Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 153 * 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 153 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 25 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2096181.2 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 412.5

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 -2096181.2

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 2200 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 153 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 200807,6211.489,-1011.121,29,1.3,29,-10.1 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.21 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -48.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 201745,6211.558,-1011.194,11,1.5,11,-10.1 MHEAD_RNG_PITCHd_Wd 297.4,21496,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027031 ALTIM_BOTTOM_PING 776.4,57.0

SM_CCo 18349,154.40,0.617,0,0,509,557.57 _24V_AH 23.6,27.341

SM_GC 1.14,0.00,0.00,154.40,0.000,0.000,0.617,71,2293,509,-10.25,-0.20,557.57 _10V_AH 10.2,13.454

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44286,880

TT8_MAMPS 0.02301 CAP_FILE_SIZE 149889,0

HUMID 1859 CFSIZE 260165632,249286656

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 25 GPS 070708,012738,6212.796,-1014.552,34,1.4,34,-10.2

ALTIM_TOP_PING 18.8,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 166 101.54 SBE_CT 642 24 364.11

Roll_motor 201 81 386.19 SBE_O2 606 19 272.17

VBD_pump_during_apogee 353 1179 9837.83 WL_BB2F 507 105 1258.39

VBD_pump_during_surface 154 616 2247.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.69 nil 0 0 0.00

Iridium_during_connect 64 160 242.48 nil 0 0 0.00

Iridium_during_xfer 284 223 1495.50

Transponder_ping 13 420 133.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.06

TT8 1677 19 338.69

LPSleep 13860 2 309.62

TT8_Active 728 19 147.15

TT8_Sampling 2101 39 853.30

TT8_CF8 712 45 332.94

TT8_Kalman 0 81 0.00

Analog_circuits 1790 12 219.11

GPS_charging 0 0 0.00

Compass 2048 8 167.15

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 -1.08 -146.6 0.0 0.0 0 147 0.00 0.00 -120.45 0.000 2 0.000 0.000 70 2307 3019

151 -1.08 -146.6 4.2 -3.4 6 176 11.07 2.67 -7.93 0.000 4 0.166 0.081 2057 3696 3382

356 -0.89 -146.6 41.6 -15.9 15 361 0.22 2.58 0.00 0.000 6 0.100 0.054 2100 2298 3382

678 -0.85 -146.6 77.8 -9.7 31 682 0.00 2.62 0.00 0.000 4 0.000 0.065 2100 881 3382

778 -0.85 -146.6 89.3 -11.7 35 785 0.00 2.60 0.00 0.000 6 0.000 0.052 2100 2300 3382

1095 -0.80 -146.6 125.9 -11.5 51 1097 0.12 0.00 0.00 0.000 6 0.106 0.000 2123 2300 3383

1404 -0.80 -146.6 153.8 -8.5 66 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2300 3382

1713 -0.80 -146.6 180.0 -8.6 81 1717 0.00 2.65 0.00 0.000 4 0.000 0.065 2124 881 3382

1757 -0.87 -146.6 183.9 -8.4 83 1762 0.00 2.60 0.00 0.000 6 0.000 0.053 2123 2304 3382

2078 -0.87 -146.6 211.0 -8.6 99 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2305 3382

2387 -0.87 -146.6 237.4 -8.3 114 2391 0.00 2.67 0.00 0.000 4 0.000 0.065 2124 875 3382

2431 -0.95 -146.6 241.0 -7.7 116 2436 0.15 2.62 0.00 0.000 6 0.045 0.053 2079 2303 3382

2753 -0.85 -146.6 274.9 -10.6 132 2759 0.15 2.67 0.00 0.000 4 0.094 0.074 2112 3717 3382

2786 -0.85 -146.6 278.6 -10.0 133 2791 0.00 2.60 0.00 0.000 6 0.000 0.057 2112 2299 3382

3102 -0.85 -146.6 307.8 -9.5 148 3103 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2299 3382

3412 -0.85 -146.6 337.0 -9.4 163 3416 0.00 2.65 0.00 0.000 4 0.000 0.067 2112 881 3382

3444 -0.85 -146.6 340.2 -9.5 164 3450 0.00 2.62 0.00 0.000 6 0.000 0.054 2112 2307 3382

3760 -0.85 -146.6 370.3 -9.5 180 3761 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2307 3382

4070 -0.85 -146.6 400.3 -9.8 195 4071 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2306 3382

4378 -0.85 -146.6 432.0 -10.3 210 4383 0.00 2.67 0.00 0.000 4 0.000 0.065 2112 874 3381

4456 -0.89 -146.6 440.1 -10.3 213 4462 0.00 2.62 0.00 0.000 6 0.000 0.054 2112 2306 3381

4772 -0.89 -146.6 472.1 -10.0 229 4776 0.00 2.67 0.00 0.000 4 0.000 0.066 2112 881 3381

4844 -0.94 -146.6 479.4 -9.8 232 4849 0.00 2.60 0.00 0.000 6 0.000 0.054 2112 2302 3381

5161 -0.94 -146.6 510.7 -9.9 247 5165 0.00 2.67 0.00 0.000 4 0.000 0.065 2112 874 3381

5223 -0.99 -146.6 516.5 -9.3 250 5228 0.12 2.62 0.00 0.000 6 0.048 0.054 2074 2307 3381

5552 -0.88 -146.6 552.2 -10.9 266 5557 0.17 2.67 0.00 0.000 4 0.094 0.065 2110 881 3381

5608 -0.94 -146.6 557.7 -8.4 268 5614 0.00 2.60 0.00 0.000 6 0.000 0.054 2109 2300 3381

5924 -0.94 -146.6 584.8 -8.5 284 5928 0.00 2.65 0.00 0.000 4 0.000 0.064 2111 881 3380

5974 -1.00 -146.6 589.1 -8.4 286 5979 0.15 2.60 0.00 0.000 6 0.045 0.054 2066 2305 3381

6290 -0.89 -146.6 624.7 -11.7 301 6296 0.17 2.65 0.00 0.000 4 0.094 0.064 2103 884 3380

6359 -0.93 -146.6 631.9 -10.4 304 6364 0.00 2.60 0.00 0.000 6 0.000 0.054 2104 2302 3380

6686 -0.93 -146.6 666.1 -10.9 320 6691 0.00 2.65 0.00 0.000 4 0.000 0.064 2103 881 3380

6764 -0.93 -146.6 674.8 -10.4 323 6771 0.00 2.60 0.00 0.000 6 0.000 0.054 2103 2303 3380

7080 -0.93 -146.6 709.9 -11.2 339 7085 0.00 2.65 0.00 0.000 4 0.000 0.064 2103 881 3380

7121 -0.93 -146.6 714.1 -10.9 341 7125 0.00 2.60 0.00 0.000 6 0.000 0.055 2103 2300 3380

7447 -0.93 -146.6 743.7 -8.0 357 7452 0.00 2.65 0.00 0.000 4 0.000 0.064 2103 881 3380

7536 -0.98 -146.6 750.5 -8.3 361 7541 0.00 2.60 0.00 0.000 6 0.000 0.056 2104 2300 3380

7866 -0.98 -146.6 776.4 -7.6 377 7871 0.00 2.67 0.00 0.000 4 0.000 0.066 2103 879 3379

7934 -1.05 -146.6 782.0 -8.4 380 7939 0.15 2.62 0.00 0.000 6 0.046 0.058 2059 2305 3379

8256 -0.93 -146.6 816.0 -11.2 396 8258 0.17 0.00 0.00 0.000 6 0.096 0.000 2093 2304 3379

8335 end dive: BOTTOM_OBSTACLE_DETECTED

state 8335 begin apogee

8342 -0.31 0.0 824.0 9.7 400 8479 0.68 0.00 133.88 1.180 6 0.098 0.000 2229 2192 2782

8480 end apogee: CONTROL_FINISHED_OK

state 8480 begin climb

8483 1.08 146.6 830.0 0.0 407 8620 1.48 0.00 131.88 1.162 6 0.077 0.000 2536 2192 2183

8928 1.12 182.1 806.9 6.7 429 8970 0.00 2.83 32.60 1.116 4 0.000 0.081 2536 3600 2038

9071 1.12 182.1 795.7 8.7 435 9076 0.00 2.65 0.00 0.000 6 0.000 0.063 2537 2197 2038

9387 1.12 182.1 770.8 8.1 450 9391 0.00 2.72 0.00 0.000 4 0.000 0.081 2536 3607 2037

9453 1.12 182.1 764.7 9.3 453 9457 0.00 2.65 0.00 0.000 6 0.000 0.061 2536 2199 2037

9774 1.13 188.4 739.2 7.8 469 9783 0.00 0.00 7.15 0.920 6 0.000 0.000 2536 2199 2011

10083 1.15 206.2 716.6 7.4 484 10105 0.00 2.78 16.77 1.055 4 0.000 0.079 2538 3607 1940

10197 1.15 206.2 707.3 9.0 489 10201 0.00 2.65 0.00 0.000 6 0.000 0.059 2536 2199 1940

10523 1.20 210.7 682.0 7.8 505 10535 0.12 2.75 5.47 0.819 4 0.053 0.076 2573 3615 1921

10591 1.10 210.7 675.0 10.8 508 10596 0.17 2.65 0.00 0.000 6 0.096 0.058 2539 2197 1921

10913 1.10 210.7 644.9 9.6 524 10917 0.00 2.70 0.00 0.000 4 0.000 0.074 2540 3608 1921

10980 1.06 210.7 638.0 10.8 527 10984 0.00 2.62 0.00 0.000 6 0.000 0.058 2539 2199 1921

11301 1.06 210.7 608.4 9.4 543 11305 0.00 2.70 0.00 0.000 4 0.000 0.073 2539 3616 1921

11363 1.01 210.7 602.1 10.5 546 11368 0.00 2.62 0.00 0.000 6 0.000 0.057 2539 2202 1921

11690 1.01 210.7 572.3 8.9 562 11694 0.00 2.67 0.00 0.000 4 0.000 0.073 2539 3609 1921

11752 1.01 210.7 566.6 9.5 565 11756 0.00 2.62 0.00 0.000 6 0.000 0.057 2539 2198 1921

12078 1.01 210.7 538.5 8.5 581 12083 0.00 2.67 0.00 0.000 4 0.000 0.072 2539 3609 1921

12192 1.01 210.7 527.6 9.7 586 12196 0.00 2.60 0.00 0.000 6 0.000 0.058 2539 2197 1921

12512 1.01 210.7 499.7 8.4 602 12517 0.00 2.67 0.00 0.000 4 0.000 0.072 2539 3615 1921

12602 1.01 210.7 491.3 9.5 606 12606 0.00 2.62 0.00 0.000 6 0.000 0.058 2539 2190 1921

12923 1.01 210.7 464.9 8.2 622 12927 0.00 2.67 0.00 0.000 4 0.000 0.073 2539 3610 1922

13000 1.01 210.7 457.7 8.9 625 13006 0.00 2.60 0.00 0.000 6 0.000 0.059 2539 2199 1922

13316 1.02 220.2 433.2 7.7 641 13332 0.00 2.70 10.12 0.818 4 0.000 0.074 2539 3610 1882

13427 1.02 220.2 423.5 8.5 645 13432 0.00 2.62 0.00 0.000 6 0.000 0.060 2539 2200 1882

13750 1.02 220.2 397.2 8.0 661 13754 0.00 2.67 0.00 0.000 4 0.000 0.074 2539 3613 1882

13829 1.02 220.2 390.1 9.0 664 13835 0.00 2.62 0.00 0.000 6 0.000 0.061 2539 2196 1882

14144 1.02 220.2 363.2 8.9 680 14149 0.00 2.67 0.00 0.000 4 0.000 0.072 2539 3613 1883

14211 1.02 220.2 356.5 9.7 683 14216 0.00 2.62 0.00 0.000 6 0.000 0.061 2539 2199 1883

14533 1.02 220.2 328.5 8.6 699 14537 0.00 2.67 0.00 0.000 4 0.000 0.072 2539 3619 1883

14582 1.02 220.2 323.8 9.8 701 14587 0.00 2.62 0.00 0.000 6 0.000 0.061 2539 2199 1883

14898 1.02 220.2 297.4 8.2 716 14902 0.00 2.65 0.00 0.000 4 0.000 0.072 2539 3610 1883

14953 1.02 220.2 292.5 9.2 718 14959 0.00 2.60 0.00 0.000 6 0.000 0.061 2539 2199 1883

15269 1.02 220.2 266.9 8.2 734 15273 0.00 2.65 0.00 0.000 4 0.000 0.072 2541 3610 1883

15318 1.02 220.2 262.3 9.4 736 15323 0.00 2.62 0.00 0.000 6 0.000 0.061 2539 2194 1884

15635 1.02 220.2 235.4 8.5 751 15636 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2194 1884

15943 1.02 220.2 208.1 9.1 766 15948 0.00 2.67 0.00 0.000 4 0.000 0.072 2539 3615 1884

16056 1.02 220.2 196.9 10.0 771 16061 0.00 2.62 0.00 0.000 6 0.000 0.061 2539 2195 1884

16377 1.02 220.2 167.1 9.1 787 16381 0.00 2.65 0.00 0.000 4 0.000 0.071 2539 3610 1884

16449 1.02 220.2 160.0 9.6 790 16453 0.00 2.60 0.00 0.000 6 0.000 0.060 2539 2202 1884

16767 1.02 220.2 133.0 8.4 805 16771 0.00 2.65 0.00 0.000 4 0.000 0.071 2537 3612 1884

16811 1.02 220.2 128.7 8.9 807 16815 0.00 2.60 0.00 0.000 6 0.000 0.059 2539 2200 1884

17132 1.04 236.7 103.9 7.4 823 17154 0.00 2.70 15.50 0.677 4 0.000 0.070 2539 3614 1816

17224 1.04 236.7 96.0 9.1 827 17228 0.00 2.65 0.00 0.000 6 0.000 0.061 2539 2196 1815

17550 1.04 236.7 67.5 9.4 843 17551 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2196 1815

17860 1.04 236.7 40.7 8.1 858 17864 0.00 2.65 0.00 0.000 4 0.000 0.070 2539 3610 1816

17967 1.04 236.7 30.4 10.5 863 17972 0.00 2.62 0.00 0.000 6 0.000 0.060 2539 2193 1816

18294 1.04 236.7 2.9 9.1 879 18298 0.00 2.65 0.00 0.000 4 0.000 0.067 2539 3613 1816

18301 end climb: SURFACE_DEPTH_REACHED

state 18301 begin surface coast

18325 end surface coast: CONTROL_FINISHED_OK

state 18325 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	153	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	25	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2096181.2	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	200807,6211.489,-1011.121,29,1.3,29,-10.1	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.21	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-48.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	201745,6211.558,-1011.194,11,1.5,11,-10.1	MHEAD_RNG_PITCHd_Wd	297.4,21496,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.6,1.027031	ALTIM_BOTTOM_PING	776.4,57.0
SM_CCo	18349,154.40,0.617,0,0,509,557.57	_24V_AH	23.6,27.341
SM_GC	1.14,0.00,0.00,154.40,0.000,0.000,0.617,71,2293,509,-10.25,-0.20,557.57	_10V_AH	10.2,13.454
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44286,880
TT8_MAMPS	0.02301	CAP_FILE_SIZE	149889,0
HUMID	1859	CFSIZE	260165632,249286656
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	25	GPS	070708,012738,6212.796,-1014.552,34,1.4,34,-10.2
ALTIM_TOP_PING	18.8,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	166	101.54	SBE_CT	642	24	364.11
Roll_motor	201	81	386.19	SBE_O2	606	19	272.17
VBD_pump_during_apogee	353	1179	9837.83	WL_BB2F	507	105	1258.39
VBD_pump_during_surface	154	616	2247.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.69	nil	0	0	0.00
Iridium_during_connect	64	160	242.48	nil	0	0	0.00
Iridium_during_xfer	284	223	1495.50
Transponder_ping	13	420	133.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.06
TT8	1677	19	338.69
LPSleep	13860	2	309.62
TT8_Active	728	19	147.15
TT8_Sampling	2101	39	853.30
TT8_CF8	712	45	332.94
TT8_Kalman	0	81	0.00
Analog_circuits	1790	12	219.11
GPS_charging	0	0	0.00
Compass	2048	8	167.15
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	-1.08	-146.6	0.0	0.0	0	147	0.00	0.00	-120.45	0.000	2	0.000	0.000	70	2307	3019
151	-1.08	-146.6	4.2	-3.4	6	176	11.07	2.67	-7.93	0.000	4	0.166	0.081	2057	3696	3382
356	-0.89	-146.6	41.6	-15.9	15	361	0.22	2.58	0.00	0.000	6	0.100	0.054	2100	2298	3382
678	-0.85	-146.6	77.8	-9.7	31	682	0.00	2.62	0.00	0.000	4	0.000	0.065	2100	881	3382
778	-0.85	-146.6	89.3	-11.7	35	785	0.00	2.60	0.00	0.000	6	0.000	0.052	2100	2300	3382
1095	-0.80	-146.6	125.9	-11.5	51	1097	0.12	0.00	0.00	0.000	6	0.106	0.000	2123	2300	3383
1404	-0.80	-146.6	153.8	-8.5	66	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2300	3382
1713	-0.80	-146.6	180.0	-8.6	81	1717	0.00	2.65	0.00	0.000	4	0.000	0.065	2124	881	3382
1757	-0.87	-146.6	183.9	-8.4	83	1762	0.00	2.60	0.00	0.000	6	0.000	0.053	2123	2304	3382
2078	-0.87	-146.6	211.0	-8.6	99	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2123	2305	3382
2387	-0.87	-146.6	237.4	-8.3	114	2391	0.00	2.67	0.00	0.000	4	0.000	0.065	2124	875	3382
2431	-0.95	-146.6	241.0	-7.7	116	2436	0.15	2.62	0.00	0.000	6	0.045	0.053	2079	2303	3382
2753	-0.85	-146.6	274.9	-10.6	132	2759	0.15	2.67	0.00	0.000	4	0.094	0.074	2112	3717	3382
2786	-0.85	-146.6	278.6	-10.0	133	2791	0.00	2.60	0.00	0.000	6	0.000	0.057	2112	2299	3382
3102	-0.85	-146.6	307.8	-9.5	148	3103	0.00	0.00	0.00	0.000	6	0.000	0.000	2111	2299	3382
3412	-0.85	-146.6	337.0	-9.4	163	3416	0.00	2.65	0.00	0.000	4	0.000	0.067	2112	881	3382
3444	-0.85	-146.6	340.2	-9.5	164	3450	0.00	2.62	0.00	0.000	6	0.000	0.054	2112	2307	3382
3760	-0.85	-146.6	370.3	-9.5	180	3761	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2307	3382
4070	-0.85	-146.6	400.3	-9.8	195	4071	0.00	0.00	0.00	0.000	6	0.000	0.000	2112	2306	3382
4378	-0.85	-146.6	432.0	-10.3	210	4383	0.00	2.67	0.00	0.000	4	0.000	0.065	2112	874	3381
4456	-0.89	-146.6	440.1	-10.3	213	4462	0.00	2.62	0.00	0.000	6	0.000	0.054	2112	2306	3381
4772	-0.89	-146.6	472.1	-10.0	229	4776	0.00	2.67	0.00	0.000	4	0.000	0.066	2112	881	3381
4844	-0.94	-146.6	479.4	-9.8	232	4849	0.00	2.60	0.00	0.000	6	0.000	0.054	2112	2302	3381
5161	-0.94	-146.6	510.7	-9.9	247	5165	0.00	2.67	0.00	0.000	4	0.000	0.065	2112	874	3381
5223	-0.99	-146.6	516.5	-9.3	250	5228	0.12	2.62	0.00	0.000	6	0.048	0.054	2074	2307	3381
5552	-0.88	-146.6	552.2	-10.9	266	5557	0.17	2.67	0.00	0.000	4	0.094	0.065	2110	881	3381
5608	-0.94	-146.6	557.7	-8.4	268	5614	0.00	2.60	0.00	0.000	6	0.000	0.054	2109	2300	3381
5924	-0.94	-146.6	584.8	-8.5	284	5928	0.00	2.65	0.00	0.000	4	0.000	0.064	2111	881	3380
5974	-1.00	-146.6	589.1	-8.4	286	5979	0.15	2.60	0.00	0.000	6	0.045	0.054	2066	2305	3381
6290	-0.89	-146.6	624.7	-11.7	301	6296	0.17	2.65	0.00	0.000	4	0.094	0.064	2103	884	3380
6359	-0.93	-146.6	631.9	-10.4	304	6364	0.00	2.60	0.00	0.000	6	0.000	0.054	2104	2302	3380
6686	-0.93	-146.6	666.1	-10.9	320	6691	0.00	2.65	0.00	0.000	4	0.000	0.064	2103	881	3380
6764	-0.93	-146.6	674.8	-10.4	323	6771	0.00	2.60	0.00	0.000	6	0.000	0.054	2103	2303	3380
7080	-0.93	-146.6	709.9	-11.2	339	7085	0.00	2.65	0.00	0.000	4	0.000	0.064	2103	881	3380
7121	-0.93	-146.6	714.1	-10.9	341	7125	0.00	2.60	0.00	0.000	6	0.000	0.055	2103	2300	3380
7447	-0.93	-146.6	743.7	-8.0	357	7452	0.00	2.65	0.00	0.000	4	0.000	0.064	2103	881	3380
7536	-0.98	-146.6	750.5	-8.3	361	7541	0.00	2.60	0.00	0.000	6	0.000	0.056	2104	2300	3380
7866	-0.98	-146.6	776.4	-7.6	377	7871	0.00	2.67	0.00	0.000	4	0.000	0.066	2103	879	3379
7934	-1.05	-146.6	782.0	-8.4	380	7939	0.15	2.62	0.00	0.000	6	0.046	0.058	2059	2305	3379
8256	-0.93	-146.6	816.0	-11.2	396	8258	0.17	0.00	0.00	0.000	6	0.096	0.000	2093	2304	3379
8335	end dive: BOTTOM_OBSTACLE_DETECTED
state	8335	begin apogee
8342	-0.31	0.0	824.0	9.7	400	8479	0.68	0.00	133.88	1.180	6	0.098	0.000	2229	2192	2782
8480	end apogee: CONTROL_FINISHED_OK
state	8480	begin climb
8483	1.08	146.6	830.0	0.0	407	8620	1.48	0.00	131.88	1.162	6	0.077	0.000	2536	2192	2183
8928	1.12	182.1	806.9	6.7	429	8970	0.00	2.83	32.60	1.116	4	0.000	0.081	2536	3600	2038
9071	1.12	182.1	795.7	8.7	435	9076	0.00	2.65	0.00	0.000	6	0.000	0.063	2537	2197	2038
9387	1.12	182.1	770.8	8.1	450	9391	0.00	2.72	0.00	0.000	4	0.000	0.081	2536	3607	2037
9453	1.12	182.1	764.7	9.3	453	9457	0.00	2.65	0.00	0.000	6	0.000	0.061	2536	2199	2037
9774	1.13	188.4	739.2	7.8	469	9783	0.00	0.00	7.15	0.920	6	0.000	0.000	2536	2199	2011
10083	1.15	206.2	716.6	7.4	484	10105	0.00	2.78	16.77	1.055	4	0.000	0.079	2538	3607	1940
10197	1.15	206.2	707.3	9.0	489	10201	0.00	2.65	0.00	0.000	6	0.000	0.059	2536	2199	1940
10523	1.20	210.7	682.0	7.8	505	10535	0.12	2.75	5.47	0.819	4	0.053	0.076	2573	3615	1921
10591	1.10	210.7	675.0	10.8	508	10596	0.17	2.65	0.00	0.000	6	0.096	0.058	2539	2197	1921
10913	1.10	210.7	644.9	9.6	524	10917	0.00	2.70	0.00	0.000	4	0.000	0.074	2540	3608	1921
10980	1.06	210.7	638.0	10.8	527	10984	0.00	2.62	0.00	0.000	6	0.000	0.058	2539	2199	1921
11301	1.06	210.7	608.4	9.4	543	11305	0.00	2.70	0.00	0.000	4	0.000	0.073	2539	3616	1921
11363	1.01	210.7	602.1	10.5	546	11368	0.00	2.62	0.00	0.000	6	0.000	0.057	2539	2202	1921
11690	1.01	210.7	572.3	8.9	562	11694	0.00	2.67	0.00	0.000	4	0.000	0.073	2539	3609	1921
11752	1.01	210.7	566.6	9.5	565	11756	0.00	2.62	0.00	0.000	6	0.000	0.057	2539	2198	1921
12078	1.01	210.7	538.5	8.5	581	12083	0.00	2.67	0.00	0.000	4	0.000	0.072	2539	3609	1921
12192	1.01	210.7	527.6	9.7	586	12196	0.00	2.60	0.00	0.000	6	0.000	0.058	2539	2197	1921
12512	1.01	210.7	499.7	8.4	602	12517	0.00	2.67	0.00	0.000	4	0.000	0.072	2539	3615	1921
12602	1.01	210.7	491.3	9.5	606	12606	0.00	2.62	0.00	0.000	6	0.000	0.058	2539	2190	1921
12923	1.01	210.7	464.9	8.2	622	12927	0.00	2.67	0.00	0.000	4	0.000	0.073	2539	3610	1922
13000	1.01	210.7	457.7	8.9	625	13006	0.00	2.60	0.00	0.000	6	0.000	0.059	2539	2199	1922
13316	1.02	220.2	433.2	7.7	641	13332	0.00	2.70	10.12	0.818	4	0.000	0.074	2539	3610	1882
13427	1.02	220.2	423.5	8.5	645	13432	0.00	2.62	0.00	0.000	6	0.000	0.060	2539	2200	1882
13750	1.02	220.2	397.2	8.0	661	13754	0.00	2.67	0.00	0.000	4	0.000	0.074	2539	3613	1882
13829	1.02	220.2	390.1	9.0	664	13835	0.00	2.62	0.00	0.000	6	0.000	0.061	2539	2196	1882
14144	1.02	220.2	363.2	8.9	680	14149	0.00	2.67	0.00	0.000	4	0.000	0.072	2539	3613	1883
14211	1.02	220.2	356.5	9.7	683	14216	0.00	2.62	0.00	0.000	6	0.000	0.061	2539	2199	1883
14533	1.02	220.2	328.5	8.6	699	14537	0.00	2.67	0.00	0.000	4	0.000	0.072	2539	3619	1883
14582	1.02	220.2	323.8	9.8	701	14587	0.00	2.62	0.00	0.000	6	0.000	0.061	2539	2199	1883
14898	1.02	220.2	297.4	8.2	716	14902	0.00	2.65	0.00	0.000	4	0.000	0.072	2539	3610	1883
14953	1.02	220.2	292.5	9.2	718	14959	0.00	2.60	0.00	0.000	6	0.000	0.061	2539	2199	1883
15269	1.02	220.2	266.9	8.2	734	15273	0.00	2.65	0.00	0.000	4	0.000	0.072	2541	3610	1883
15318	1.02	220.2	262.3	9.4	736	15323	0.00	2.62	0.00	0.000	6	0.000	0.061	2539	2194	1884
15635	1.02	220.2	235.4	8.5	751	15636	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2194	1884
15943	1.02	220.2	208.1	9.1	766	15948	0.00	2.67	0.00	0.000	4	0.000	0.072	2539	3615	1884
16056	1.02	220.2	196.9	10.0	771	16061	0.00	2.62	0.00	0.000	6	0.000	0.061	2539	2195	1884
16377	1.02	220.2	167.1	9.1	787	16381	0.00	2.65	0.00	0.000	4	0.000	0.071	2539	3610	1884
16449	1.02	220.2	160.0	9.6	790	16453	0.00	2.60	0.00	0.000	6	0.000	0.060	2539	2202	1884
16767	1.02	220.2	133.0	8.4	805	16771	0.00	2.65	0.00	0.000	4	0.000	0.071	2537	3612	1884
16811	1.02	220.2	128.7	8.9	807	16815	0.00	2.60	0.00	0.000	6	0.000	0.059	2539	2200	1884
17132	1.04	236.7	103.9	7.4	823	17154	0.00	2.70	15.50	0.677	4	0.000	0.070	2539	3614	1816
17224	1.04	236.7	96.0	9.1	827	17228	0.00	2.65	0.00	0.000	6	0.000	0.061	2539	2196	1815
17550	1.04	236.7	67.5	9.4	843	17551	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2196	1815
17860	1.04	236.7	40.7	8.1	858	17864	0.00	2.65	0.00	0.000	4	0.000	0.070	2539	3610	1816
17967	1.04	236.7	30.4	10.5	863	17972	0.00	2.62	0.00	0.000	6	0.000	0.060	2539	2193	1816
18294	1.04	236.7	2.9	9.1	879	18298	0.00	2.65	0.00	0.000	4	0.000	0.067	2539	3613	1816
18301	end climb: SURFACE_DEPTH_REACHED
state	18301	begin surface coast
18325	end surface coast: CONTROL_FINISHED_OK
state	18325	begin surface