Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 201 * 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 201 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 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 -2097255.5 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 -2097255.5

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 21 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 201 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 220437,6347.643,-1310.993,37,1.2,43,-12.4 TGT_NAME LW

_CALLS 2 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.27 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 221245,6347.661,-1310.889,14,1.6,14,-12.4 MHEAD_RNG_PITCHd_Wd 338.2,27622,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027120 ALTIM_BOTTOM_PING 726.3,94.3

SM_CCo 21847,101.20,0.600,0,0,508,557.32 _24V_AH 23.5,35.300

SM_GC 1.43,0.00,0.00,101.20,0.000,0.000,0.600,66,2209,508,-10.28,-0.57,557.32 _10V_AH 10.1,17.921

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53609,1057

TT8_MAMPS 0.02301 CAP_FILE_SIZE 141490,0

HUMID 1862 CFSIZE 260165632,246104064

TCM_TEMP 19.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 20 GPS 190708,042008,6350.678,-1315.872,34,1.5,35,-12.5

ALTIM_TOP_PING 19.1,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 100.59 SBE_CT 773 24 436.09

Roll_motor 125 82 241.17 SBE_O2 728 19 325.06

VBD_pump_during_apogee 444 1164 12156.58 WL_BB2F 583 105 1440.41

VBD_pump_during_surface 101 599 1426.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 89.30 nil 0 0 0.00

Iridium_during_connect 61 160 232.90 nil 0 0 0.00

Iridium_during_xfer 190 223 998.01

Transponder_ping 11 420 113.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.38

TT8 1851 19 370.30

LPSleep 17176 2 379.94

TT8_Active 727 19 145.47

TT8_Sampling 2047 39 823.19

TT8_CF8 631 45 292.13

TT8_Kalman 0 81 0.00

Analog_circuits 1742 12 211.15

GPS_charging 0 0 0.00

Compass 2011 8 162.51

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.85 -146.6 0.0 0.0 0 147 0.00 0.00 -120.88 0.000 2 0.000 0.000 70 2236 2962

151 -0.85 -146.6 3.9 -3.1 6 181 11.50 2.65 -9.80 0.000 4 0.171 0.082 2113 3640 3378

302 -0.67 -146.6 25.7 -11.9 12 308 0.20 2.55 0.00 0.000 6 0.091 0.048 2151 2226 3378

618 -0.61 -146.6 55.3 -8.8 28 620 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2225 3378

927 -0.56 -146.6 84.6 -10.5 43 929 0.12 0.00 0.00 0.000 6 0.101 0.000 2175 2225 3378

1238 -0.56 -146.6 112.7 -8.6 58 1239 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2225 3378

1546 -0.56 -146.6 138.9 -8.2 73 1550 0.00 2.67 0.00 0.000 4 0.000 0.073 2175 3643 3378

1578 -0.56 -146.6 141.9 -8.5 74 1585 0.00 2.55 0.00 0.000 6 0.000 0.048 2175 2224 3378

1894 -0.56 -146.6 164.5 -6.5 90 1895 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3378

2204 -0.56 -146.6 182.7 -5.5 105 2205 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3378

2515 -0.56 -146.6 200.1 -5.5 120 2516 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3378

2822 -0.56 -146.6 216.6 -4.9 135 2823 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2224 3378

3132 -0.56 -146.6 231.1 -4.6 150 3136 0.00 2.67 0.00 0.000 4 0.000 0.074 2175 3640 3378

3176 -0.56 -146.6 233.4 -5.7 152 3180 0.00 2.53 0.00 0.000 6 0.000 0.048 2175 2229 3378

3497 -0.56 -146.6 245.6 -3.4 168 3498 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2229 3378

3807 -0.56 -146.6 256.1 -3.6 183 3811 0.00 2.65 0.00 0.000 4 0.000 0.074 2175 3638 3378

3846 -0.56 -146.6 257.6 -3.6 185 3851 0.00 2.55 0.00 0.000 6 0.000 0.048 2175 2223 3378

4174 -0.56 -146.6 271.0 -4.5 201 4175 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2223 3378

4484 -0.56 -146.6 287.3 -5.7 216 4485 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2223 3378

4792 -0.56 -146.6 307.0 -6.7 231 4797 0.00 2.67 0.00 0.000 4 0.000 0.074 2175 3640 3378

4832 -0.56 -146.6 310.2 -8.2 233 4837 0.00 2.55 0.00 0.000 6 0.000 0.048 2176 2222 3378

5160 -0.56 -146.6 335.2 -7.8 249 5161 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2222 3377

5468 -0.56 -146.6 360.0 -8.0 264 5469 0.00 0.00 0.00 0.000 6 0.000 0.000 2176 2222 3377

5778 -0.60 -146.6 384.8 -7.9 279 5782 0.00 2.67 0.00 0.000 4 0.000 0.074 2176 3640 3377

5819 -0.64 -146.6 388.1 -8.9 281 5823 0.00 2.55 0.00 0.000 6 0.000 0.048 2176 2220 3377

6145 -0.68 -146.6 412.5 -7.0 297 6147 0.12 0.00 0.00 0.000 6 0.046 0.000 2134 2220 3377

6455 -0.60 -146.6 438.3 -8.3 312 6457 0.17 0.00 0.00 0.000 6 0.086 0.000 2169 2220 3377

6763 -0.60 -146.6 458.7 -6.5 327 6764 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2220 3377

7073 -0.60 -146.6 477.3 -5.6 342 7074 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2220 3377

7383 -0.60 -146.6 494.8 -5.8 357 7387 0.00 2.67 0.00 0.000 4 0.000 0.074 2169 3644 3377

7422 -0.60 -146.6 497.5 -6.7 359 7426 0.00 2.55 0.00 0.000 6 0.000 0.048 2169 2224 3377

7748 -0.60 -146.6 520.5 -7.7 375 7749 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2224 3377

8058 -0.60 -146.6 543.8 -6.8 390 8059 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2224 3377

8367 -0.60 -146.6 560.4 -4.6 405 8368 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2224 3376

8676 -0.60 -146.6 574.8 -5.1 420 8684 0.00 2.65 0.00 0.000 4 0.000 0.074 2169 3641 3377

8718 -0.60 -146.6 577.6 -7.0 421 8724 0.00 2.53 0.00 0.000 6 0.000 0.048 2169 2228 3376

9034 -0.60 -146.6 602.8 -9.5 437 9035 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2228 3376

9343 -0.60 -146.6 635.1 -10.5 452 9344 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2228 3376

9653 -0.60 -146.6 655.7 -3.7 467 9657 0.00 2.65 0.00 0.000 4 0.000 0.074 2169 3638 3376

9693 -0.64 -146.6 657.1 -3.4 469 9697 0.00 2.53 0.00 0.000 6 0.000 0.047 2169 2229 3376

10021 -0.69 -146.6 668.3 -5.0 485 10025 0.00 2.58 0.00 0.000 4 0.000 0.060 2168 817 3376

10099 -0.79 -146.6 673.4 -6.7 488 10105 0.20 2.55 0.00 0.000 6 0.041 0.051 2111 2232 3376

10415 -0.66 -146.6 705.9 -10.8 504 10420 0.17 2.62 0.00 0.000 4 0.090 0.077 2150 3638 3376

10458 -0.66 -146.6 710.4 -9.7 506 10463 0.00 2.53 0.00 0.000 6 0.000 0.051 2150 2231 3376

10779 -0.66 -146.6 734.9 -6.9 522 10784 0.00 2.58 0.00 0.000 4 0.000 0.062 2150 821 3376

10824 -0.66 -146.6 738.1 -7.2 524 10828 0.00 2.58 0.00 0.000 6 0.000 0.054 2150 2236 3376

11145 -0.66 -146.6 755.9 -5.0 540 11146 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2236 3376

11454 -0.66 -146.6 772.4 -6.0 555 11455 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2236 3375

11763 -0.66 -146.6 795.4 -7.9 570 11765 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2236 3374

11988 end dive: BOTTOM_OBSTACLE_DETECTED

state 11988 begin apogee

11994 -0.31 0.0 811.9 6.7 581 12130 0.40 0.00 132.93 1.164 6 0.100 0.000 2229 2236 2781

12131 end apogee: CONTROL_FINISHED_OK

state 12131 begin climb

12134 0.85 146.6 818.0 0.0 588 12271 1.23 0.00 132.38 1.143 6 0.077 0.000 2483 2236 2183

12580 0.90 197.5 800.7 4.6 610 12629 0.00 0.00 46.38 1.111 6 0.000 0.000 2483 2236 1975

12929 0.90 197.5 779.2 6.4 627 12931 0.00 0.00 0.00 0.000 6 0.000 0.000 2483 2236 1975

13240 0.97 218.0 765.3 5.4 642 13265 0.12 2.78 19.70 1.062 4 0.071 0.078 2511 3648 1892

13311 0.92 218.0 760.5 7.2 645 13315 0.00 2.60 0.00 0.000 6 0.000 0.054 2512 2243 1892

13627 0.88 218.0 735.0 9.0 660 13631 0.00 2.65 0.00 0.000 4 0.000 0.066 2512 821 1891

13671 0.88 218.0 730.8 9.0 662 13675 0.00 2.62 0.00 0.000 6 0.000 0.054 2511 2246 1890

13991 0.88 218.0 703.8 7.1 678 13996 0.00 2.67 0.00 0.000 4 0.000 0.064 2511 825 1891

14031 0.88 218.0 701.4 6.1 680 14035 0.00 2.62 0.00 0.000 6 0.000 0.054 2511 2248 1890

14358 1.02 346.7 687.9 2.5 696 14481 0.00 2.75 112.93 1.088 4 0.000 0.064 2511 834 1367

14543 1.10 346.7 679.9 6.9 704 14550 0.12 2.60 0.00 0.000 6 0.074 0.053 2537 2240 1366

14859 1.10 346.7 647.4 10.6 720 14860 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1366

15168 1.10 346.7 623.4 6.2 735 15172 0.00 2.67 0.00 0.000 4 0.000 0.064 2538 822 1366

15230 1.10 346.7 619.4 6.1 738 15234 0.00 2.60 0.00 0.000 6 0.000 0.051 2538 2240 1365

15557 1.10 346.7 595.3 8.8 754 15558 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1365

15865 1.10 346.7 562.4 11.2 769 15867 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1365

16175 1.10 346.7 527.3 10.9 784 16179 0.00 2.62 0.00 0.000 4 0.000 0.062 2538 828 1366

16230 1.10 346.7 521.4 10.3 786 16236 0.00 2.58 0.00 0.000 6 0.000 0.051 2536 2244 1366

16546 1.10 346.7 489.5 10.0 802 16547 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2244 1366

16855 1.10 346.7 458.1 10.4 817 16856 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2243 1366

17165 1.10 346.7 425.4 10.5 832 17166 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2244 1367

17473 1.10 346.7 394.3 10.0 847 17478 0.00 2.62 0.00 0.000 4 0.000 0.062 2538 826 1368

17517 1.10 346.7 389.8 9.7 849 17522 0.00 2.55 0.00 0.000 6 0.000 0.050 2538 2240 1367

17839 1.10 346.7 356.4 10.2 865 17840 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1368

18148 1.10 346.7 324.6 10.4 880 18149 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1368

18457 1.10 346.7 294.3 9.4 895 18458 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1368

18767 1.10 346.7 267.3 8.2 910 18771 0.00 2.62 0.00 0.000 4 0.000 0.061 2538 820 1368

18810 1.10 346.7 263.8 7.9 912 18815 0.00 2.58 0.00 0.000 6 0.000 0.050 2538 2245 1368

19132 1.10 346.7 241.1 7.1 928 19133 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2245 1368

19441 1.10 346.7 216.3 8.8 943 19442 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2245 1368

19750 1.10 346.7 187.5 9.6 958 19754 0.00 2.62 0.00 0.000 4 0.000 0.061 2538 826 1368

19794 1.10 346.7 183.1 9.6 960 19798 0.00 2.55 0.00 0.000 6 0.000 0.050 2538 2239 1368

20115 1.10 346.7 152.8 9.5 976 20116 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1369

20424 1.10 346.7 128.4 7.6 991 20425 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2240 1369

20733 1.10 346.7 98.7 10.1 1006 20738 0.00 2.60 0.00 0.000 4 0.000 0.061 2538 827 1369

20784 1.10 346.7 93.5 9.7 1008 20788 0.00 2.55 0.00 0.000 6 0.000 0.049 2538 2243 1369

21100 1.10 346.7 66.8 8.4 1023 21101 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 2243 1369

21409 1.10 346.7 36.6 9.2 1038 21413 0.00 2.62 0.00 0.000 4 0.000 0.061 2538 820 1369

21459 1.10 346.7 32.0 8.8 1040 21463 0.00 2.55 0.00 0.000 6 0.000 0.048 2538 2240 1369

21775 1.10 346.7 6.0 7.2 1055 21779 0.00 2.60 0.00 0.000 4 0.000 0.068 2538 3650 1370

21815 1.14 346.7 2.1 9.7 1057 21819 0.00 2.42 0.00 0.000 3 0.000 0.051 2538 2292 1370

21820 end climb: SURFACE_DEPTH_REACHED

state 21820 begin surface coast

21825 end surface coast: CONTROL_FINISHED_OK

state 21825 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	201	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	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	-2097255.5	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	220437,6347.643,-1310.993,37,1.2,43,-12.4	TGT_NAME	LW
_CALLS	2	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.27	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	221245,6347.661,-1310.889,14,1.6,14,-12.4	MHEAD_RNG_PITCHd_Wd	338.2,27622,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027120	ALTIM_BOTTOM_PING	726.3,94.3
SM_CCo	21847,101.20,0.600,0,0,508,557.32	_24V_AH	23.5,35.300
SM_GC	1.43,0.00,0.00,101.20,0.000,0.000,0.600,66,2209,508,-10.28,-0.57,557.32	_10V_AH	10.1,17.921
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53609,1057
TT8_MAMPS	0.02301	CAP_FILE_SIZE	141490,0
HUMID	1862	CFSIZE	260165632,246104064
TCM_TEMP	19.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	20	GPS	190708,042008,6350.678,-1315.872,34,1.5,35,-12.5
ALTIM_TOP_PING	19.1,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	100.59	SBE_CT	773	24	436.09
Roll_motor	125	82	241.17	SBE_O2	728	19	325.06
VBD_pump_during_apogee	444	1164	12156.58	WL_BB2F	583	105	1440.41
VBD_pump_during_surface	101	599	1426.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	89.30	nil	0	0	0.00
Iridium_during_connect	61	160	232.90	nil	0	0	0.00
Iridium_during_xfer	190	223	998.01
Transponder_ping	11	420	113.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.38
TT8	1851	19	370.30
LPSleep	17176	2	379.94
TT8_Active	727	19	145.47
TT8_Sampling	2047	39	823.19
TT8_CF8	631	45	292.13
TT8_Kalman	0	81	0.00
Analog_circuits	1742	12	211.15
GPS_charging	0	0	0.00
Compass	2011	8	162.51
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.85	-146.6	0.0	0.0	0	147	0.00	0.00	-120.88	0.000	2	0.000	0.000	70	2236	2962
151	-0.85	-146.6	3.9	-3.1	6	181	11.50	2.65	-9.80	0.000	4	0.171	0.082	2113	3640	3378
302	-0.67	-146.6	25.7	-11.9	12	308	0.20	2.55	0.00	0.000	6	0.091	0.048	2151	2226	3378
618	-0.61	-146.6	55.3	-8.8	28	620	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2225	3378
927	-0.56	-146.6	84.6	-10.5	43	929	0.12	0.00	0.00	0.000	6	0.101	0.000	2175	2225	3378
1238	-0.56	-146.6	112.7	-8.6	58	1239	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2225	3378
1546	-0.56	-146.6	138.9	-8.2	73	1550	0.00	2.67	0.00	0.000	4	0.000	0.073	2175	3643	3378
1578	-0.56	-146.6	141.9	-8.5	74	1585	0.00	2.55	0.00	0.000	6	0.000	0.048	2175	2224	3378
1894	-0.56	-146.6	164.5	-6.5	90	1895	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3378
2204	-0.56	-146.6	182.7	-5.5	105	2205	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3378
2515	-0.56	-146.6	200.1	-5.5	120	2516	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3378
2822	-0.56	-146.6	216.6	-4.9	135	2823	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2224	3378
3132	-0.56	-146.6	231.1	-4.6	150	3136	0.00	2.67	0.00	0.000	4	0.000	0.074	2175	3640	3378
3176	-0.56	-146.6	233.4	-5.7	152	3180	0.00	2.53	0.00	0.000	6	0.000	0.048	2175	2229	3378
3497	-0.56	-146.6	245.6	-3.4	168	3498	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2229	3378
3807	-0.56	-146.6	256.1	-3.6	183	3811	0.00	2.65	0.00	0.000	4	0.000	0.074	2175	3638	3378
3846	-0.56	-146.6	257.6	-3.6	185	3851	0.00	2.55	0.00	0.000	6	0.000	0.048	2175	2223	3378
4174	-0.56	-146.6	271.0	-4.5	201	4175	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2223	3378
4484	-0.56	-146.6	287.3	-5.7	216	4485	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2223	3378
4792	-0.56	-146.6	307.0	-6.7	231	4797	0.00	2.67	0.00	0.000	4	0.000	0.074	2175	3640	3378
4832	-0.56	-146.6	310.2	-8.2	233	4837	0.00	2.55	0.00	0.000	6	0.000	0.048	2176	2222	3378
5160	-0.56	-146.6	335.2	-7.8	249	5161	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2222	3377
5468	-0.56	-146.6	360.0	-8.0	264	5469	0.00	0.00	0.00	0.000	6	0.000	0.000	2176	2222	3377
5778	-0.60	-146.6	384.8	-7.9	279	5782	0.00	2.67	0.00	0.000	4	0.000	0.074	2176	3640	3377
5819	-0.64	-146.6	388.1	-8.9	281	5823	0.00	2.55	0.00	0.000	6	0.000	0.048	2176	2220	3377
6145	-0.68	-146.6	412.5	-7.0	297	6147	0.12	0.00	0.00	0.000	6	0.046	0.000	2134	2220	3377
6455	-0.60	-146.6	438.3	-8.3	312	6457	0.17	0.00	0.00	0.000	6	0.086	0.000	2169	2220	3377
6763	-0.60	-146.6	458.7	-6.5	327	6764	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2220	3377
7073	-0.60	-146.6	477.3	-5.6	342	7074	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2220	3377
7383	-0.60	-146.6	494.8	-5.8	357	7387	0.00	2.67	0.00	0.000	4	0.000	0.074	2169	3644	3377
7422	-0.60	-146.6	497.5	-6.7	359	7426	0.00	2.55	0.00	0.000	6	0.000	0.048	2169	2224	3377
7748	-0.60	-146.6	520.5	-7.7	375	7749	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2224	3377
8058	-0.60	-146.6	543.8	-6.8	390	8059	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2224	3377
8367	-0.60	-146.6	560.4	-4.6	405	8368	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2224	3376
8676	-0.60	-146.6	574.8	-5.1	420	8684	0.00	2.65	0.00	0.000	4	0.000	0.074	2169	3641	3377
8718	-0.60	-146.6	577.6	-7.0	421	8724	0.00	2.53	0.00	0.000	6	0.000	0.048	2169	2228	3376
9034	-0.60	-146.6	602.8	-9.5	437	9035	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2228	3376
9343	-0.60	-146.6	635.1	-10.5	452	9344	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2228	3376
9653	-0.60	-146.6	655.7	-3.7	467	9657	0.00	2.65	0.00	0.000	4	0.000	0.074	2169	3638	3376
9693	-0.64	-146.6	657.1	-3.4	469	9697	0.00	2.53	0.00	0.000	6	0.000	0.047	2169	2229	3376
10021	-0.69	-146.6	668.3	-5.0	485	10025	0.00	2.58	0.00	0.000	4	0.000	0.060	2168	817	3376
10099	-0.79	-146.6	673.4	-6.7	488	10105	0.20	2.55	0.00	0.000	6	0.041	0.051	2111	2232	3376
10415	-0.66	-146.6	705.9	-10.8	504	10420	0.17	2.62	0.00	0.000	4	0.090	0.077	2150	3638	3376
10458	-0.66	-146.6	710.4	-9.7	506	10463	0.00	2.53	0.00	0.000	6	0.000	0.051	2150	2231	3376
10779	-0.66	-146.6	734.9	-6.9	522	10784	0.00	2.58	0.00	0.000	4	0.000	0.062	2150	821	3376
10824	-0.66	-146.6	738.1	-7.2	524	10828	0.00	2.58	0.00	0.000	6	0.000	0.054	2150	2236	3376
11145	-0.66	-146.6	755.9	-5.0	540	11146	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2236	3376
11454	-0.66	-146.6	772.4	-6.0	555	11455	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2236	3375
11763	-0.66	-146.6	795.4	-7.9	570	11765	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2236	3374
11988	end dive: BOTTOM_OBSTACLE_DETECTED
state	11988	begin apogee
11994	-0.31	0.0	811.9	6.7	581	12130	0.40	0.00	132.93	1.164	6	0.100	0.000	2229	2236	2781
12131	end apogee: CONTROL_FINISHED_OK
state	12131	begin climb
12134	0.85	146.6	818.0	0.0	588	12271	1.23	0.00	132.38	1.143	6	0.077	0.000	2483	2236	2183
12580	0.90	197.5	800.7	4.6	610	12629	0.00	0.00	46.38	1.111	6	0.000	0.000	2483	2236	1975
12929	0.90	197.5	779.2	6.4	627	12931	0.00	0.00	0.00	0.000	6	0.000	0.000	2483	2236	1975
13240	0.97	218.0	765.3	5.4	642	13265	0.12	2.78	19.70	1.062	4	0.071	0.078	2511	3648	1892
13311	0.92	218.0	760.5	7.2	645	13315	0.00	2.60	0.00	0.000	6	0.000	0.054	2512	2243	1892
13627	0.88	218.0	735.0	9.0	660	13631	0.00	2.65	0.00	0.000	4	0.000	0.066	2512	821	1891
13671	0.88	218.0	730.8	9.0	662	13675	0.00	2.62	0.00	0.000	6	0.000	0.054	2511	2246	1890
13991	0.88	218.0	703.8	7.1	678	13996	0.00	2.67	0.00	0.000	4	0.000	0.064	2511	825	1891
14031	0.88	218.0	701.4	6.1	680	14035	0.00	2.62	0.00	0.000	6	0.000	0.054	2511	2248	1890
14358	1.02	346.7	687.9	2.5	696	14481	0.00	2.75	112.93	1.088	4	0.000	0.064	2511	834	1367
14543	1.10	346.7	679.9	6.9	704	14550	0.12	2.60	0.00	0.000	6	0.074	0.053	2537	2240	1366
14859	1.10	346.7	647.4	10.6	720	14860	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1366
15168	1.10	346.7	623.4	6.2	735	15172	0.00	2.67	0.00	0.000	4	0.000	0.064	2538	822	1366
15230	1.10	346.7	619.4	6.1	738	15234	0.00	2.60	0.00	0.000	6	0.000	0.051	2538	2240	1365
15557	1.10	346.7	595.3	8.8	754	15558	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1365
15865	1.10	346.7	562.4	11.2	769	15867	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1365
16175	1.10	346.7	527.3	10.9	784	16179	0.00	2.62	0.00	0.000	4	0.000	0.062	2538	828	1366
16230	1.10	346.7	521.4	10.3	786	16236	0.00	2.58	0.00	0.000	6	0.000	0.051	2536	2244	1366
16546	1.10	346.7	489.5	10.0	802	16547	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2244	1366
16855	1.10	346.7	458.1	10.4	817	16856	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2243	1366
17165	1.10	346.7	425.4	10.5	832	17166	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2244	1367
17473	1.10	346.7	394.3	10.0	847	17478	0.00	2.62	0.00	0.000	4	0.000	0.062	2538	826	1368
17517	1.10	346.7	389.8	9.7	849	17522	0.00	2.55	0.00	0.000	6	0.000	0.050	2538	2240	1367
17839	1.10	346.7	356.4	10.2	865	17840	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1368
18148	1.10	346.7	324.6	10.4	880	18149	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1368
18457	1.10	346.7	294.3	9.4	895	18458	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1368
18767	1.10	346.7	267.3	8.2	910	18771	0.00	2.62	0.00	0.000	4	0.000	0.061	2538	820	1368
18810	1.10	346.7	263.8	7.9	912	18815	0.00	2.58	0.00	0.000	6	0.000	0.050	2538	2245	1368
19132	1.10	346.7	241.1	7.1	928	19133	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2245	1368
19441	1.10	346.7	216.3	8.8	943	19442	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2245	1368
19750	1.10	346.7	187.5	9.6	958	19754	0.00	2.62	0.00	0.000	4	0.000	0.061	2538	826	1368
19794	1.10	346.7	183.1	9.6	960	19798	0.00	2.55	0.00	0.000	6	0.000	0.050	2538	2239	1368
20115	1.10	346.7	152.8	9.5	976	20116	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1369
20424	1.10	346.7	128.4	7.6	991	20425	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2240	1369
20733	1.10	346.7	98.7	10.1	1006	20738	0.00	2.60	0.00	0.000	4	0.000	0.061	2538	827	1369
20784	1.10	346.7	93.5	9.7	1008	20788	0.00	2.55	0.00	0.000	6	0.000	0.049	2538	2243	1369
21100	1.10	346.7	66.8	8.4	1023	21101	0.00	0.00	0.00	0.000	6	0.000	0.000	2538	2243	1369
21409	1.10	346.7	36.6	9.2	1038	21413	0.00	2.62	0.00	0.000	4	0.000	0.061	2538	820	1369
21459	1.10	346.7	32.0	8.8	1040	21463	0.00	2.55	0.00	0.000	6	0.000	0.048	2538	2240	1369
21775	1.10	346.7	6.0	7.2	1055	21779	0.00	2.60	0.00	0.000	4	0.000	0.068	2538	3650	1370
21815	1.14	346.7	2.1	9.7	1057	21819	0.00	2.42	0.00	0.000	3	0.000	0.051	2538	2292	1370
21820	end climb: SURFACE_DEPTH_REACHED
state	21820	begin surface coast
21825	end surface coast: CONTROL_FINISHED_OK
state	21825	begin surface