Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 204 * 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 204 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 22 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 -2097353.5 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 -2097353.5

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 22 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 204 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 170822,6357.704,-1327.683,39,2.9,58,-12.7 TGT_NAME KE

_CALLS 3 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.39 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -59.3 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 172047,6357.556,-1327.848,12,2.7,31,-12.7 MHEAD_RNG_PITCHd_Wd 146.5,20207,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.000972 ALTIM_BOTTOM_PING 725.5,18.6

SM_CCo 16888,0.00,0.000,0,0,509,557.32 _24V_AH 23.5,35.884

SM_GC 1.65,0.00,0.00,0.00,0.000,0.000,0.000,67,2248,509,-10.27,0.51,557.32 _10V_AH 10.1,18.206

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 41170,807

TT8_MAMPS 0.023777 CAP_FILE_SIZE 139831,0

HUMID 1903 CFSIZE 260165632,245919744

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 46 GPS 190708,220355,6356.371,-1327.163,25,1.6,42,-12.7

ALTIM_TOP_PING 19.6,17.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 169 104.07 SBE_CT 585 24 329.98

Roll_motor 178 85 360.90 SBE_O2 547 19 244.55

VBD_pump_during_apogee 634 1152 17182.35 WL_BB2F 477 105 1178.41

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 179.79 nil 0 0 0.00

Iridium_during_connect 96 160 362.94 nil 0 0 0.00

Iridium_during_xfer 295 223 1548.98

Transponder_ping 18 420 180.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.12

TT8 1515 19 303.02

LPSleep 12586 2 278.40

TT8_Active 737 19 147.57

TT8_Sampling 2007 39 806.90

TT8_CF8 783 45 362.65

TT8_Kalman 0 81 0.00

Analog_circuits 1802 12 218.46

GPS_charging 0 0 0.00

Compass 1930 8 156.01

RAFOS 0 0 0.00

Guidance and control:

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 128 0.00 0.00 -99.45 0.000 2 0.000 0.000 71 2234 2563

131 -0.85 -146.6 3.2 -2.0 5 175 11.48 2.70 -26.05 0.000 4 0.170 0.080 2114 3643 3381

237 -0.65 -146.6 16.2 -16.0 9 244 0.22 2.58 0.00 0.000 6 0.091 0.051 2159 2225 3381

555 -0.56 -146.6 51.7 -10.2 25 559 0.00 2.60 0.00 0.000 4 0.000 0.059 2158 809 3381

627 -0.56 -146.6 58.9 -9.3 28 631 0.00 2.60 0.00 0.000 6 0.000 0.048 2158 2237 3381

944 -0.51 -146.6 88.3 -10.2 43 949 0.15 2.62 0.00 0.000 4 0.097 0.070 2191 3640 3381

1006 -0.60 -146.6 94.1 -8.6 46 1011 0.00 2.55 0.00 0.000 6 0.000 0.049 2191 2229 3381

1334 -0.67 -146.6 116.2 -5.5 62 1339 0.15 2.60 0.00 0.000 4 0.042 0.058 2137 811 3381

1401 -0.60 -146.6 121.0 -7.8 65 1406 0.15 2.58 0.00 0.000 6 0.083 0.050 2167 2231 3381

1723 -0.60 -146.6 145.5 -7.4 81 1724 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3381

2033 -0.60 -146.6 167.5 -6.7 96 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3381

2341 -0.60 -146.6 187.0 -6.7 111 2345 0.00 2.62 0.00 0.000 4 0.000 0.058 2167 810 3381

2368 -0.60 -146.6 188.9 -7.6 112 2372 0.00 2.60 0.00 0.000 6 0.000 0.051 2167 2238 3381

2684 -0.60 -146.6 211.2 -7.1 127 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2238 3381

2993 -0.60 -146.6 233.2 -6.7 142 2997 0.00 2.62 0.00 0.000 4 0.000 0.073 2167 3640 3380

3026 -0.60 -146.6 235.5 -7.0 143 3032 0.00 2.55 0.00 0.000 6 0.000 0.051 2167 2228 3381

3342 -0.60 -146.6 254.1 -5.7 159 3343 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2227 3380

3650 -0.60 -146.6 272.9 -6.6 174 3651 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2227 3380

3960 -0.60 -146.6 293.4 -6.7 189 3961 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2226 3380

4269 -0.60 -146.6 313.8 -7.2 204 4274 0.00 2.67 0.00 0.000 4 0.000 0.075 2167 3640 3380

4314 -0.60 -146.6 317.1 -6.5 206 4318 0.00 2.55 0.00 0.000 6 0.000 0.049 2167 2224 3380

4634 -0.60 -146.6 339.2 -7.3 222 4639 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 817 3379

4668 -0.66 -146.6 342.0 -8.4 223 4674 0.00 2.58 0.00 0.000 6 0.000 0.051 2167 2233 3380

4984 -0.66 -146.6 363.5 -6.5 239 4988 0.00 2.62 0.00 0.000 4 0.000 0.074 2167 3640 3379

5050 -0.66 -146.6 368.7 -6.7 242 5055 0.00 2.55 0.00 0.000 6 0.000 0.051 2167 2230 3379

5371 -0.66 -146.6 389.5 -4.9 258 5373 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3379

5680 -0.66 -146.6 409.1 -10.3 273 5684 0.00 2.67 0.00 0.000 4 0.000 0.075 2167 3645 3379

5735 -0.66 -146.6 416.7 -15.8 275 5741 0.00 2.55 0.00 0.000 6 0.000 0.050 2167 2227 3379

6052 -0.66 -146.6 444.3 -7.7 291 6056 0.00 2.67 0.00 0.000 4 0.000 0.074 2167 3643 3379

6085 -0.66 -146.6 446.7 -7.5 292 6091 0.00 2.55 0.00 0.000 6 0.000 0.050 2167 2228 3379

6401 -0.66 -146.6 473.6 -8.5 308 6405 0.00 2.60 0.00 0.000 4 0.000 0.063 2167 817 3378

6458 -0.74 -146.6 479.0 -9.6 310 6465 0.12 2.58 0.00 0.000 6 0.047 0.051 2128 2237 3379

6774 -0.64 -146.6 511.6 -9.5 326 6779 0.15 2.62 0.00 0.000 4 0.087 0.075 2157 3638 3379

6802 -0.64 -146.6 514.2 -8.9 327 6807 0.00 2.55 0.00 0.000 6 0.000 0.052 2157 2229 3378

7118 -0.64 -146.6 534.6 -6.4 342 7122 0.00 2.60 0.00 0.000 4 0.000 0.064 2157 819 3378

7145 -0.69 -146.6 536.2 -5.7 343 7150 0.00 2.58 0.00 0.000 6 0.000 0.052 2157 2237 3378

7461 -0.69 -146.6 557.3 -6.2 358 7463 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2237 3378

7771 -0.69 -146.6 575.5 -6.0 373 7776 0.00 2.65 0.00 0.000 4 0.000 0.070 2157 820 3377

7790 -0.79 -146.6 575.6 -3.3 374 7795 0.15 2.60 0.00 0.000 6 0.045 0.055 2113 2237 3377

8117 -0.68 -146.6 596.7 -8.8 390 8122 0.20 2.65 0.00 0.000 4 0.087 0.078 2155 3638 3377

8259 -0.68 -146.6 605.6 -9.5 396 8263 0.00 2.58 0.00 0.000 6 0.000 0.057 2155 2225 3376

8576 -0.68 -146.6 629.3 -5.6 411 8580 0.00 2.60 0.00 0.000 4 0.000 0.068 2155 820 3375

8620 -0.73 -146.6 632.0 -6.9 413 8624 0.00 2.60 0.00 0.000 6 0.000 0.057 2155 2235 3376

8941 -0.73 -146.6 660.1 -5.1 429 8942 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2236 3374

9250 -0.73 -146.6 685.6 -8.9 444 9254 0.00 2.67 0.00 0.000 4 0.000 0.071 2155 821 3374

9307 -0.73 -146.6 690.7 -9.2 446 9313 0.00 2.60 0.00 0.000 6 0.000 0.061 2155 2229 3374

9622 -0.73 -146.6 709.6 -5.8 462 9627 0.00 2.65 0.00 0.000 4 0.000 0.068 2155 816 3373

9664 -0.81 -146.6 710.2 -1.2 464 9669 0.15 2.62 0.00 0.000 6 0.052 0.060 2114 2233 3373

9884 end dive: BOTTOM_OBSTACLE_DETECTED

state 9885 begin apogee

9891 -0.31 0.0 736.3 13.3 475 10027 0.57 0.00 131.15 1.153 6 0.094 0.000 2230 2233 2781

10028 end apogee: CONTROL_FINISHED_OK

state 10028 begin climb

10032 0.85 146.6 744.7 0.0 482 10175 1.20 2.88 131.15 1.127 4 0.084 0.086 2478 3650 2184

10194 0.85 146.6 736.3 7.2 489 10200 0.00 2.62 0.00 0.000 6 0.000 0.060 2479 2245 2184

10510 0.92 216.6 720.9 4.1 505 10580 0.00 2.80 63.15 1.103 4 0.000 0.073 2479 827 1898

10641 1.04 246.4 716.5 5.2 511 10676 0.22 2.65 27.90 1.070 6 0.050 0.058 2532 2240 1776

10996 1.18 464.4 693.8 0.0 528 11197 0.12 2.80 191.70 1.107 4 0.060 0.084 2565 3646 886

11215 1.32 588.1 688.2 2.6 537 11305 0.00 2.65 82.50 1.081 6 0.000 0.061 2565 2240 509

11633 1.32 588.1 644.5 12.3 558 11637 0.00 2.70 0.00 0.000 4 0.000 0.077 2565 829 509

11728 1.32 588.1 633.3 11.3 562 11732 0.00 2.62 0.00 0.000 6 0.000 0.059 2565 2238 508

12043 1.32 588.1 597.6 9.6 577 12044 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2238 508

12352 1.32 588.1 561.3 10.5 592 12357 0.00 2.70 0.00 0.000 4 0.000 0.074 2565 825 507

12420 1.36 588.1 555.0 8.4 595 12425 0.15 2.62 0.00 0.000 6 0.070 0.056 2598 2244 507

12742 1.28 588.1 510.7 14.2 611 12746 0.00 2.70 0.00 0.000 4 0.000 0.072 2598 826 508

12831 1.22 588.1 497.7 12.5 615 12836 0.17 2.60 0.00 0.000 6 0.091 0.054 2564 2240 507

13153 1.22 588.1 453.1 13.4 631 13157 0.00 2.67 0.00 0.000 4 0.000 0.072 2563 827 508

13242 1.22 588.1 442.2 11.5 635 13246 0.00 2.60 0.00 0.000 6 0.000 0.053 2564 2243 508

13563 1.22 588.1 401.0 13.8 651 13568 0.00 2.67 0.00 0.000 4 0.000 0.070 2564 827 508

13658 1.22 588.1 387.5 13.4 655 13663 0.00 2.60 0.00 0.000 6 0.000 0.051 2564 2247 508

13974 1.22 588.1 343.4 13.2 670 13978 0.00 2.70 0.00 0.000 4 0.000 0.069 2563 820 509

14126 1.22 588.1 326.3 11.3 677 14130 0.00 2.60 0.00 0.000 6 0.000 0.051 2564 2241 509

14452 1.22 588.1 286.8 12.2 693 14457 0.00 2.67 0.03 0.288 4 0.000 0.067 2563 820 509

14575 1.22 588.1 272.2 11.7 698 14582 0.00 2.60 0.43 0.151 6 0.000 0.051 2564 2246 510

14891 1.22 588.1 233.5 12.4 714 14900 0.00 2.72 2.17 0.244 4 0.000 0.067 2563 820 508

14991 1.22 588.1 221.4 11.3 718 14995 0.00 2.60 0.00 0.000 6 0.000 0.050 2563 2245 509

15307 1.22 588.1 183.9 11.8 733 15312 0.00 2.67 0.08 0.182 4 0.000 0.067 2564 820 510

15407 1.22 588.1 172.2 11.0 737 15414 0.00 2.60 1.73 0.139 6 0.000 0.050 2563 2249 510

15724 1.22 588.1 134.0 11.5 753 15733 0.00 2.70 2.17 0.226 4 0.000 0.065 2563 825 508

15829 1.22 588.1 122.4 10.2 757 15835 0.00 2.58 0.00 0.000 6 0.000 0.050 2563 2244 508

16145 1.22 588.1 84.7 12.4 773 16149 0.00 2.65 0.00 0.000 4 0.000 0.066 2563 825 509

16256 1.22 588.1 70.7 11.5 778 16261 0.00 2.58 0.00 0.000 6 0.000 0.049 2563 2242 509

16578 1.22 588.1 31.5 12.4 794 16583 0.00 2.65 0.03 0.278 4 0.000 0.065 2563 825 509

16675 1.22 588.1 19.6 11.4 798 16680 0.00 2.58 0.08 0.186 6 0.000 0.048 2563 2247 510

16844 end climb: SURFACE_DEPTH_REACHED

state 16845 begin surface coast

16866 end surface coast: CONTROL_FINISHED_OK

state 16866 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	204	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	22	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	-2097353.5	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	170822,6357.704,-1327.683,39,2.9,58,-12.7	TGT_NAME	KE
_CALLS	3	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.39	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-59.3	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	172047,6357.556,-1327.848,12,2.7,31,-12.7	MHEAD_RNG_PITCHd_Wd	146.5,20207,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.000972	ALTIM_BOTTOM_PING	725.5,18.6
SM_CCo	16888,0.00,0.000,0,0,509,557.32	_24V_AH	23.5,35.884
SM_GC	1.65,0.00,0.00,0.00,0.000,0.000,0.000,67,2248,509,-10.27,0.51,557.32	_10V_AH	10.1,18.206
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	41170,807
TT8_MAMPS	0.023777	CAP_FILE_SIZE	139831,0
HUMID	1903	CFSIZE	260165632,245919744
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	46	GPS	190708,220355,6356.371,-1327.163,25,1.6,42,-12.7
ALTIM_TOP_PING	19.6,17.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	169	104.07	SBE_CT	585	24	329.98
Roll_motor	178	85	360.90	SBE_O2	547	19	244.55
VBD_pump_during_apogee	634	1152	17182.35	WL_BB2F	477	105	1178.41
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	179.79	nil	0	0	0.00
Iridium_during_connect	96	160	362.94	nil	0	0	0.00
Iridium_during_xfer	295	223	1548.98
Transponder_ping	18	420	180.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.12
TT8	1515	19	303.02
LPSleep	12586	2	278.40
TT8_Active	737	19	147.57
TT8_Sampling	2007	39	806.90
TT8_CF8	783	45	362.65
TT8_Kalman	0	81	0.00
Analog_circuits	1802	12	218.46
GPS_charging	0	0	0.00
Compass	1930	8	156.01
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	128	0.00	0.00	-99.45	0.000	2	0.000	0.000	71	2234	2563
131	-0.85	-146.6	3.2	-2.0	5	175	11.48	2.70	-26.05	0.000	4	0.170	0.080	2114	3643	3381
237	-0.65	-146.6	16.2	-16.0	9	244	0.22	2.58	0.00	0.000	6	0.091	0.051	2159	2225	3381
555	-0.56	-146.6	51.7	-10.2	25	559	0.00	2.60	0.00	0.000	4	0.000	0.059	2158	809	3381
627	-0.56	-146.6	58.9	-9.3	28	631	0.00	2.60	0.00	0.000	6	0.000	0.048	2158	2237	3381
944	-0.51	-146.6	88.3	-10.2	43	949	0.15	2.62	0.00	0.000	4	0.097	0.070	2191	3640	3381
1006	-0.60	-146.6	94.1	-8.6	46	1011	0.00	2.55	0.00	0.000	6	0.000	0.049	2191	2229	3381
1334	-0.67	-146.6	116.2	-5.5	62	1339	0.15	2.60	0.00	0.000	4	0.042	0.058	2137	811	3381
1401	-0.60	-146.6	121.0	-7.8	65	1406	0.15	2.58	0.00	0.000	6	0.083	0.050	2167	2231	3381
1723	-0.60	-146.6	145.5	-7.4	81	1724	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3381
2033	-0.60	-146.6	167.5	-6.7	96	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3381
2341	-0.60	-146.6	187.0	-6.7	111	2345	0.00	2.62	0.00	0.000	4	0.000	0.058	2167	810	3381
2368	-0.60	-146.6	188.9	-7.6	112	2372	0.00	2.60	0.00	0.000	6	0.000	0.051	2167	2238	3381
2684	-0.60	-146.6	211.2	-7.1	127	2685	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2238	3381
2993	-0.60	-146.6	233.2	-6.7	142	2997	0.00	2.62	0.00	0.000	4	0.000	0.073	2167	3640	3380
3026	-0.60	-146.6	235.5	-7.0	143	3032	0.00	2.55	0.00	0.000	6	0.000	0.051	2167	2228	3381
3342	-0.60	-146.6	254.1	-5.7	159	3343	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2227	3380
3650	-0.60	-146.6	272.9	-6.6	174	3651	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2227	3380
3960	-0.60	-146.6	293.4	-6.7	189	3961	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2226	3380
4269	-0.60	-146.6	313.8	-7.2	204	4274	0.00	2.67	0.00	0.000	4	0.000	0.075	2167	3640	3380
4314	-0.60	-146.6	317.1	-6.5	206	4318	0.00	2.55	0.00	0.000	6	0.000	0.049	2167	2224	3380
4634	-0.60	-146.6	339.2	-7.3	222	4639	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	817	3379
4668	-0.66	-146.6	342.0	-8.4	223	4674	0.00	2.58	0.00	0.000	6	0.000	0.051	2167	2233	3380
4984	-0.66	-146.6	363.5	-6.5	239	4988	0.00	2.62	0.00	0.000	4	0.000	0.074	2167	3640	3379
5050	-0.66	-146.6	368.7	-6.7	242	5055	0.00	2.55	0.00	0.000	6	0.000	0.051	2167	2230	3379
5371	-0.66	-146.6	389.5	-4.9	258	5373	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3379
5680	-0.66	-146.6	409.1	-10.3	273	5684	0.00	2.67	0.00	0.000	4	0.000	0.075	2167	3645	3379
5735	-0.66	-146.6	416.7	-15.8	275	5741	0.00	2.55	0.00	0.000	6	0.000	0.050	2167	2227	3379
6052	-0.66	-146.6	444.3	-7.7	291	6056	0.00	2.67	0.00	0.000	4	0.000	0.074	2167	3643	3379
6085	-0.66	-146.6	446.7	-7.5	292	6091	0.00	2.55	0.00	0.000	6	0.000	0.050	2167	2228	3379
6401	-0.66	-146.6	473.6	-8.5	308	6405	0.00	2.60	0.00	0.000	4	0.000	0.063	2167	817	3378
6458	-0.74	-146.6	479.0	-9.6	310	6465	0.12	2.58	0.00	0.000	6	0.047	0.051	2128	2237	3379
6774	-0.64	-146.6	511.6	-9.5	326	6779	0.15	2.62	0.00	0.000	4	0.087	0.075	2157	3638	3379
6802	-0.64	-146.6	514.2	-8.9	327	6807	0.00	2.55	0.00	0.000	6	0.000	0.052	2157	2229	3378
7118	-0.64	-146.6	534.6	-6.4	342	7122	0.00	2.60	0.00	0.000	4	0.000	0.064	2157	819	3378
7145	-0.69	-146.6	536.2	-5.7	343	7150	0.00	2.58	0.00	0.000	6	0.000	0.052	2157	2237	3378
7461	-0.69	-146.6	557.3	-6.2	358	7463	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2237	3378
7771	-0.69	-146.6	575.5	-6.0	373	7776	0.00	2.65	0.00	0.000	4	0.000	0.070	2157	820	3377
7790	-0.79	-146.6	575.6	-3.3	374	7795	0.15	2.60	0.00	0.000	6	0.045	0.055	2113	2237	3377
8117	-0.68	-146.6	596.7	-8.8	390	8122	0.20	2.65	0.00	0.000	4	0.087	0.078	2155	3638	3377
8259	-0.68	-146.6	605.6	-9.5	396	8263	0.00	2.58	0.00	0.000	6	0.000	0.057	2155	2225	3376
8576	-0.68	-146.6	629.3	-5.6	411	8580	0.00	2.60	0.00	0.000	4	0.000	0.068	2155	820	3375
8620	-0.73	-146.6	632.0	-6.9	413	8624	0.00	2.60	0.00	0.000	6	0.000	0.057	2155	2235	3376
8941	-0.73	-146.6	660.1	-5.1	429	8942	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2236	3374
9250	-0.73	-146.6	685.6	-8.9	444	9254	0.00	2.67	0.00	0.000	4	0.000	0.071	2155	821	3374
9307	-0.73	-146.6	690.7	-9.2	446	9313	0.00	2.60	0.00	0.000	6	0.000	0.061	2155	2229	3374
9622	-0.73	-146.6	709.6	-5.8	462	9627	0.00	2.65	0.00	0.000	4	0.000	0.068	2155	816	3373
9664	-0.81	-146.6	710.2	-1.2	464	9669	0.15	2.62	0.00	0.000	6	0.052	0.060	2114	2233	3373
9884	end dive: BOTTOM_OBSTACLE_DETECTED
state	9885	begin apogee
9891	-0.31	0.0	736.3	13.3	475	10027	0.57	0.00	131.15	1.153	6	0.094	0.000	2230	2233	2781
10028	end apogee: CONTROL_FINISHED_OK
state	10028	begin climb
10032	0.85	146.6	744.7	0.0	482	10175	1.20	2.88	131.15	1.127	4	0.084	0.086	2478	3650	2184
10194	0.85	146.6	736.3	7.2	489	10200	0.00	2.62	0.00	0.000	6	0.000	0.060	2479	2245	2184
10510	0.92	216.6	720.9	4.1	505	10580	0.00	2.80	63.15	1.103	4	0.000	0.073	2479	827	1898
10641	1.04	246.4	716.5	5.2	511	10676	0.22	2.65	27.90	1.070	6	0.050	0.058	2532	2240	1776
10996	1.18	464.4	693.8	0.0	528	11197	0.12	2.80	191.70	1.107	4	0.060	0.084	2565	3646	886
11215	1.32	588.1	688.2	2.6	537	11305	0.00	2.65	82.50	1.081	6	0.000	0.061	2565	2240	509
11633	1.32	588.1	644.5	12.3	558	11637	0.00	2.70	0.00	0.000	4	0.000	0.077	2565	829	509
11728	1.32	588.1	633.3	11.3	562	11732	0.00	2.62	0.00	0.000	6	0.000	0.059	2565	2238	508
12043	1.32	588.1	597.6	9.6	577	12044	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2238	508
12352	1.32	588.1	561.3	10.5	592	12357	0.00	2.70	0.00	0.000	4	0.000	0.074	2565	825	507
12420	1.36	588.1	555.0	8.4	595	12425	0.15	2.62	0.00	0.000	6	0.070	0.056	2598	2244	507
12742	1.28	588.1	510.7	14.2	611	12746	0.00	2.70	0.00	0.000	4	0.000	0.072	2598	826	508
12831	1.22	588.1	497.7	12.5	615	12836	0.17	2.60	0.00	0.000	6	0.091	0.054	2564	2240	507
13153	1.22	588.1	453.1	13.4	631	13157	0.00	2.67	0.00	0.000	4	0.000	0.072	2563	827	508
13242	1.22	588.1	442.2	11.5	635	13246	0.00	2.60	0.00	0.000	6	0.000	0.053	2564	2243	508
13563	1.22	588.1	401.0	13.8	651	13568	0.00	2.67	0.00	0.000	4	0.000	0.070	2564	827	508
13658	1.22	588.1	387.5	13.4	655	13663	0.00	2.60	0.00	0.000	6	0.000	0.051	2564	2247	508
13974	1.22	588.1	343.4	13.2	670	13978	0.00	2.70	0.00	0.000	4	0.000	0.069	2563	820	509
14126	1.22	588.1	326.3	11.3	677	14130	0.00	2.60	0.00	0.000	6	0.000	0.051	2564	2241	509
14452	1.22	588.1	286.8	12.2	693	14457	0.00	2.67	0.03	0.288	4	0.000	0.067	2563	820	509
14575	1.22	588.1	272.2	11.7	698	14582	0.00	2.60	0.43	0.151	6	0.000	0.051	2564	2246	510
14891	1.22	588.1	233.5	12.4	714	14900	0.00	2.72	2.17	0.244	4	0.000	0.067	2563	820	508
14991	1.22	588.1	221.4	11.3	718	14995	0.00	2.60	0.00	0.000	6	0.000	0.050	2563	2245	509
15307	1.22	588.1	183.9	11.8	733	15312	0.00	2.67	0.08	0.182	4	0.000	0.067	2564	820	510
15407	1.22	588.1	172.2	11.0	737	15414	0.00	2.60	1.73	0.139	6	0.000	0.050	2563	2249	510
15724	1.22	588.1	134.0	11.5	753	15733	0.00	2.70	2.17	0.226	4	0.000	0.065	2563	825	508
15829	1.22	588.1	122.4	10.2	757	15835	0.00	2.58	0.00	0.000	6	0.000	0.050	2563	2244	508
16145	1.22	588.1	84.7	12.4	773	16149	0.00	2.65	0.00	0.000	4	0.000	0.066	2563	825	509
16256	1.22	588.1	70.7	11.5	778	16261	0.00	2.58	0.00	0.000	6	0.000	0.049	2563	2242	509
16578	1.22	588.1	31.5	12.4	794	16583	0.00	2.65	0.03	0.278	4	0.000	0.065	2563	825	509
16675	1.22	588.1	19.6	11.4	798	16680	0.00	2.58	0.08	0.186	6	0.000	0.048	2563	2247	510
16844	end climb: SURFACE_DEPTH_REACHED
state	16845	begin surface coast
16866	end surface coast: CONTROL_FINISHED_OK
state	16866	begin surface