Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 187 * 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 187 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -2096940.6 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.434687 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 557.32159

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.434687 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2096940.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2240 KALMAN_USE 2 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2230 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 187 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 065808,6307.650,-1319.019,39,1.9,40,-12.2 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.18 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.4 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 070645,6307.635,-1319.021,13,1.8,13,-12.2 MHEAD_RNG_PITCHd_Wd 26.0,14045,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.015049 ALTIM_BOTTOM_PING 775.6,30.2

SM_CCo 21977,117.30,0.592,0,0,509,557.32 _24V_AH 23.6,32.909

SM_GC 1.11,0.00,0.00,117.30,0.000,0.000,0.592,70,2242,509,-10.26,0.34,557.32 _10V_AH 10.1,16.586

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53700,1061

TT8_MAMPS 0.023777 CAP_FILE_SIZE 142783,0

HUMID 1854 CFSIZE 260165632,247037952

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 30 GPS 150708,131638,6309.946,-1318.132,38,1.5,39,-12.3

ALTIM_TOP_PING 19.6,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 168 104.73 SBE_CT 782 24 443.10

Roll_motor 114 79 216.11 SBE_O2 725 19 325.31

VBD_pump_during_apogee 411 1145 11118.13 WL_BB2F 625 105 1548.75

VBD_pump_during_surface 117 592 1639.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.53 nil 0 0 0.00

Iridium_during_connect 53 160 203.41 nil 0 0 0.00

Iridium_during_xfer 233 223 1228.36

Transponder_ping 14 420 146.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.78

TT8 1862 19 372.54

LPSleep 17279 2 382.20

TT8_Active 679 19 135.80

TT8_Sampling 2133 39 857.58

TT8_CF8 656 45 303.47

TT8_Kalman 0 81 0.00

Analog_circuits 1727 12 209.43

GPS_charging 0 0 0.00

Compass 2088 8 168.78

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

27 -0.85 -146.6 0.0 0.0 0 149 0.00 0.00 -120.82 0.000 2 0.000 0.000 68 2233 2897

153 -0.85 -146.6 3.5 -3.0 6 183 11.45 2.65 -12.35 0.000 4 0.169 0.071 2108 825 3380

363 -0.70 -146.6 31.7 -10.7 15 368 0.20 2.58 0.00 0.000 6 0.095 0.051 2148 2231 3380

681 -0.63 -146.6 58.7 -8.4 30 683 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2231 3380

989 -0.55 -146.6 86.8 -8.9 45 991 0.15 0.00 0.00 0.000 6 0.097 0.000 2176 2231 3380

1298 -0.55 -146.6 108.2 -6.1 60 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3380

1607 -0.55 -146.6 126.4 -6.0 75 1608 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3380

1916 -0.55 -146.6 146.0 -6.6 90 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3380

2225 -0.55 -146.6 166.2 -6.3 105 2227 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2231 3380

2534 -0.55 -146.6 186.8 -6.7 120 2535 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2231 3379

2843 -0.55 -146.6 206.5 -6.4 135 2848 0.00 2.60 0.00 0.000 4 0.000 0.060 2177 813 3380

2884 -0.63 -146.6 209.3 -7.1 137 2888 0.00 2.58 0.00 0.000 6 0.000 0.053 2177 2229 3380

3210 -0.63 -146.6 230.9 -6.5 153 3212 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3380

3519 -0.63 -146.6 252.0 -7.0 168 3520 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2229 3380

3829 -0.63 -146.6 273.0 -6.9 183 3830 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2229 3380

4138 -0.63 -146.6 293.0 -6.5 198 4139 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2229 3380

4447 -0.63 -146.6 314.8 -7.4 213 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2229 3380

4757 -0.63 -146.6 338.3 -8.0 228 4758 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2230 3380

5066 -0.63 -146.6 362.5 -8.0 243 5067 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2230 3380

5375 -0.63 -146.6 387.2 -8.0 258 5376 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2230 3380

5685 -0.63 -146.6 410.8 -7.5 273 5686 0.00 0.00 0.00 0.000 6 0.000 0.000 2177 2230 3380

5993 -0.63 -146.6 432.7 -6.8 288 5995 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3380

6303 -0.67 -146.6 452.2 -6.0 303 6304 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2230 3379

6614 -0.71 -146.6 470.7 -5.9 318 6615 0.15 0.00 0.00 0.000 6 0.043 0.000 2127 2230 3379

6922 -0.59 -146.6 495.7 -8.3 333 6924 0.20 0.00 0.00 0.000 6 0.084 0.000 2168 2230 3379

7230 -0.59 -146.6 516.0 -6.5 348 7232 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3379

7540 -0.59 -146.6 537.1 -6.7 363 7541 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3379

7849 -0.59 -146.6 559.2 -7.5 378 7850 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2230 3379

8158 -0.59 -146.6 582.1 -7.0 393 8163 0.00 2.65 0.00 0.000 4 0.000 0.074 2168 3646 3379

8203 -0.59 -146.6 585.1 -6.7 395 8207 0.00 2.55 0.00 0.000 6 0.000 0.049 2168 2225 3379

8524 -0.59 -146.6 607.5 -7.0 411 8525 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2225 3379

8833 -0.59 -146.6 628.3 -6.6 426 8834 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2225 3378

9144 -0.59 -146.6 650.9 -7.7 441 9145 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2225 3378

9453 -0.64 -146.6 669.8 -5.5 456 9457 0.00 2.58 0.00 0.000 4 0.000 0.060 2168 817 3378

9492 -0.74 -146.6 672.5 -6.4 458 9498 0.12 2.58 0.00 0.000 6 0.046 0.051 2126 2232 3378

9822 -0.64 -146.6 702.2 -9.4 474 9824 0.17 0.00 0.00 0.000 6 0.086 0.000 2161 2232 3378

10128 -0.64 -146.6 727.5 -8.6 489 10129 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2233 3378

10442 -0.64 -146.6 750.1 -6.6 504 10447 0.00 2.65 0.00 0.000 4 0.000 0.079 2161 3637 3378

10493 -0.68 -146.6 753.5 -5.7 506 10497 0.00 2.55 0.00 0.000 6 0.000 0.054 2161 2230 3377

10809 -0.68 -146.6 767.4 -4.7 521 10814 0.00 2.60 0.00 0.000 4 0.000 0.064 2161 817 3377

10866 -0.77 -146.6 770.4 -6.1 523 10872 0.12 2.58 0.00 0.000 6 0.048 0.056 2120 2229 3377

11158 end dive: BOTTOM_OBSTACLE_DETECTED

state 11158 begin apogee

11165 -0.31 0.0 796.5 8.9 538 11301 0.52 0.00 133.05 1.146 6 0.080 0.000 2229 2229 2780

11302 end apogee: CONTROL_FINISHED_OK

state 11302 begin climb

11306 0.85 146.6 801.8 0.0 545 11449 1.17 2.80 131.25 1.131 4 0.069 0.080 2481 3652 2183

11544 0.93 225.2 794.2 3.8 556 11621 0.00 2.62 70.47 1.110 6 0.000 0.059 2481 2241 1862

11934 0.99 225.2 779.2 6.6 575 11936 0.15 0.00 0.00 0.000 6 0.054 0.000 2522 2241 1862

12240 0.93 225.2 753.4 8.5 590 12244 0.00 2.65 0.00 0.000 4 0.000 0.066 2522 827 1860

12374 0.88 225.2 743.6 6.1 596 12379 0.15 2.62 0.00 0.000 6 0.087 0.056 2492 2245 1859

12695 0.88 226.8 723.9 6.0 612 12696 0.00 0.00 0.00 0.000 6 0.000 0.000 2492 2244 1859

13005 0.97 311.4 711.3 3.7 627 13088 0.00 2.75 76.35 1.095 4 0.000 0.077 2492 3651 1511

13136 1.08 311.4 703.7 7.3 633 13141 0.20 2.62 0.00 0.000 6 0.044 0.057 2545 2235 1511

13463 1.08 311.4 672.3 9.6 649 13467 0.00 2.62 0.00 0.000 4 0.000 0.066 2545 831 1510

13530 1.08 311.4 665.6 10.2 652 13534 0.00 2.60 0.00 0.000 6 0.000 0.054 2545 2241 1509

13851 1.03 311.4 630.1 11.4 668 13852 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2241 1509

14160 0.99 311.4 595.8 10.8 683 14165 0.15 2.65 0.00 0.000 4 0.084 0.064 2514 825 1509

14200 1.05 311.4 591.9 9.8 685 14204 0.00 2.60 0.00 0.000 6 0.000 0.051 2514 2240 1508

14527 1.09 311.4 565.0 7.7 701 14529 0.10 0.00 0.00 0.000 6 0.053 0.000 2546 2240 1508

14837 1.04 311.4 537.3 8.9 716 14841 0.00 2.62 0.00 0.000 4 0.000 0.062 2546 829 1509

14870 0.99 311.4 534.4 7.7 717 14876 0.15 2.58 0.00 0.000 6 0.085 0.051 2516 2241 1509

15185 0.99 311.4 512.4 7.0 733 15186 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 2241 1509

15495 1.04 311.4 489.8 7.5 748 15496 0.00 0.00 0.00 0.000 6 0.000 0.000 2515 2240 1509

15804 1.08 311.4 466.2 7.5 763 15808 0.00 2.62 0.00 0.000 4 0.000 0.062 2515 828 1510

15867 1.12 311.4 461.3 8.0 766 15872 0.12 2.58 0.00 0.000 6 0.050 0.051 2555 2240 1510

16194 1.06 311.4 429.7 9.6 782 16196 0.12 0.00 0.00 0.000 6 0.087 0.000 2530 2240 1511

16502 1.06 311.4 403.8 8.2 797 16503 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2239 1510

16812 1.06 311.4 378.4 8.0 812 16816 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 823 1511

16851 1.06 311.4 375.2 8.3 814 16856 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2238 1511

17178 1.06 311.4 349.6 7.7 830 17179 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2238 1511

17488 1.06 311.4 326.1 7.5 845 17492 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 828 1511

17531 1.06 311.4 322.6 7.0 847 17536 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2242 1512

17852 1.06 311.4 299.1 7.1 863 17854 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2242 1512

18162 1.06 311.4 277.4 6.8 878 18166 0.00 2.62 0.00 0.000 4 0.000 0.064 2530 827 1512

18212 1.06 311.4 273.7 6.9 880 18216 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2245 1512

18527 1.06 311.4 253.0 6.5 895 18528 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2244 1512

18837 1.06 311.4 232.2 7.1 910 18841 0.00 2.62 0.00 0.000 4 0.000 0.064 2530 826 1513

18886 1.06 311.4 228.4 8.3 912 18890 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2244 1512

19202 1.06 311.4 205.9 7.0 927 19206 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 824 1513

19246 1.06 311.4 202.6 7.2 929 19250 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2243 1513

19566 1.06 311.4 180.9 6.7 945 19567 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2243 1513

19875 1.06 311.4 157.2 8.0 960 19880 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 824 1513

19938 1.06 311.4 151.9 8.3 963 19942 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2243 1513

20264 1.06 311.4 127.8 6.4 979 20265 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2243 1513

20574 1.06 311.4 106.6 7.7 994 20578 0.00 2.62 0.00 0.000 4 0.000 0.063 2530 823 1513

20636 1.06 311.4 101.4 8.2 997 20640 0.00 2.58 0.00 0.000 6 0.000 0.051 2530 2247 1513

20963 1.06 311.4 75.8 7.9 1013 20964 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 2247 1513

21272 1.06 311.4 53.3 6.6 1028 21276 0.00 2.62 0.00 0.000 4 0.000 0.062 2530 823 1513

21316 1.06 311.4 50.3 7.3 1030 21321 0.00 2.55 0.00 0.000 6 0.000 0.051 2530 2240 1513

21638 1.24 311.4 26.3 8.5 1046 21643 0.15 2.60 0.00 0.000 4 0.048 0.060 2569 823 1514

21764 1.14 311.4 14.9 8.3 1051 21771 0.10 2.55 0.00 0.000 6 0.092 0.051 2550 2241 1514

21933 end climb: SURFACE_DEPTH_REACHED

state 21933 begin surface coast

21956 end surface coast: CONTROL_FINISHED_OK

state 21956 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	187	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-2096940.6	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	065808,6307.650,-1319.019,39,1.9,40,-12.2	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.18	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.4	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	070645,6307.635,-1319.021,13,1.8,13,-12.2	MHEAD_RNG_PITCHd_Wd	26.0,14045,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.015049	ALTIM_BOTTOM_PING	775.6,30.2
SM_CCo	21977,117.30,0.592,0,0,509,557.32	_24V_AH	23.6,32.909
SM_GC	1.11,0.00,0.00,117.30,0.000,0.000,0.592,70,2242,509,-10.26,0.34,557.32	_10V_AH	10.1,16.586
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53700,1061
TT8_MAMPS	0.023777	CAP_FILE_SIZE	142783,0
HUMID	1854	CFSIZE	260165632,247037952
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	30	GPS	150708,131638,6309.946,-1318.132,38,1.5,39,-12.3
ALTIM_TOP_PING	19.6,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	168	104.73	SBE_CT	782	24	443.10
Roll_motor	114	79	216.11	SBE_O2	725	19	325.31
VBD_pump_during_apogee	411	1145	11118.13	WL_BB2F	625	105	1548.75
VBD_pump_during_surface	117	592	1639.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.53	nil	0	0	0.00
Iridium_during_connect	53	160	203.41	nil	0	0	0.00
Iridium_during_xfer	233	223	1228.36
Transponder_ping	14	420	146.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.78
TT8	1862	19	372.54
LPSleep	17279	2	382.20
TT8_Active	679	19	135.80
TT8_Sampling	2133	39	857.58
TT8_CF8	656	45	303.47
TT8_Kalman	0	81	0.00
Analog_circuits	1727	12	209.43
GPS_charging	0	0	0.00
Compass	2088	8	168.78
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
27	-0.85	-146.6	0.0	0.0	0	149	0.00	0.00	-120.82	0.000	2	0.000	0.000	68	2233	2897
153	-0.85	-146.6	3.5	-3.0	6	183	11.45	2.65	-12.35	0.000	4	0.169	0.071	2108	825	3380
363	-0.70	-146.6	31.7	-10.7	15	368	0.20	2.58	0.00	0.000	6	0.095	0.051	2148	2231	3380
681	-0.63	-146.6	58.7	-8.4	30	683	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2231	3380
989	-0.55	-146.6	86.8	-8.9	45	991	0.15	0.00	0.00	0.000	6	0.097	0.000	2176	2231	3380
1298	-0.55	-146.6	108.2	-6.1	60	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3380
1607	-0.55	-146.6	126.4	-6.0	75	1608	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3380
1916	-0.55	-146.6	146.0	-6.6	90	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3380
2225	-0.55	-146.6	166.2	-6.3	105	2227	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2231	3380
2534	-0.55	-146.6	186.8	-6.7	120	2535	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2231	3379
2843	-0.55	-146.6	206.5	-6.4	135	2848	0.00	2.60	0.00	0.000	4	0.000	0.060	2177	813	3380
2884	-0.63	-146.6	209.3	-7.1	137	2888	0.00	2.58	0.00	0.000	6	0.000	0.053	2177	2229	3380
3210	-0.63	-146.6	230.9	-6.5	153	3212	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3380
3519	-0.63	-146.6	252.0	-7.0	168	3520	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2229	3380
3829	-0.63	-146.6	273.0	-6.9	183	3830	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2229	3380
4138	-0.63	-146.6	293.0	-6.5	198	4139	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2229	3380
4447	-0.63	-146.6	314.8	-7.4	213	4448	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2229	3380
4757	-0.63	-146.6	338.3	-8.0	228	4758	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2230	3380
5066	-0.63	-146.6	362.5	-8.0	243	5067	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2230	3380
5375	-0.63	-146.6	387.2	-8.0	258	5376	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2230	3380
5685	-0.63	-146.6	410.8	-7.5	273	5686	0.00	0.00	0.00	0.000	6	0.000	0.000	2177	2230	3380
5993	-0.63	-146.6	432.7	-6.8	288	5995	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3380
6303	-0.67	-146.6	452.2	-6.0	303	6304	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2230	3379
6614	-0.71	-146.6	470.7	-5.9	318	6615	0.15	0.00	0.00	0.000	6	0.043	0.000	2127	2230	3379
6922	-0.59	-146.6	495.7	-8.3	333	6924	0.20	0.00	0.00	0.000	6	0.084	0.000	2168	2230	3379
7230	-0.59	-146.6	516.0	-6.5	348	7232	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3379
7540	-0.59	-146.6	537.1	-6.7	363	7541	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3379
7849	-0.59	-146.6	559.2	-7.5	378	7850	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2230	3379
8158	-0.59	-146.6	582.1	-7.0	393	8163	0.00	2.65	0.00	0.000	4	0.000	0.074	2168	3646	3379
8203	-0.59	-146.6	585.1	-6.7	395	8207	0.00	2.55	0.00	0.000	6	0.000	0.049	2168	2225	3379
8524	-0.59	-146.6	607.5	-7.0	411	8525	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2225	3379
8833	-0.59	-146.6	628.3	-6.6	426	8834	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2225	3378
9144	-0.59	-146.6	650.9	-7.7	441	9145	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2225	3378
9453	-0.64	-146.6	669.8	-5.5	456	9457	0.00	2.58	0.00	0.000	4	0.000	0.060	2168	817	3378
9492	-0.74	-146.6	672.5	-6.4	458	9498	0.12	2.58	0.00	0.000	6	0.046	0.051	2126	2232	3378
9822	-0.64	-146.6	702.2	-9.4	474	9824	0.17	0.00	0.00	0.000	6	0.086	0.000	2161	2232	3378
10128	-0.64	-146.6	727.5	-8.6	489	10129	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2233	3378
10442	-0.64	-146.6	750.1	-6.6	504	10447	0.00	2.65	0.00	0.000	4	0.000	0.079	2161	3637	3378
10493	-0.68	-146.6	753.5	-5.7	506	10497	0.00	2.55	0.00	0.000	6	0.000	0.054	2161	2230	3377
10809	-0.68	-146.6	767.4	-4.7	521	10814	0.00	2.60	0.00	0.000	4	0.000	0.064	2161	817	3377
10866	-0.77	-146.6	770.4	-6.1	523	10872	0.12	2.58	0.00	0.000	6	0.048	0.056	2120	2229	3377
11158	end dive: BOTTOM_OBSTACLE_DETECTED
state	11158	begin apogee
11165	-0.31	0.0	796.5	8.9	538	11301	0.52	0.00	133.05	1.146	6	0.080	0.000	2229	2229	2780
11302	end apogee: CONTROL_FINISHED_OK
state	11302	begin climb
11306	0.85	146.6	801.8	0.0	545	11449	1.17	2.80	131.25	1.131	4	0.069	0.080	2481	3652	2183
11544	0.93	225.2	794.2	3.8	556	11621	0.00	2.62	70.47	1.110	6	0.000	0.059	2481	2241	1862
11934	0.99	225.2	779.2	6.6	575	11936	0.15	0.00	0.00	0.000	6	0.054	0.000	2522	2241	1862
12240	0.93	225.2	753.4	8.5	590	12244	0.00	2.65	0.00	0.000	4	0.000	0.066	2522	827	1860
12374	0.88	225.2	743.6	6.1	596	12379	0.15	2.62	0.00	0.000	6	0.087	0.056	2492	2245	1859
12695	0.88	226.8	723.9	6.0	612	12696	0.00	0.00	0.00	0.000	6	0.000	0.000	2492	2244	1859
13005	0.97	311.4	711.3	3.7	627	13088	0.00	2.75	76.35	1.095	4	0.000	0.077	2492	3651	1511
13136	1.08	311.4	703.7	7.3	633	13141	0.20	2.62	0.00	0.000	6	0.044	0.057	2545	2235	1511
13463	1.08	311.4	672.3	9.6	649	13467	0.00	2.62	0.00	0.000	4	0.000	0.066	2545	831	1510
13530	1.08	311.4	665.6	10.2	652	13534	0.00	2.60	0.00	0.000	6	0.000	0.054	2545	2241	1509
13851	1.03	311.4	630.1	11.4	668	13852	0.00	0.00	0.00	0.000	6	0.000	0.000	2545	2241	1509
14160	0.99	311.4	595.8	10.8	683	14165	0.15	2.65	0.00	0.000	4	0.084	0.064	2514	825	1509
14200	1.05	311.4	591.9	9.8	685	14204	0.00	2.60	0.00	0.000	6	0.000	0.051	2514	2240	1508
14527	1.09	311.4	565.0	7.7	701	14529	0.10	0.00	0.00	0.000	6	0.053	0.000	2546	2240	1508
14837	1.04	311.4	537.3	8.9	716	14841	0.00	2.62	0.00	0.000	4	0.000	0.062	2546	829	1509
14870	0.99	311.4	534.4	7.7	717	14876	0.15	2.58	0.00	0.000	6	0.085	0.051	2516	2241	1509
15185	0.99	311.4	512.4	7.0	733	15186	0.00	0.00	0.00	0.000	6	0.000	0.000	2516	2241	1509
15495	1.04	311.4	489.8	7.5	748	15496	0.00	0.00	0.00	0.000	6	0.000	0.000	2515	2240	1509
15804	1.08	311.4	466.2	7.5	763	15808	0.00	2.62	0.00	0.000	4	0.000	0.062	2515	828	1510
15867	1.12	311.4	461.3	8.0	766	15872	0.12	2.58	0.00	0.000	6	0.050	0.051	2555	2240	1510
16194	1.06	311.4	429.7	9.6	782	16196	0.12	0.00	0.00	0.000	6	0.087	0.000	2530	2240	1511
16502	1.06	311.4	403.8	8.2	797	16503	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2239	1510
16812	1.06	311.4	378.4	8.0	812	16816	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	823	1511
16851	1.06	311.4	375.2	8.3	814	16856	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2238	1511
17178	1.06	311.4	349.6	7.7	830	17179	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2238	1511
17488	1.06	311.4	326.1	7.5	845	17492	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	828	1511
17531	1.06	311.4	322.6	7.0	847	17536	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2242	1512
17852	1.06	311.4	299.1	7.1	863	17854	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2242	1512
18162	1.06	311.4	277.4	6.8	878	18166	0.00	2.62	0.00	0.000	4	0.000	0.064	2530	827	1512
18212	1.06	311.4	273.7	6.9	880	18216	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2245	1512
18527	1.06	311.4	253.0	6.5	895	18528	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2244	1512
18837	1.06	311.4	232.2	7.1	910	18841	0.00	2.62	0.00	0.000	4	0.000	0.064	2530	826	1513
18886	1.06	311.4	228.4	8.3	912	18890	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2244	1512
19202	1.06	311.4	205.9	7.0	927	19206	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	824	1513
19246	1.06	311.4	202.6	7.2	929	19250	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2243	1513
19566	1.06	311.4	180.9	6.7	945	19567	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2243	1513
19875	1.06	311.4	157.2	8.0	960	19880	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	824	1513
19938	1.06	311.4	151.9	8.3	963	19942	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2243	1513
20264	1.06	311.4	127.8	6.4	979	20265	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2243	1513
20574	1.06	311.4	106.6	7.7	994	20578	0.00	2.62	0.00	0.000	4	0.000	0.063	2530	823	1513
20636	1.06	311.4	101.4	8.2	997	20640	0.00	2.58	0.00	0.000	6	0.000	0.051	2530	2247	1513
20963	1.06	311.4	75.8	7.9	1013	20964	0.00	0.00	0.00	0.000	6	0.000	0.000	2530	2247	1513
21272	1.06	311.4	53.3	6.6	1028	21276	0.00	2.62	0.00	0.000	4	0.000	0.062	2530	823	1513
21316	1.06	311.4	50.3	7.3	1030	21321	0.00	2.55	0.00	0.000	6	0.000	0.051	2530	2240	1513
21638	1.24	311.4	26.3	8.5	1046	21643	0.15	2.60	0.00	0.000	4	0.048	0.060	2569	823	1514
21764	1.14	311.4	14.9	8.3	1051	21771	0.10	2.55	0.00	0.000	6	0.092	0.051	2550	2241	1514
21933	end climb: SURFACE_DEPTH_REACHED
state	21933	begin surface coast
21956	end surface coast: CONTROL_FINISHED_OK
state	21956	begin surface