Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 216 * 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 216 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 22 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 -2097662 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 12 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 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 -2097662

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 12

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 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 22 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 216 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 001837,6352.137,-1313.984,35,1.3,36,-12.5 TGT_NAME BT1

_CALLS 1 TGT_LATLONG 6401.000,-1331.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.25 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -51.0 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 002415,6352.187,-1313.849,13,1.8,13,-12.5 MHEAD_RNG_PITCHd_Wd 332.1,21450,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027038 ALTIM_BOTTOM_PING 725.4,81.7

SM_CCo 18570,12.45,0.557,0,0,508,557.32 _24V_AH 23.5,38.064

SM_GC 1.14,0.00,0.00,12.45,0.000,0.000,0.557,68,2246,508,-10.27,0.45,557.32 _10V_AH 10.1,19.425

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44320,894

TT8_MAMPS 0.023777 CAP_FILE_SIZE 137223,0

HUMID 1923 CFSIZE 260165632,245010432

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 35 GPS 230708,053538,6354.308,-1316.918,41,1.5,41,-12.6

ALTIM_TOP_PING 19.9,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 164 98.26 SBE_CT 657 24 371.01

Roll_motor 160 80 303.81 SBE_O2 609 19 272.24

VBD_pump_during_apogee 604 1156 16432.92 WL_BB2F 521 105 1287.89

VBD_pump_during_surface 12 556 162.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.15 nil 0 0 0.00

Iridium_during_connect 28 160 108.79 nil 0 0 0.00

Iridium_during_xfer 161 223 845.46

Transponder_ping 15 420 152.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.67

TT8 1633 19 326.60

LPSleep 13991 2 309.47

TT8_Active 720 19 144.01

TT8_Sampling 2050 39 824.31

TT8_CF8 524 45 242.48

TT8_Kalman 0 81 0.00

Analog_circuits 1799 12 218.14

GPS_charging 0 0 0.00

Compass 1999 8 161.53

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 72 2252 2934

153 -0.85 -146.6 3.5 -2.5 6 183 11.30 2.70 -11.10 0.000 4 0.164 0.067 2108 814 3381

268 -0.68 -146.6 19.3 -10.6 11 273 0.20 2.58 0.00 0.000 6 0.094 0.046 2147 2237 3381

591 -0.59 -146.6 47.0 -8.2 27 596 0.12 2.60 0.00 0.000 4 0.098 0.064 2171 3637 3381

632 -0.59 -146.6 50.3 -7.3 29 636 0.00 2.55 0.00 0.000 6 0.000 0.045 2171 2222 3381

959 -0.59 -146.6 70.3 -5.3 45 963 0.00 2.58 0.00 0.000 4 0.000 0.057 2171 808 3381

1031 -0.64 -146.6 74.6 -5.8 48 1036 0.00 2.55 0.00 0.000 6 0.000 0.045 2171 2229 3381

1348 -0.64 -146.6 98.0 -7.8 63 1352 0.00 2.60 0.00 0.000 4 0.000 0.066 2171 3637 3381

1410 -0.64 -146.6 103.1 -8.0 66 1415 0.00 2.53 0.00 0.000 6 0.000 0.045 2171 2223 3381

1737 -0.64 -146.6 127.7 -8.1 82 1738 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2223 3381

2046 -0.64 -146.6 153.8 -9.0 97 2050 0.00 2.62 0.00 0.000 4 0.000 0.067 2171 3637 3381

2090 -0.64 -146.6 158.3 -9.9 99 2094 0.00 2.53 0.00 0.000 6 0.000 0.045 2171 2223 3381

2410 -0.64 -146.6 183.4 -8.6 115 2411 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2223 3381

2720 -0.64 -146.6 208.8 -8.5 130 2721 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2223 3381

3029 -0.64 -146.6 233.8 -7.4 145 3030 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2223 3381

3338 -0.64 -146.6 253.7 -6.3 160 3342 0.00 2.62 0.00 0.000 4 0.000 0.068 2171 3637 3381

3382 -0.64 -146.6 256.8 -7.2 162 3387 0.00 2.53 0.00 0.000 6 0.000 0.047 2171 2223 3381

3703 -0.64 -146.6 276.4 -6.4 178 3705 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2223 3381

4013 -0.64 -146.6 296.2 -6.3 193 4014 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3381

4322 -0.64 -146.6 315.0 -6.1 208 4327 0.00 2.62 0.00 0.000 4 0.000 0.069 2171 3637 3380

4372 -0.64 -146.6 318.4 -7.1 210 4377 0.00 2.50 0.00 0.000 6 0.000 0.046 2171 2229 3381

4688 -0.64 -146.6 335.5 -5.1 225 4689 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2228 3381

4998 -0.64 -146.6 356.9 -7.9 240 5002 0.00 2.62 0.00 0.000 4 0.000 0.070 2171 3640 3380

5041 -0.64 -146.6 360.5 -8.1 242 5046 0.00 2.53 0.00 0.000 6 0.000 0.046 2171 2221 3380

5362 -0.64 -146.6 384.1 -8.1 258 5364 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3379

5672 -0.64 -146.6 408.2 -8.2 273 5677 0.00 2.65 0.00 0.000 4 0.000 0.070 2171 3644 3380

5717 -0.64 -146.6 412.3 -8.9 275 5721 0.00 2.53 0.00 0.000 6 0.000 0.046 2171 2227 3380

6038 -0.64 -146.6 438.8 -8.3 291 6039 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2227 3380

6348 -0.64 -146.6 462.5 -7.3 306 6349 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2227 3380

6657 -0.64 -146.6 482.3 -6.4 321 6661 0.00 2.62 0.00 0.000 4 0.000 0.070 2171 3637 3379

6696 -0.64 -146.6 485.0 -7.3 323 6701 0.00 2.53 0.00 0.000 6 0.000 0.046 2171 2222 3380

7023 -0.64 -146.6 507.7 -7.1 339 7028 0.00 2.62 0.00 0.000 4 0.000 0.069 2171 3637 3380

7057 -0.64 -146.6 510.3 -8.0 340 7063 0.00 2.50 0.00 0.000 6 0.000 0.046 2171 2230 3380

7373 -0.64 -146.6 530.7 -6.3 356 7374 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3380

7682 -0.64 -146.6 553.1 -8.2 371 7683 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3379

7992 -0.68 -146.6 576.4 -7.1 386 7993 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2230 3379

8301 -0.73 -146.6 593.3 -4.9 401 8303 0.15 0.00 0.00 0.000 6 0.045 0.000 2123 2231 3379

8611 -0.64 -146.6 623.2 -10.5 416 8613 0.17 0.00 0.00 0.000 6 0.086 0.000 2158 2230 3379

8919 -0.64 -146.6 646.8 -7.9 431 8920 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2230 3379

9229 -0.64 -146.6 672.4 -8.8 446 9230 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2230 3378

9538 -0.64 -146.6 695.7 -6.4 461 9542 0.00 2.65 0.00 0.000 4 0.000 0.074 2158 3640 3378

9582 -0.69 -146.6 698.8 -6.4 463 9586 0.00 2.53 0.00 0.000 6 0.000 0.051 2158 2230 3378

9903 -0.69 -146.6 719.8 -6.5 479 9907 0.00 2.58 0.00 0.000 4 0.000 0.062 2158 821 3377

9936 -0.75 -146.6 722.1 -6.6 480 9943 0.00 2.53 0.00 0.000 6 0.000 0.051 2158 2229 3377

10252 -0.75 -146.6 737.9 -3.0 496 10253 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2229 3377

10562 -0.75 -146.6 749.7 -5.5 511 10563 0.00 0.00 0.00 0.000 6 0.000 0.000 2158 2229 3376

10871 -0.75 -146.6 769.6 -4.9 526 10875 0.00 2.58 0.00 0.000 4 0.000 0.063 2158 822 3375

10915 -0.81 -146.6 773.1 -8.8 528 10920 0.17 2.55 0.00 0.000 6 0.046 0.052 2108 2235 3375

11237 -0.71 -146.6 795.6 -6.0 544 11239 0.17 0.00 0.00 0.000 6 0.095 0.000 2142 2235 3374

11275 end dive: BOTTOM_OBSTACLE_DETECTED

state 11276 begin apogee

11282 -0.31 0.0 797.9 5.7 546 11418 0.43 0.00 132.85 1.157 6 0.093 0.000 2228 2237 2781

11419 end apogee: CONTROL_FINISHED_OK

state 11419 begin climb

11422 0.85 146.6 794.9 0.0 553 11566 1.15 2.78 131.75 1.133 4 0.052 0.081 2490 3640 2183

11751 1.18 533.0 793.0 -4.6 568 12101 0.30 2.58 339.98 1.131 6 0.044 0.060 2565 2241 606

12429 1.18 533.0 727.2 12.7 601 12433 0.00 2.65 0.00 0.000 4 0.000 0.071 2565 834 607

12583 1.22 533.0 708.1 11.8 608 12587 0.00 2.60 0.00 0.000 6 0.000 0.054 2565 2243 607

12909 1.22 533.0 671.5 10.8 624 12914 0.00 2.67 0.00 0.000 4 0.000 0.069 2565 828 606

12982 1.22 533.0 663.6 10.2 627 12986 0.00 2.60 0.00 0.000 6 0.000 0.053 2565 2247 606

13297 1.22 533.0 628.8 10.7 642 13301 0.00 2.67 0.00 0.000 4 0.000 0.068 2565 827 606

13353 1.26 533.0 623.8 8.1 644 13359 0.00 2.58 0.00 0.000 6 0.000 0.051 2565 2241 606

13669 1.26 533.0 594.0 10.9 660 13673 0.00 2.62 0.00 0.000 4 0.000 0.067 2565 831 606

13753 1.26 533.0 585.4 8.3 664 13757 0.00 2.58 0.00 0.000 6 0.000 0.051 2565 2242 606

14079 1.26 533.0 550.4 10.9 680 14084 0.00 2.62 0.00 0.000 4 0.000 0.066 2565 832 606

14147 1.31 533.0 542.9 11.0 683 14151 0.00 2.55 0.00 0.000 6 0.000 0.049 2565 2242 606

14468 1.31 533.0 508.4 11.3 699 14472 0.00 2.62 0.00 0.000 4 0.000 0.065 2565 831 606

14540 1.35 533.0 499.7 12.0 702 14545 0.15 2.55 0.00 0.000 6 0.054 0.049 2602 2241 606

14856 1.26 533.0 456.2 13.2 717 14861 0.15 2.62 0.00 0.000 4 0.085 0.064 2572 829 607

14929 1.26 533.0 447.5 10.8 720 14933 0.00 2.55 0.00 0.000 6 0.000 0.048 2572 2239 607

15245 1.21 533.0 407.9 13.3 735 15249 0.00 2.62 0.00 0.000 4 0.000 0.064 2572 825 607

15306 1.21 533.0 400.1 11.8 738 15311 0.00 2.58 0.00 0.000 6 0.000 0.048 2572 2245 607

15634 1.21 533.0 358.7 12.8 754 15638 0.00 2.62 0.00 0.000 4 0.000 0.064 2572 831 607

15706 1.21 533.0 349.7 11.8 757 15710 0.00 2.55 0.00 0.000 6 0.000 0.048 2573 2244 607

16022 1.16 533.0 308.1 13.2 772 16026 0.00 2.62 0.00 0.000 4 0.000 0.063 2572 829 608

16077 1.16 533.0 300.7 12.5 774 16083 0.00 2.55 0.00 0.000 6 0.000 0.048 2572 2243 608

16393 1.11 533.0 260.0 13.0 790 16398 0.15 2.62 0.00 0.000 4 0.081 0.062 2537 827 608

16456 1.20 533.0 253.1 10.2 793 16461 0.10 2.55 0.00 0.000 6 0.052 0.048 2568 2245 608

16783 1.20 533.0 211.2 12.4 809 16787 0.00 2.62 0.00 0.000 4 0.000 0.063 2569 827 608

16844 1.20 533.0 203.4 12.2 812 16849 0.00 2.55 0.00 0.000 6 0.000 0.047 2569 2240 608

17172 1.20 533.0 163.1 11.4 828 17176 0.00 2.60 0.00 0.000 4 0.000 0.062 2569 830 609

17235 1.20 533.0 155.7 12.0 831 17239 0.00 2.55 0.00 0.000 6 0.000 0.048 2569 2243 608

17562 1.20 533.0 113.0 14.3 847 17567 0.00 2.62 0.00 0.000 4 0.000 0.063 2569 825 609

17612 1.20 533.0 106.2 12.2 849 17617 0.00 2.55 0.00 0.000 6 0.000 0.047 2569 2243 609

17930 1.20 533.0 76.0 7.6 864 17934 0.00 2.62 0.00 0.000 4 0.000 0.064 2569 825 609

17985 1.20 533.0 70.7 8.7 866 17992 0.00 2.55 0.00 0.000 6 0.000 0.048 2569 2247 609

18301 1.20 533.0 25.3 12.8 882 18305 0.00 2.62 0.00 0.000 4 0.000 0.062 2569 823 609

18387 1.20 533.0 16.3 10.6 886 18392 0.00 2.55 0.00 0.000 6 0.000 0.047 2569 2245 609

18526 end climb: SURFACE_DEPTH_REACHED

state 18526 begin surface coast

18548 end surface coast: CONTROL_FINISHED_OK

state 18549 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	216	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	22	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	-2097662	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	12	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	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	001837,6352.137,-1313.984,35,1.3,36,-12.5	TGT_NAME	BT1
_CALLS	1	TGT_LATLONG	6401.000,-1331.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.25	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-51.0	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	002415,6352.187,-1313.849,13,1.8,13,-12.5	MHEAD_RNG_PITCHd_Wd	332.1,21450,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027038	ALTIM_BOTTOM_PING	725.4,81.7
SM_CCo	18570,12.45,0.557,0,0,508,557.32	_24V_AH	23.5,38.064
SM_GC	1.14,0.00,0.00,12.45,0.000,0.000,0.557,68,2246,508,-10.27,0.45,557.32	_10V_AH	10.1,19.425
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44320,894
TT8_MAMPS	0.023777	CAP_FILE_SIZE	137223,0
HUMID	1923	CFSIZE	260165632,245010432
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	35	GPS	230708,053538,6354.308,-1316.918,41,1.5,41,-12.6
ALTIM_TOP_PING	19.9,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	164	98.26	SBE_CT	657	24	371.01
Roll_motor	160	80	303.81	SBE_O2	609	19	272.24
VBD_pump_during_apogee	604	1156	16432.92	WL_BB2F	521	105	1287.89
VBD_pump_during_surface	12	556	162.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.15	nil	0	0	0.00
Iridium_during_connect	28	160	108.79	nil	0	0	0.00
Iridium_during_xfer	161	223	845.46
Transponder_ping	15	420	152.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.67
TT8	1633	19	326.60
LPSleep	13991	2	309.47
TT8_Active	720	19	144.01
TT8_Sampling	2050	39	824.31
TT8_CF8	524	45	242.48
TT8_Kalman	0	81	0.00
Analog_circuits	1799	12	218.14
GPS_charging	0	0	0.00
Compass	1999	8	161.53
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	72	2252	2934
153	-0.85	-146.6	3.5	-2.5	6	183	11.30	2.70	-11.10	0.000	4	0.164	0.067	2108	814	3381
268	-0.68	-146.6	19.3	-10.6	11	273	0.20	2.58	0.00	0.000	6	0.094	0.046	2147	2237	3381
591	-0.59	-146.6	47.0	-8.2	27	596	0.12	2.60	0.00	0.000	4	0.098	0.064	2171	3637	3381
632	-0.59	-146.6	50.3	-7.3	29	636	0.00	2.55	0.00	0.000	6	0.000	0.045	2171	2222	3381
959	-0.59	-146.6	70.3	-5.3	45	963	0.00	2.58	0.00	0.000	4	0.000	0.057	2171	808	3381
1031	-0.64	-146.6	74.6	-5.8	48	1036	0.00	2.55	0.00	0.000	6	0.000	0.045	2171	2229	3381
1348	-0.64	-146.6	98.0	-7.8	63	1352	0.00	2.60	0.00	0.000	4	0.000	0.066	2171	3637	3381
1410	-0.64	-146.6	103.1	-8.0	66	1415	0.00	2.53	0.00	0.000	6	0.000	0.045	2171	2223	3381
1737	-0.64	-146.6	127.7	-8.1	82	1738	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2223	3381
2046	-0.64	-146.6	153.8	-9.0	97	2050	0.00	2.62	0.00	0.000	4	0.000	0.067	2171	3637	3381
2090	-0.64	-146.6	158.3	-9.9	99	2094	0.00	2.53	0.00	0.000	6	0.000	0.045	2171	2223	3381
2410	-0.64	-146.6	183.4	-8.6	115	2411	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2223	3381
2720	-0.64	-146.6	208.8	-8.5	130	2721	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2223	3381
3029	-0.64	-146.6	233.8	-7.4	145	3030	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2223	3381
3338	-0.64	-146.6	253.7	-6.3	160	3342	0.00	2.62	0.00	0.000	4	0.000	0.068	2171	3637	3381
3382	-0.64	-146.6	256.8	-7.2	162	3387	0.00	2.53	0.00	0.000	6	0.000	0.047	2171	2223	3381
3703	-0.64	-146.6	276.4	-6.4	178	3705	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2223	3381
4013	-0.64	-146.6	296.2	-6.3	193	4014	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3381
4322	-0.64	-146.6	315.0	-6.1	208	4327	0.00	2.62	0.00	0.000	4	0.000	0.069	2171	3637	3380
4372	-0.64	-146.6	318.4	-7.1	210	4377	0.00	2.50	0.00	0.000	6	0.000	0.046	2171	2229	3381
4688	-0.64	-146.6	335.5	-5.1	225	4689	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2228	3381
4998	-0.64	-146.6	356.9	-7.9	240	5002	0.00	2.62	0.00	0.000	4	0.000	0.070	2171	3640	3380
5041	-0.64	-146.6	360.5	-8.1	242	5046	0.00	2.53	0.00	0.000	6	0.000	0.046	2171	2221	3380
5362	-0.64	-146.6	384.1	-8.1	258	5364	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3379
5672	-0.64	-146.6	408.2	-8.2	273	5677	0.00	2.65	0.00	0.000	4	0.000	0.070	2171	3644	3380
5717	-0.64	-146.6	412.3	-8.9	275	5721	0.00	2.53	0.00	0.000	6	0.000	0.046	2171	2227	3380
6038	-0.64	-146.6	438.8	-8.3	291	6039	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2227	3380
6348	-0.64	-146.6	462.5	-7.3	306	6349	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2227	3380
6657	-0.64	-146.6	482.3	-6.4	321	6661	0.00	2.62	0.00	0.000	4	0.000	0.070	2171	3637	3379
6696	-0.64	-146.6	485.0	-7.3	323	6701	0.00	2.53	0.00	0.000	6	0.000	0.046	2171	2222	3380
7023	-0.64	-146.6	507.7	-7.1	339	7028	0.00	2.62	0.00	0.000	4	0.000	0.069	2171	3637	3380
7057	-0.64	-146.6	510.3	-8.0	340	7063	0.00	2.50	0.00	0.000	6	0.000	0.046	2171	2230	3380
7373	-0.64	-146.6	530.7	-6.3	356	7374	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3380
7682	-0.64	-146.6	553.1	-8.2	371	7683	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3379
7992	-0.68	-146.6	576.4	-7.1	386	7993	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2230	3379
8301	-0.73	-146.6	593.3	-4.9	401	8303	0.15	0.00	0.00	0.000	6	0.045	0.000	2123	2231	3379
8611	-0.64	-146.6	623.2	-10.5	416	8613	0.17	0.00	0.00	0.000	6	0.086	0.000	2158	2230	3379
8919	-0.64	-146.6	646.8	-7.9	431	8920	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2230	3379
9229	-0.64	-146.6	672.4	-8.8	446	9230	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2230	3378
9538	-0.64	-146.6	695.7	-6.4	461	9542	0.00	2.65	0.00	0.000	4	0.000	0.074	2158	3640	3378
9582	-0.69	-146.6	698.8	-6.4	463	9586	0.00	2.53	0.00	0.000	6	0.000	0.051	2158	2230	3378
9903	-0.69	-146.6	719.8	-6.5	479	9907	0.00	2.58	0.00	0.000	4	0.000	0.062	2158	821	3377
9936	-0.75	-146.6	722.1	-6.6	480	9943	0.00	2.53	0.00	0.000	6	0.000	0.051	2158	2229	3377
10252	-0.75	-146.6	737.9	-3.0	496	10253	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2229	3377
10562	-0.75	-146.6	749.7	-5.5	511	10563	0.00	0.00	0.00	0.000	6	0.000	0.000	2158	2229	3376
10871	-0.75	-146.6	769.6	-4.9	526	10875	0.00	2.58	0.00	0.000	4	0.000	0.063	2158	822	3375
10915	-0.81	-146.6	773.1	-8.8	528	10920	0.17	2.55	0.00	0.000	6	0.046	0.052	2108	2235	3375
11237	-0.71	-146.6	795.6	-6.0	544	11239	0.17	0.00	0.00	0.000	6	0.095	0.000	2142	2235	3374
11275	end dive: BOTTOM_OBSTACLE_DETECTED
state	11276	begin apogee
11282	-0.31	0.0	797.9	5.7	546	11418	0.43	0.00	132.85	1.157	6	0.093	0.000	2228	2237	2781
11419	end apogee: CONTROL_FINISHED_OK
state	11419	begin climb
11422	0.85	146.6	794.9	0.0	553	11566	1.15	2.78	131.75	1.133	4	0.052	0.081	2490	3640	2183
11751	1.18	533.0	793.0	-4.6	568	12101	0.30	2.58	339.98	1.131	6	0.044	0.060	2565	2241	606
12429	1.18	533.0	727.2	12.7	601	12433	0.00	2.65	0.00	0.000	4	0.000	0.071	2565	834	607
12583	1.22	533.0	708.1	11.8	608	12587	0.00	2.60	0.00	0.000	6	0.000	0.054	2565	2243	607
12909	1.22	533.0	671.5	10.8	624	12914	0.00	2.67	0.00	0.000	4	0.000	0.069	2565	828	606
12982	1.22	533.0	663.6	10.2	627	12986	0.00	2.60	0.00	0.000	6	0.000	0.053	2565	2247	606
13297	1.22	533.0	628.8	10.7	642	13301	0.00	2.67	0.00	0.000	4	0.000	0.068	2565	827	606
13353	1.26	533.0	623.8	8.1	644	13359	0.00	2.58	0.00	0.000	6	0.000	0.051	2565	2241	606
13669	1.26	533.0	594.0	10.9	660	13673	0.00	2.62	0.00	0.000	4	0.000	0.067	2565	831	606
13753	1.26	533.0	585.4	8.3	664	13757	0.00	2.58	0.00	0.000	6	0.000	0.051	2565	2242	606
14079	1.26	533.0	550.4	10.9	680	14084	0.00	2.62	0.00	0.000	4	0.000	0.066	2565	832	606
14147	1.31	533.0	542.9	11.0	683	14151	0.00	2.55	0.00	0.000	6	0.000	0.049	2565	2242	606
14468	1.31	533.0	508.4	11.3	699	14472	0.00	2.62	0.00	0.000	4	0.000	0.065	2565	831	606
14540	1.35	533.0	499.7	12.0	702	14545	0.15	2.55	0.00	0.000	6	0.054	0.049	2602	2241	606
14856	1.26	533.0	456.2	13.2	717	14861	0.15	2.62	0.00	0.000	4	0.085	0.064	2572	829	607
14929	1.26	533.0	447.5	10.8	720	14933	0.00	2.55	0.00	0.000	6	0.000	0.048	2572	2239	607
15245	1.21	533.0	407.9	13.3	735	15249	0.00	2.62	0.00	0.000	4	0.000	0.064	2572	825	607
15306	1.21	533.0	400.1	11.8	738	15311	0.00	2.58	0.00	0.000	6	0.000	0.048	2572	2245	607
15634	1.21	533.0	358.7	12.8	754	15638	0.00	2.62	0.00	0.000	4	0.000	0.064	2572	831	607
15706	1.21	533.0	349.7	11.8	757	15710	0.00	2.55	0.00	0.000	6	0.000	0.048	2573	2244	607
16022	1.16	533.0	308.1	13.2	772	16026	0.00	2.62	0.00	0.000	4	0.000	0.063	2572	829	608
16077	1.16	533.0	300.7	12.5	774	16083	0.00	2.55	0.00	0.000	6	0.000	0.048	2572	2243	608
16393	1.11	533.0	260.0	13.0	790	16398	0.15	2.62	0.00	0.000	4	0.081	0.062	2537	827	608
16456	1.20	533.0	253.1	10.2	793	16461	0.10	2.55	0.00	0.000	6	0.052	0.048	2568	2245	608
16783	1.20	533.0	211.2	12.4	809	16787	0.00	2.62	0.00	0.000	4	0.000	0.063	2569	827	608
16844	1.20	533.0	203.4	12.2	812	16849	0.00	2.55	0.00	0.000	6	0.000	0.047	2569	2240	608
17172	1.20	533.0	163.1	11.4	828	17176	0.00	2.60	0.00	0.000	4	0.000	0.062	2569	830	609
17235	1.20	533.0	155.7	12.0	831	17239	0.00	2.55	0.00	0.000	6	0.000	0.048	2569	2243	608
17562	1.20	533.0	113.0	14.3	847	17567	0.00	2.62	0.00	0.000	4	0.000	0.063	2569	825	609
17612	1.20	533.0	106.2	12.2	849	17617	0.00	2.55	0.00	0.000	6	0.000	0.047	2569	2243	609
17930	1.20	533.0	76.0	7.6	864	17934	0.00	2.62	0.00	0.000	4	0.000	0.064	2569	825	609
17985	1.20	533.0	70.7	8.7	866	17992	0.00	2.55	0.00	0.000	6	0.000	0.048	2569	2247	609
18301	1.20	533.0	25.3	12.8	882	18305	0.00	2.62	0.00	0.000	4	0.000	0.062	2569	823	609
18387	1.20	533.0	16.3	10.6	886	18392	0.00	2.55	0.00	0.000	6	0.000	0.047	2569	2245	609
18526	end climb: SURFACE_DEPTH_REACHED
state	18526	begin surface coast
18548	end surface coast: CONTROL_FINISHED_OK
state	18549	begin surface