Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 226 * 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 226 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 -2097906 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 -2097906

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 226 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 095808,6357.301,-1311.503,34,2.0,34,-12.5 TGT_NAME BT2

_CALLS 1 TGT_LATLONG 6345.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 3000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.32 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -55.6 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 100356,6357.326,-1311.455,16,1.8,33,-12.5 MHEAD_RNG_PITCHd_Wd 170.2,24680,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.015660 ALTIM_BOTTOM_PING 701.1,36.4

SM_CCo 17658,41.83,0.597,0,0,509,557.32 _24V_AH 23.5,39.424

SM_GC 1.38,0.00,0.00,41.83,0.000,0.000,0.597,68,2228,509,-10.26,-0.06,557.32 _10V_AH 10.1,20.039

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44277,850

TT8_MAMPS 0.023777 CAP_FILE_SIZE 138818,0

HUMID 1896 CFSIZE 260165632,244543488

TCM_TEMP 17.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

XPDR_PINGS 42 GPS 240708,150037,6356.262,-1306.890,39,1.3,44,-12.5

ALTIM_TOP_PING 18.2,17.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 100.16 SBE_CT 625 24 352.69

Roll_motor 197 85 395.49 SBE_O2 578 19 258.34

VBD_pump_during_apogee 551 1147 14870.33 WL_BB2F 511 105 1262.04

VBD_pump_during_surface 41 597 587.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.45 nil 0 0 0.00

Iridium_during_connect 31 160 119.45 nil 0 0 0.00

Iridium_during_xfer 148 223 778.86

Transponder_ping 17 420 167.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.09

TT8 1583 19 316.60

LPSleep 13168 2 291.28

TT8_Active 751 19 150.27

TT8_Sampling 2012 39 809.10

TT8_CF8 528 45 244.47

TT8_Kalman 0 81 0.00

Analog_circuits 1805 12 218.88

GPS_charging 0 0 0.00

Compass 1941 8 156.87

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -0.85 -146.6 0.0 0.0 0 151 0.00 0.00 -121.15 0.000 2 0.000 0.000 70 2250 3014

154 -0.85 -146.6 4.2 -3.5 6 180 11.50 2.67 -8.18 0.000 4 0.168 0.073 2110 814 3380

214 -0.67 -146.6 16.2 -11.7 9 219 0.20 2.58 0.00 0.000 6 0.096 0.048 2149 2230 3380

536 -0.58 -146.6 47.3 -9.1 25 541 0.12 2.62 0.00 0.000 4 0.098 0.058 2173 808 3380

581 -0.63 -146.6 51.0 -8.0 27 585 0.00 2.58 0.00 0.000 6 0.000 0.046 2173 2233 3380

902 -0.63 -146.6 77.6 -8.9 43 907 0.00 2.62 0.00 0.000 4 0.000 0.058 2173 810 3381

958 -0.69 -146.6 82.7 -8.9 45 965 0.00 2.58 0.00 0.000 6 0.000 0.047 2173 2239 3380

1275 -0.69 -146.6 107.1 -7.0 61 1279 0.00 2.60 0.00 0.000 4 0.000 0.067 2173 3641 3381

1307 -0.69 -146.6 109.8 -7.8 62 1314 0.00 2.55 0.00 0.000 6 0.000 0.050 2173 2224 3381

1625 -0.69 -146.6 133.9 -7.7 78 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2225 3381

1932 -0.69 -146.6 159.0 -8.6 93 1937 0.00 2.65 0.00 0.000 4 0.000 0.068 2173 3641 3381

1973 -0.69 -146.6 162.3 -8.8 95 1977 0.00 2.55 0.00 0.000 6 0.000 0.050 2173 2227 3381

2299 -0.69 -146.6 188.4 -7.9 111 2304 0.00 2.58 0.00 0.000 4 0.000 0.061 2173 817 3381

2327 -0.74 -146.6 190.8 -8.8 112 2332 0.15 2.55 0.00 0.000 6 0.043 0.048 2125 2230 3381

2644 -0.60 -146.6 224.6 -10.8 127 2652 0.17 2.58 0.00 0.000 4 0.085 0.070 2164 3637 3381

2680 -0.60 -146.6 228.4 -9.4 128 2684 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2226 3381

2996 -0.60 -146.6 254.5 -8.4 143 2997 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2225 3381

3305 -0.60 -146.6 280.8 -8.6 158 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2225 3381

3614 -0.60 -146.6 306.2 -7.9 173 3618 0.00 2.65 0.00 0.000 4 0.000 0.071 2164 3640 3381

3647 -0.60 -146.6 309.1 -8.3 174 3653 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2225 3381

3962 -0.60 -146.6 332.3 -7.0 190 3964 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2225 3381

4272 -0.60 -146.6 352.5 -6.3 205 4273 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2225 3381

4582 -0.60 -146.6 372.9 -7.0 220 4583 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2225 3381

4890 -0.60 -146.6 394.7 -6.6 235 4895 0.00 2.65 0.00 0.000 4 0.000 0.071 2164 3643 3381

4946 -0.60 -146.6 398.8 -7.3 237 4952 0.00 2.55 0.00 0.000 6 0.000 0.050 2164 2225 3381

5262 -0.60 -146.6 423.8 -8.4 253 5266 0.00 2.65 0.00 0.000 4 0.000 0.072 2164 3638 3381

5301 -0.60 -146.6 427.5 -9.5 255 5306 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2230 3381

5629 -0.60 -146.6 452.2 -7.4 271 5630 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2230 3381

5939 -0.60 -146.6 467.5 -3.9 286 5940 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2230 3381

6247 -0.60 -146.6 483.5 -5.8 301 6252 0.00 2.65 0.00 0.000 4 0.000 0.073 2164 3644 3380

6292 -0.60 -146.6 486.5 -6.3 303 6296 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2230 3380

6613 -0.60 -146.6 506.4 -6.0 319 6618 0.00 2.65 0.00 0.000 4 0.000 0.073 2164 3637 3380

6653 -0.60 -146.6 509.6 -7.4 321 6658 0.00 2.55 0.00 0.000 6 0.000 0.052 2164 2228 3380

6980 -0.60 -146.6 534.2 -7.2 337 6985 0.00 2.65 0.00 0.000 4 0.000 0.074 2164 3640 3380

7025 -0.60 -146.6 537.7 -7.7 339 7029 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2226 3380

7346 -0.60 -146.6 560.6 -7.2 355 7351 0.00 2.67 0.00 0.000 4 0.000 0.074 2164 3644 3379

7396 -0.60 -146.6 564.1 -6.3 357 7401 0.00 2.55 0.00 0.000 6 0.000 0.051 2164 2229 3379

7712 -0.60 -146.6 584.0 -6.1 372 7717 0.00 2.65 0.00 0.000 4 0.000 0.077 2164 3637 3379

7756 -0.60 -146.6 586.8 -6.4 374 7761 0.00 2.55 0.00 0.000 6 0.000 0.053 2164 2228 3378

8079 -0.60 -146.6 600.9 -4.7 390 8083 0.00 2.67 0.00 0.000 4 0.000 0.080 2164 3637 3378

8123 -0.60 -146.6 603.6 -6.4 392 8127 0.00 2.55 0.00 0.000 6 0.000 0.054 2164 2230 3378

8444 -0.60 -146.6 621.3 -5.6 408 8448 0.00 2.67 0.00 0.000 4 0.000 0.081 2164 3635 3377

8488 -0.64 -146.6 624.3 -7.3 410 8492 0.00 2.58 0.00 0.000 6 0.000 0.056 2164 2222 3377

8809 -0.64 -146.6 647.1 -6.9 426 8810 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2222 3376

9119 -0.64 -146.6 674.9 -7.3 441 9123 0.00 2.70 0.00 0.000 4 0.000 0.085 2164 3634 3375

9152 -0.69 -146.6 677.6 -7.7 442 9156 0.00 2.58 0.00 0.000 6 0.000 0.058 2164 2229 3375

9468 -0.69 -146.6 698.5 -6.4 457 9469 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2229 3374

9777 -0.74 -146.6 716.6 -4.8 472 9782 0.12 2.65 0.00 0.000 4 0.058 0.074 2129 822 3374

9844 -0.74 -146.6 721.0 -6.6 475 9849 0.00 2.60 0.00 0.000 6 0.000 0.060 2128 2229 3373

9915 end dive: BOTTOM_OBSTACLE_DETECTED

state 9915 begin apogee

9922 -0.31 0.0 727.6 9.5 479 10058 0.50 0.00 131.35 1.147 6 0.101 0.000 2227 2229 2781

10059 end apogee: CONTROL_FINISHED_OK

state 10059 begin climb

10062 0.85 146.6 733.5 0.0 486 10205 1.20 2.80 130.77 1.122 4 0.082 0.078 2479 829 2183

10456 0.89 182.8 722.8 5.0 504 10498 0.00 2.65 33.35 1.088 6 0.000 0.058 2479 2247 2035

10811 1.04 273.6 706.3 3.5 521 10900 0.20 2.83 81.15 1.121 4 0.058 0.074 2532 826 1664

10948 1.00 316.3 699.9 4.8 527 10992 0.00 2.65 38.80 1.091 6 0.000 0.060 2532 2239 1491

11311 1.00 316.3 670.6 8.0 545 11315 0.00 2.72 0.00 0.000 4 0.000 0.084 2532 3647 1489

11360 1.00 316.3 665.9 9.2 547 11365 0.00 2.62 0.00 0.000 6 0.000 0.064 2532 2242 1489

11676 1.00 316.3 630.2 13.4 562 11681 0.00 2.70 0.00 0.000 4 0.000 0.083 2532 3648 1488

11799 0.95 316.3 612.0 18.0 567 11806 0.12 2.62 0.00 0.000 6 0.094 0.061 2507 2235 1488

12116 1.08 472.0 592.8 1.7 583 12259 0.12 2.78 136.05 1.070 4 0.058 0.078 2542 3648 855

12283 1.08 472.0 575.5 12.1 591 12288 0.00 2.65 0.00 0.000 6 0.000 0.059 2542 2238 856

12610 1.08 472.0 531.4 12.2 607 12614 0.00 2.67 0.00 0.000 4 0.000 0.071 2542 824 856

12638 1.08 472.0 528.3 11.3 608 12643 0.00 2.60 0.00 0.000 6 0.000 0.051 2542 2243 856

12954 1.08 472.0 499.5 9.1 623 12958 0.00 2.67 0.00 0.000 4 0.000 0.070 2542 827 856

13009 1.08 472.0 494.1 9.9 625 13015 0.00 2.58 0.00 0.000 6 0.000 0.051 2542 2240 856

13325 1.08 472.0 456.8 14.1 641 13330 0.00 2.67 0.00 0.000 4 0.000 0.069 2542 821 856

13388 1.08 472.0 447.5 14.3 644 13392 0.00 2.60 0.00 0.000 6 0.000 0.050 2542 2245 857

13715 1.08 472.0 407.2 10.9 660 13719 0.00 2.67 0.00 0.000 4 0.000 0.067 2542 823 857

13770 1.08 472.0 401.6 9.5 662 13776 0.00 2.58 0.00 0.000 6 0.000 0.050 2542 2240 858

14085 1.08 472.0 368.9 10.7 678 14090 0.00 2.62 0.00 0.000 4 0.000 0.067 2542 828 858

14148 1.08 472.0 362.1 10.5 681 14152 0.00 2.58 0.00 0.000 6 0.000 0.049 2542 2242 858

14475 1.08 472.0 323.4 11.8 697 14479 0.00 2.65 0.00 0.000 4 0.000 0.067 2542 828 859

14536 1.08 472.0 315.9 11.7 700 14541 0.00 2.58 0.00 0.000 6 0.000 0.049 2542 2243 859

14864 1.08 472.0 279.5 10.2 716 14869 0.00 2.65 0.00 0.000 4 0.000 0.067 2542 826 859

14931 1.08 472.0 272.6 9.4 719 14935 0.00 2.58 0.00 0.000 6 0.000 0.049 2542 2246 859

15252 1.08 472.0 241.5 9.6 735 15256 0.00 2.65 0.00 0.000 4 0.000 0.066 2542 828 860

15318 1.08 472.0 235.0 9.4 738 15323 0.00 2.55 0.00 0.000 6 0.000 0.048 2542 2244 860

15639 1.08 472.0 201.3 10.8 754 15644 0.00 2.65 0.00 0.000 4 0.000 0.066 2542 827 860

15708 1.08 472.0 194.2 10.3 757 15712 0.00 2.55 0.00 0.000 6 0.000 0.048 2542 2240 860

16029 1.08 472.0 160.9 10.7 773 16033 0.00 2.62 0.00 0.000 4 0.000 0.066 2542 828 861

16106 1.08 472.0 152.8 10.0 776 16112 0.00 2.55 0.00 0.000 6 0.000 0.048 2542 2242 861

16422 1.08 472.0 121.1 10.0 792 16427 0.00 2.62 0.00 0.000 4 0.000 0.066 2542 828 862

16486 1.08 472.0 114.9 9.1 795 16490 0.00 2.55 0.00 0.000 6 0.000 0.048 2541 2242 861

16813 1.08 472.0 80.2 11.1 811 16817 0.00 2.62 0.00 0.000 4 0.000 0.066 2542 828 862

16875 1.08 472.0 73.1 10.2 814 16879 0.00 2.55 0.00 0.000 6 0.000 0.047 2541 2240 862

17202 1.08 472.0 37.1 10.2 830 17207 0.00 2.62 0.00 0.000 4 0.000 0.066 2542 828 862

17275 1.12 472.0 29.8 9.8 833 17280 0.00 2.55 0.00 0.000 6 0.000 0.048 2542 2243 863

17592 1.22 472.0 2.1 8.6 848 17597 0.12 1.98 0.00 0.000 3 0.062 0.067 2573 3323 862

17598 end climb: SURFACE_DEPTH_REACHED

state 17598 begin surface coast

17635 end surface coast: CONTROL_FINISHED_OK

state 17635 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	226	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	-2097906	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	095808,6357.301,-1311.503,34,2.0,34,-12.5	TGT_NAME	BT2
_CALLS	1	TGT_LATLONG	6345.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	3000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.32	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-55.6	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	100356,6357.326,-1311.455,16,1.8,33,-12.5	MHEAD_RNG_PITCHd_Wd	170.2,24680,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.015660	ALTIM_BOTTOM_PING	701.1,36.4
SM_CCo	17658,41.83,0.597,0,0,509,557.32	_24V_AH	23.5,39.424
SM_GC	1.38,0.00,0.00,41.83,0.000,0.000,0.597,68,2228,509,-10.26,-0.06,557.32	_10V_AH	10.1,20.039
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44277,850
TT8_MAMPS	0.023777	CAP_FILE_SIZE	138818,0
HUMID	1896	CFSIZE	260165632,244543488
TCM_TEMP	17.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
XPDR_PINGS	42	GPS	240708,150037,6356.262,-1306.890,39,1.3,44,-12.5
ALTIM_TOP_PING	18.2,17.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	100.16	SBE_CT	625	24	352.69
Roll_motor	197	85	395.49	SBE_O2	578	19	258.34
VBD_pump_during_apogee	551	1147	14870.33	WL_BB2F	511	105	1262.04
VBD_pump_during_surface	41	597	587.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.45	nil	0	0	0.00
Iridium_during_connect	31	160	119.45	nil	0	0	0.00
Iridium_during_xfer	148	223	778.86
Transponder_ping	17	420	167.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.09
TT8	1583	19	316.60
LPSleep	13168	2	291.28
TT8_Active	751	19	150.27
TT8_Sampling	2012	39	809.10
TT8_CF8	528	45	244.47
TT8_Kalman	0	81	0.00
Analog_circuits	1805	12	218.88
GPS_charging	0	0	0.00
Compass	1941	8	156.87
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-0.85	-146.6	0.0	0.0	0	151	0.00	0.00	-121.15	0.000	2	0.000	0.000	70	2250	3014
154	-0.85	-146.6	4.2	-3.5	6	180	11.50	2.67	-8.18	0.000	4	0.168	0.073	2110	814	3380
214	-0.67	-146.6	16.2	-11.7	9	219	0.20	2.58	0.00	0.000	6	0.096	0.048	2149	2230	3380
536	-0.58	-146.6	47.3	-9.1	25	541	0.12	2.62	0.00	0.000	4	0.098	0.058	2173	808	3380
581	-0.63	-146.6	51.0	-8.0	27	585	0.00	2.58	0.00	0.000	6	0.000	0.046	2173	2233	3380
902	-0.63	-146.6	77.6	-8.9	43	907	0.00	2.62	0.00	0.000	4	0.000	0.058	2173	810	3381
958	-0.69	-146.6	82.7	-8.9	45	965	0.00	2.58	0.00	0.000	6	0.000	0.047	2173	2239	3380
1275	-0.69	-146.6	107.1	-7.0	61	1279	0.00	2.60	0.00	0.000	4	0.000	0.067	2173	3641	3381
1307	-0.69	-146.6	109.8	-7.8	62	1314	0.00	2.55	0.00	0.000	6	0.000	0.050	2173	2224	3381
1625	-0.69	-146.6	133.9	-7.7	78	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2225	3381
1932	-0.69	-146.6	159.0	-8.6	93	1937	0.00	2.65	0.00	0.000	4	0.000	0.068	2173	3641	3381
1973	-0.69	-146.6	162.3	-8.8	95	1977	0.00	2.55	0.00	0.000	6	0.000	0.050	2173	2227	3381
2299	-0.69	-146.6	188.4	-7.9	111	2304	0.00	2.58	0.00	0.000	4	0.000	0.061	2173	817	3381
2327	-0.74	-146.6	190.8	-8.8	112	2332	0.15	2.55	0.00	0.000	6	0.043	0.048	2125	2230	3381
2644	-0.60	-146.6	224.6	-10.8	127	2652	0.17	2.58	0.00	0.000	4	0.085	0.070	2164	3637	3381
2680	-0.60	-146.6	228.4	-9.4	128	2684	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2226	3381
2996	-0.60	-146.6	254.5	-8.4	143	2997	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2225	3381
3305	-0.60	-146.6	280.8	-8.6	158	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2225	3381
3614	-0.60	-146.6	306.2	-7.9	173	3618	0.00	2.65	0.00	0.000	4	0.000	0.071	2164	3640	3381
3647	-0.60	-146.6	309.1	-8.3	174	3653	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2225	3381
3962	-0.60	-146.6	332.3	-7.0	190	3964	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2225	3381
4272	-0.60	-146.6	352.5	-6.3	205	4273	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2225	3381
4582	-0.60	-146.6	372.9	-7.0	220	4583	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2225	3381
4890	-0.60	-146.6	394.7	-6.6	235	4895	0.00	2.65	0.00	0.000	4	0.000	0.071	2164	3643	3381
4946	-0.60	-146.6	398.8	-7.3	237	4952	0.00	2.55	0.00	0.000	6	0.000	0.050	2164	2225	3381
5262	-0.60	-146.6	423.8	-8.4	253	5266	0.00	2.65	0.00	0.000	4	0.000	0.072	2164	3638	3381
5301	-0.60	-146.6	427.5	-9.5	255	5306	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2230	3381
5629	-0.60	-146.6	452.2	-7.4	271	5630	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2230	3381
5939	-0.60	-146.6	467.5	-3.9	286	5940	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2230	3381
6247	-0.60	-146.6	483.5	-5.8	301	6252	0.00	2.65	0.00	0.000	4	0.000	0.073	2164	3644	3380
6292	-0.60	-146.6	486.5	-6.3	303	6296	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2230	3380
6613	-0.60	-146.6	506.4	-6.0	319	6618	0.00	2.65	0.00	0.000	4	0.000	0.073	2164	3637	3380
6653	-0.60	-146.6	509.6	-7.4	321	6658	0.00	2.55	0.00	0.000	6	0.000	0.052	2164	2228	3380
6980	-0.60	-146.6	534.2	-7.2	337	6985	0.00	2.65	0.00	0.000	4	0.000	0.074	2164	3640	3380
7025	-0.60	-146.6	537.7	-7.7	339	7029	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2226	3380
7346	-0.60	-146.6	560.6	-7.2	355	7351	0.00	2.67	0.00	0.000	4	0.000	0.074	2164	3644	3379
7396	-0.60	-146.6	564.1	-6.3	357	7401	0.00	2.55	0.00	0.000	6	0.000	0.051	2164	2229	3379
7712	-0.60	-146.6	584.0	-6.1	372	7717	0.00	2.65	0.00	0.000	4	0.000	0.077	2164	3637	3379
7756	-0.60	-146.6	586.8	-6.4	374	7761	0.00	2.55	0.00	0.000	6	0.000	0.053	2164	2228	3378
8079	-0.60	-146.6	600.9	-4.7	390	8083	0.00	2.67	0.00	0.000	4	0.000	0.080	2164	3637	3378
8123	-0.60	-146.6	603.6	-6.4	392	8127	0.00	2.55	0.00	0.000	6	0.000	0.054	2164	2230	3378
8444	-0.60	-146.6	621.3	-5.6	408	8448	0.00	2.67	0.00	0.000	4	0.000	0.081	2164	3635	3377
8488	-0.64	-146.6	624.3	-7.3	410	8492	0.00	2.58	0.00	0.000	6	0.000	0.056	2164	2222	3377
8809	-0.64	-146.6	647.1	-6.9	426	8810	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2222	3376
9119	-0.64	-146.6	674.9	-7.3	441	9123	0.00	2.70	0.00	0.000	4	0.000	0.085	2164	3634	3375
9152	-0.69	-146.6	677.6	-7.7	442	9156	0.00	2.58	0.00	0.000	6	0.000	0.058	2164	2229	3375
9468	-0.69	-146.6	698.5	-6.4	457	9469	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2229	3374
9777	-0.74	-146.6	716.6	-4.8	472	9782	0.12	2.65	0.00	0.000	4	0.058	0.074	2129	822	3374
9844	-0.74	-146.6	721.0	-6.6	475	9849	0.00	2.60	0.00	0.000	6	0.000	0.060	2128	2229	3373
9915	end dive: BOTTOM_OBSTACLE_DETECTED
state	9915	begin apogee
9922	-0.31	0.0	727.6	9.5	479	10058	0.50	0.00	131.35	1.147	6	0.101	0.000	2227	2229	2781
10059	end apogee: CONTROL_FINISHED_OK
state	10059	begin climb
10062	0.85	146.6	733.5	0.0	486	10205	1.20	2.80	130.77	1.122	4	0.082	0.078	2479	829	2183
10456	0.89	182.8	722.8	5.0	504	10498	0.00	2.65	33.35	1.088	6	0.000	0.058	2479	2247	2035
10811	1.04	273.6	706.3	3.5	521	10900	0.20	2.83	81.15	1.121	4	0.058	0.074	2532	826	1664
10948	1.00	316.3	699.9	4.8	527	10992	0.00	2.65	38.80	1.091	6	0.000	0.060	2532	2239	1491
11311	1.00	316.3	670.6	8.0	545	11315	0.00	2.72	0.00	0.000	4	0.000	0.084	2532	3647	1489
11360	1.00	316.3	665.9	9.2	547	11365	0.00	2.62	0.00	0.000	6	0.000	0.064	2532	2242	1489
11676	1.00	316.3	630.2	13.4	562	11681	0.00	2.70	0.00	0.000	4	0.000	0.083	2532	3648	1488
11799	0.95	316.3	612.0	18.0	567	11806	0.12	2.62	0.00	0.000	6	0.094	0.061	2507	2235	1488
12116	1.08	472.0	592.8	1.7	583	12259	0.12	2.78	136.05	1.070	4	0.058	0.078	2542	3648	855
12283	1.08	472.0	575.5	12.1	591	12288	0.00	2.65	0.00	0.000	6	0.000	0.059	2542	2238	856
12610	1.08	472.0	531.4	12.2	607	12614	0.00	2.67	0.00	0.000	4	0.000	0.071	2542	824	856
12638	1.08	472.0	528.3	11.3	608	12643	0.00	2.60	0.00	0.000	6	0.000	0.051	2542	2243	856
12954	1.08	472.0	499.5	9.1	623	12958	0.00	2.67	0.00	0.000	4	0.000	0.070	2542	827	856
13009	1.08	472.0	494.1	9.9	625	13015	0.00	2.58	0.00	0.000	6	0.000	0.051	2542	2240	856
13325	1.08	472.0	456.8	14.1	641	13330	0.00	2.67	0.00	0.000	4	0.000	0.069	2542	821	856
13388	1.08	472.0	447.5	14.3	644	13392	0.00	2.60	0.00	0.000	6	0.000	0.050	2542	2245	857
13715	1.08	472.0	407.2	10.9	660	13719	0.00	2.67	0.00	0.000	4	0.000	0.067	2542	823	857
13770	1.08	472.0	401.6	9.5	662	13776	0.00	2.58	0.00	0.000	6	0.000	0.050	2542	2240	858
14085	1.08	472.0	368.9	10.7	678	14090	0.00	2.62	0.00	0.000	4	0.000	0.067	2542	828	858
14148	1.08	472.0	362.1	10.5	681	14152	0.00	2.58	0.00	0.000	6	0.000	0.049	2542	2242	858
14475	1.08	472.0	323.4	11.8	697	14479	0.00	2.65	0.00	0.000	4	0.000	0.067	2542	828	859
14536	1.08	472.0	315.9	11.7	700	14541	0.00	2.58	0.00	0.000	6	0.000	0.049	2542	2243	859
14864	1.08	472.0	279.5	10.2	716	14869	0.00	2.65	0.00	0.000	4	0.000	0.067	2542	826	859
14931	1.08	472.0	272.6	9.4	719	14935	0.00	2.58	0.00	0.000	6	0.000	0.049	2542	2246	859
15252	1.08	472.0	241.5	9.6	735	15256	0.00	2.65	0.00	0.000	4	0.000	0.066	2542	828	860
15318	1.08	472.0	235.0	9.4	738	15323	0.00	2.55	0.00	0.000	6	0.000	0.048	2542	2244	860
15639	1.08	472.0	201.3	10.8	754	15644	0.00	2.65	0.00	0.000	4	0.000	0.066	2542	827	860
15708	1.08	472.0	194.2	10.3	757	15712	0.00	2.55	0.00	0.000	6	0.000	0.048	2542	2240	860
16029	1.08	472.0	160.9	10.7	773	16033	0.00	2.62	0.00	0.000	4	0.000	0.066	2542	828	861
16106	1.08	472.0	152.8	10.0	776	16112	0.00	2.55	0.00	0.000	6	0.000	0.048	2542	2242	861
16422	1.08	472.0	121.1	10.0	792	16427	0.00	2.62	0.00	0.000	4	0.000	0.066	2542	828	862
16486	1.08	472.0	114.9	9.1	795	16490	0.00	2.55	0.00	0.000	6	0.000	0.048	2541	2242	861
16813	1.08	472.0	80.2	11.1	811	16817	0.00	2.62	0.00	0.000	4	0.000	0.066	2542	828	862
16875	1.08	472.0	73.1	10.2	814	16879	0.00	2.55	0.00	0.000	6	0.000	0.047	2541	2240	862
17202	1.08	472.0	37.1	10.2	830	17207	0.00	2.62	0.00	0.000	4	0.000	0.066	2542	828	862
17275	1.12	472.0	29.8	9.8	833	17280	0.00	2.55	0.00	0.000	6	0.000	0.048	2542	2243	863
17592	1.22	472.0	2.1	8.6	848	17597	0.12	1.98	0.00	0.000	3	0.062	0.067	2573	3323	862
17598	end climb: SURFACE_DEPTH_REACHED
state	17598	begin surface coast
17635	end surface coast: CONTROL_FINISHED_OK
state	17635	begin surface