146.6 501.3 -8.0 359 7468 0.00 2.58 0.00 0.000 6 0.000 0.054 2155 2233 3374

7786 -0.79 -146.6 525.0 -7.9 375 7787 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2231 3373

8094 -0.79 -146.6 549.3 -7.6 390 8095 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2233 3372

8403 -0.79 -146.6 572.3 -6.9 405 8404 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2233 3371

8713 -0.79 -146.6 594.2 -7.1 420 8717 0.00 2.70 0.00 0.000 4 0.000 0.085 2155 3640 3371

8747 -0.79 -146.6 596.8 -8.2 421 8753 0.00 2.60 0.00 0.000 6 0.000 0.056 2154 2228 3370

9063 -0.79 -146.6 618.6 -7.0 437 9064 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2228 3369

9373 -0.79 -146.6 641.7 -7.5 452 9374 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2228 3368

9681 -0.79 -146.6 660.8 -6.8 467 9682 0.00 0.00 0.00 0.000 6 0.000 0.000 2154 2228 3366

9990 -0.79 -146.6 684.0 -8.3 482 9992 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2228 3365

10300 -0.79 -146.6 707.1 -8.4 497 10305 0.00 2.72 0.00 0.000 4 0.000 0.086 2154 3637 3365

10344 -0.79 -146.6 711.0 -8.8 499 10349 0.00 2.60 0.00 0.000 6 0.000 0.059 2155 2231 3364

10415 end dive: BOTTOM_OBSTACLE_DETECTED

state 10416 begin apogee

10422 -0.31 0.0 716.9 8.4 503 10563 0.52 0.00 132.95 1.177 6 0.099 0.000 2259 2231 2781

10564 end apogee: CONTROL_FINISHED_OK

state 10564 begin climb

10568 0.85 146.6 721.8 0.0 510 10711 1.20 2.83 132.15 1.171 4 0.078 0.083 2508 3637 2183

10770 0.75 230.8 718.8 3.7 519 10852 0.00 2.62 75.70 1.157 6 0.000 0.061 2508 2238 1840

11168 0.70 230.8 694.0 6.7 539 11173 0.12 2.75 0.00 0.000 4 0.103 0.083 2485 3650 1839

11224 0.75 230.8 690.5 6.1 541 11230 0.00 2.62 0.00 0.000 6 0.000 0.059 2485 2238 1839

11541 0.82 230.8 672.1 7.3 557 11543 0.10 0.00 0.00 0.000 6 0.064 0.000 2510 2238 1838

11849 0.82 230.8 647.6 7.3 572 11850 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1838

12158 0.82 230.8 623.4 7.4 587 12160 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1837

12468 0.82 230.8 602.7 6.5 602 12470 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1838

12777 0.82 230.8 581.3 6.7 617 12778 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1837

13086 0.84 242.9 563.0 5.7 632 13107 0.00 2.80 11.70 1.008 4 0.000 0.073 2511 824 1789

13136 0.84 251.3 560.3 5.8 634 13153 0.00 2.65 9.23 0.960 6 0.000 0.058 2511 2238 1756

13462 0.85 259.7 541.6 5.8 650 13473 0.00 0.00 9.10 0.960 6 0.000 0.000 2511 2238 1722

13772 0.88 281.7 524.5 5.4 665 13798 0.00 2.75 20.75 1.039 4 0.000 0.071 2510 832 1631

13838 0.92 281.7 520.7 6.5 668 13843 0.00 2.65 0.00 0.000 6 0.000 0.058 2511 2242 1631

14159 0.98 281.7 501.1 6.6 684 14161 0.15 0.00 0.00 0.000 6 0.078 0.000 2541 2242 1631

14469 0.98 281.7 475.5 8.5 699 14473 0.00 2.70 0.00 0.000 4 0.000 0.071 2542 830 1630

14496 0.98 281.7 472.9 8.3 700 14500 0.00 2.62 0.00 0.000 6 0.000 0.058 2542 2239 1630

14811 0.98 281.7 448.2 7.3 715 14812 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2240 1630

15122 0.98 281.7 425.9 7.1 730 15126 0.00 2.70 0.00 0.000 4 0.000 0.071 2542 824 1629

15154 0.98 281.7 423.4 6.9 731 15160 0.00 2.62 0.00 0.000 6 0.000 0.058 2544 2239 1630

15470 0.98 281.7 399.9 7.7 747 15471 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2239 1629

15780 0.98 281.7 375.4 8.4 762 15781 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2239 1630

16088 0.98 281.7 351.7 7.1 777 16089 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2239 1630

16399 0.98 281.7 329.8 7.2 792 16400 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2239 1630

16708 0.98 281.7 307.6 7.1 807 16709 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2239 1630

17016 0.98 281.7 283.8 7.8 822 17020 0.00 2.67 0.00 0.000 4 0.000 0.065 2542 821 1630

17060 0.98 281.7 280.1 8.6 824 17064 0.00 2.60 0.00 0.000 6 0.000 0.052 2542 2241 1630

17381 0.98 281.7 253.3 8.5 840 17386 0.00 2.65 0.00 0.000 4 0.000 0.064 2542 829 1630

17439 0.98 281.7 248.3 8.9 842 17445 0.00 2.58 0.00 0.000 6 0.000 0.051 2542 2241 1630

17754 0.98 281.7 219.7 9.3 858 17755 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2241 1631

18064 0.98 281.7 193.4 8.2 873 18069 0.00 2.65 0.00 0.000 4 0.000 0.061 2542 823 1632

18109 0.98 281.7 189.7 8.0 875 18113 0.00 2.58 0.00 0.000 6 0.000 0.048 2542 2242 1632

18430 0.98 281.7 166.3 6.9 891 18431 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2242 1633

18741 0.98 281.7 142.9 8.1 906 18742 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2242 1634

19048 0.98 281.7 117.3 7.9 921 19052 0.00 2.62 0.00 0.000 4 0.000 0.058 2542 827 1634

19081 0.98 281.7 114.5 8.0 922 19087 0.00 2.55 0.00 0.000 6 0.000 0.046 2542 2242 1634

19398 0.98 281.7 90.5 7.7 938 19399 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2242 1635

19707 0.98 281.7 64.4 8.6 953 19708 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2242 1636

20015 0.98 281.7 40.8 7.5 968 20016 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2242 1636

20325 0.98 281.7 19.7 6.9 983 20330 0.00 2.62 0.00 0.000 4 0.000 0.056 2543 819 1638

20367 0.98 281.7 17.0 7.1 985 20371 0.00 2.55 0.00 0.000 6 0.000 0.044 2542 2243 1637

20608 end climb: SURFACE_DEPTH_REACHED

state 20608 begin surface coast

20630 end surface coast: CONTROL_FINISHED_OK

state 20630 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	381	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	150
D_TGT	990	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2230	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2240	ALTIM_PULSE	5
D_FINISH	0	SM_CC	557.32159	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	4
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	21	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	-2101801	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	171125,6353.266,-921.546,26,1.4,43,-10.3	TGT_NAME	IFRN1K
_CALLS	1	TGT_LATLONG	6345.000,-800.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.31	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	171715,6353.304,-921.617,20,1.6,20,-10.3	MHEAD_RNG_PITCHd_Wd	113.3,68600,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.014793	ALTIM_BOTTOM_PING	700.3,26.1
SM_CCo	20652,137.05,0.621,0,0,509,557.32	_24V_AH	23.3,61.397
SM_GC	1.24,0.00,0.00,137.05,0.000,0.000,0.621,70,2245,509,-10.39,0.42,557.32	_10V_AH	10.1,30.216
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50556,998
TT8_MAMPS	0.02301	CAP_FILE_SIZE	131702,0
HUMID	1891	CFSIZE	260165632,237289472
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	52	GPS	170808,230526,6353.624,-914.539,42,1.9,43,-10.2
ALTIM_TOP_PING	19.7,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	100.93	SBE_CT	743	24	415.85
Roll_motor	120	85	241.59	SBE_O2	680	19	301.31
VBD_pump_during_apogee	391	1177	10741.74	WL_BB2F	611	105	1496.05
VBD_pump_during_surface	137	621	1983.88	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.87	nil	0	0	0.00
Iridium_during_connect	27	160	100.73	nil	0	0	0.00
Iridium_during_xfer	161	223	841.52
Transponder_ping	19	420	188.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	20	50	10.51
TT8	1744	19	348.86
LPSleep	16200	2	358.33
TT8_Active	701	19	140.31
TT8_Sampling	1937	39	778.74
TT8_CF8	551	45	255.18
TT8_Kalman	0	81	0.00
Analog_circuits	1668	12	202.26
GPS_charging	0	0	0.00
Compass	1894	8	153.10
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	151	0.00	0.00	-121.38	0.000	2	0.000	0.000	66	2237	3025
154	-0.85	-146.6	4.5	-3.7	6	179	11.75	2.60	-7.55	0.000	4	0.171	0.074	2143	3638	3380
214	-0.70	-146.6	16.8	-11.0	8	221	0.17	2.53	0.00	0.000	6	0.094	0.044	2176	2230	3380
530	-0.70	-146.6	43.6	-8.8	24	534	0.00	2.62	0.00	0.000	4	0.000	0.064	2176	3640	3380
580	-0.70	-146.6	48.0	-7.8	26	584	0.00	2.53	0.00	0.000	6	0.000	0.042	2176	2228	3380
896	-0.70	-146.6	70.0	-6.6	41	901	0.00	2.58	0.00	0.000	4	0.000	0.054	2176	814	3381
930	-0.75	-146.6	72.5	-6.8	42	936	0.00	2.55	0.00	0.000	6	0.000	0.045	2176	2231	3381
1248	-0.75	-146.6	93.2	-6.7	58	1249	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3382
1556	-0.75	-146.6	115.4	-7.6	73	1557	0.00	0.00	0.00	0.000	6	0.000	0.000	2174	2231	3382
1864	-0.75	-146.6	137.0	-6.7	88	1869	0.00	2.62	0.00	0.000	4	0.000	0.067	2176	3640	3382
1905	-0.75	-146.6	139.7	-7.1	90	1909	0.00	2.53	0.00	0.000	6	0.000	0.044	2176	2230	3383
2232	-0.75	-146.6	160.5	-6.0	106	2233	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3383
2541	-0.75	-146.6	180.6	-6.9	121	2542	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3383
2850	-0.75	-146.6	202.3	-7.1	136	2851	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3382
3160	-0.75	-146.6	223.2	-6.4	151	3161	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3382
3469	-0.75	-146.6	243.1	-6.9	166	3473	0.00	2.65	0.00	0.000	4	0.000	0.069	2176	3641	3382
3502	-0.75	-146.6	245.5	-7.5	167	3508	0.00	2.53	0.00	0.000	6	0.000	0.044	2176	2230	3383
3818	-0.75	-146.6	266.6	-6.3	183	3819	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3382
4127	-0.75	-146.6	285.9	-6.0	198	4131	0.00	2.58	0.00	0.000	4	0.000	0.057	2176	820	3382
4160	-0.83	-146.6	288.0	-6.0	199	4167	0.12	2.55	0.00	0.000	6	0.048	0.048	2135	2229	3382
4477	-0.73	-146.6	311.5	-7.3	215	4482	0.17	2.65	0.00	0.000	4	0.087	0.071	2173	3644	3382
4527	-0.73	-146.6	314.8	-6.3	217	4531	0.00	2.55	0.00	0.000	6	0.000	0.048	2173	2230	3382
4843	-0.73	-146.6	330.0	-4.7	232	4844	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2229	3382
5153	-0.73	-146.6	345.2	-5.6	247	5157	0.00	2.58	0.00	0.000	4	0.000	0.061	2173	821	3381
5186	-0.80	-146.6	347.4	-6.4	248	5192	0.00	2.58	0.00	0.000	6	0.000	0.051	2173	2233	3382
5501	-0.80	-146.6	367.4	-6.7	264	5506	0.00	2.65	0.00	0.000	4	0.000	0.076	2173	3637	3381
5558	-0.80	-146.6	371.6	-8.1	266	5564	0.00	2.55	0.00	0.000	6	0.000	0.051	2173	2231	3380
5874	-0.80	-146.6	393.0	-6.8	282	5875	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2231	3380
6183	-0.80	-146.6	414.2	-6.6	297	6184	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2231	3378
6493	-0.80	-146.6	432.3	-5.5	312	6494	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2231	3378
6804	-0.85	-146.6	450.8	-6.3	327	6806	0.12	0.00	0.00	0.000	6	0.054	0.000	2136	2231	3376
7113	-0.79	-146.6	475.8	-8.1	342	7114	0.10	0.00	0.00	0.000	6	0.101	0.000	2155	2231	3375
7420	-0.79	-146.6	497.8	-7.0	357	7424	0.00	2.70	0.00	0.000	4	0.000	0.082	2155	3636	3374
7464	-0.79	-146.6	501.3	-8.0	359	7468	0.00	2.58	0.00	0.000	6	0.000	0.054	2155	2233	3374
7786	-0.79	-146.6	525.0	-7.9	375	7787	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2231	3373
8094	-0.79	-146.6	549.3	-7.6	390	8095	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2233	3372
8403	-0.79	-146.6	572.3	-6.9	405	8404	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2233	3371
8713	-0.79	-146.6	594.2	-7.1	420	8717	0.00	2.70	0.00	0.000	4	0.000	0.085	2155	3640	3371
8747	-0.79	-146.6	596.8	-8.2	421	8753	0.00	2.60	0.00	0.000	6	0.000	0.056	2154	2228	3370
9063	-0.79	-146.6	618.6	-7.0	437	9064	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2228	3369
9373	-0.79	-146.6	641.7	-7.5	452	9374	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2228	3368
9681	-0.79	-146.6	660.8	-6.8	467	9682	0.00	0.00	0.00	0.000	6	0.000	0.000	2154	2228	3366
9990	-0.79	-146.6	684.0	-8.3	482	9992	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2228	3365
10300	-0.79	-146.6	707.1	-8.4	497	10305	0.00	2.72	0.00	0.000	4	0.000	0.086	2154	3637	3365
10344	-0.79	-146.6	711.0	-8.8	499	10349	0.00	2.60	0.00	0.000	6	0.000	0.059	2155	2231	3364
10415	end dive: BOTTOM_OBSTACLE_DETECTED
state	10416	begin apogee
10422	-0.31	0.0	716.9	8.4	503	10563	0.52	0.00	132.95	1.177	6	0.099	0.000	2259	2231	2781
10564	end apogee: CONTROL_FINISHED_OK
state	10564	begin climb
10568	0.85	146.6	721.8	0.0	510	10711	1.20	2.83	132.15	1.171	4	0.078	0.083	2508	3637	2183
10770	0.75	230.8	718.8	3.7	519	10852	0.00	2.62	75.70	1.157	6	0.000	0.061	2508	2238	1840
11168	0.70	230.8	694.0	6.7	539	11173	0.12	2.75	0.00	0.000	4	0.103	0.083	2485	3650	1839
11224	0.75	230.8	690.5	6.1	541	11230	0.00	2.62	0.00	0.000	6	0.000	0.059	2485	2238	1839
11541	0.82	230.8	672.1	7.3	557	11543	0.10	0.00	0.00	0.000	6	0.064	0.000	2510	2238	1838
11849	0.82	230.8	647.6	7.3	572	11850	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1838
12158	0.82	230.8	623.4	7.4	587	12160	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1837
12468	0.82	230.8	602.7	6.5	602	12470	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1838
12777	0.82	230.8	581.3	6.7	617	12778	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1837
13086	0.84	242.9	563.0	5.7	632	13107	0.00	2.80	11.70	1.008	4	0.000	0.073	2511	824	1789
13136	0.84	251.3	560.3	5.8	634	13153	0.00	2.65	9.23	0.960	6	0.000	0.058	2511	2238	1756
13462	0.85	259.7	541.6	5.8	650	13473	0.00	0.00	9.10	0.960	6	0.000	0.000	2511	2238	1722
13772	0.88	281.7	524.5	5.4	665	13798	0.00	2.75	20.75	1.039	4	0.000	0.071	2510	832	1631
13838	0.92	281.7	520.7	6.5	668	13843	0.00	2.65	0.00	0.000	6	0.000	0.058	2511	2242	1631
14159	0.98	281.7	501.1	6.6	684	14161	0.15	0.00	0.00	0.000	6	0.078	0.000	2541	2242	1631
14469	0.98	281.7	475.5	8.5	699	14473	0.00	2.70	0.00	0.000	4	0.000	0.071	2542	830	1630
14496	0.98	281.7	472.9	8.3	700	14500	0.00	2.62	0.00	0.000	6	0.000	0.058	2542	2239	1630
14811	0.98	281.7	448.2	7.3	715	14812	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2240	1630
15122	0.98	281.7	425.9	7.1	730	15126	0.00	2.70	0.00	0.000	4	0.000	0.071	2542	824	1629
15154	0.98	281.7	423.4	6.9	731	15160	0.00	2.62	0.00	0.000	6	0.000	0.058	2544	2239	1630
15470	0.98	281.7	399.9	7.7	747	15471	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2239	1629
15780	0.98	281.7	375.4	8.4	762	15781	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2239	1630
16088	0.98	281.7	351.7	7.1	777	16089	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2239	1630
16399	0.98	281.7	329.8	7.2	792	16400	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2239	1630
16708	0.98	281.7	307.6	7.1	807	16709	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2239	1630
17016	0.98	281.7	283.8	7.8	822	17020	0.00	2.67	0.00	0.000	4	0.000	0.065	2542	821	1630
17060	0.98	281.7	280.1	8.6	824	17064	0.00	2.60	0.00	0.000	6	0.000	0.052	2542	2241	1630
17381	0.98	281.7	253.3	8.5	840	17386	0.00	2.65	0.00	0.000	4	0.000	0.064	2542	829	1630
17439	0.98	281.7	248.3	8.9	842	17445	0.00	2.58	0.00	0.000	6	0.000	0.051	2542	2241	1630
17754	0.98	281.7	219.7	9.3	858	17755	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2241	1631
18064	0.98	281.7	193.4	8.2	873	18069	0.00	2.65	0.00	0.000	4	0.000	0.061	2542	823	1632
18109	0.98	281.7	189.7	8.0	875	18113	0.00	2.58	0.00	0.000	6	0.000	0.048	2542	2242	1632
18430	0.98	281.7	166.3	6.9	891	18431	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2242	1633
18741	0.98	281.7	142.9	8.1	906	18742	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2242	1634
19048	0.98	281.7	117.3	7.9	921	19052	0.00	2.62	0.00	0.000	4	0.000	0.058	2542	827	1634
19081	0.98	281.7	114.5	8.0	922	19087	0.00	2.55	0.00	0.000	6	0.000	0.046	2542	2242	1634
19398	0.98	281.7	90.5	7.7	938	19399	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2242	1635
19707	0.98	281.7	64.4	8.6	953	19708	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2242	1636
20015	0.98	281.7	40.8	7.5	968	20016	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2242	1636
20325	0.98	281.7	19.7	6.9	983	20330	0.00	2.62	0.00	0.000	4	0.000	0.056	2543	819	1638
20367	0.98	281.7	17.0	7.1	985	20371	0.00	2.55	0.00	0.000	6	0.000	0.044	2542	2243	1637
20608	end climb: SURFACE_DEPTH_REACHED
state	20608	begin surface coast
20630	end surface coast: CONTROL_FINISHED_OK
state	20630	begin surface