Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 230 * 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 230 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 23 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 -2098019.5 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 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 -2098019.5

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 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 230 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 090002,6350.348,-1259.989,39,1.7,39,-12.4 TGT_NAME default

_CALLS 1 TGT_LATLONG 62.000,-6.800

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.33 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -57.5 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 090545,6350.389,-1300.134,16,1.8,16,-12.4 MHEAD_RNG_PITCHd_Wd 180.8,7124448,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.012679 ALTIM_BOTTOM_PING 651.0,55.9

SM_CCo 18397,98.78,0.597,0,0,509,557.32 _24V_AH 23.6,40.040

SM_GC 1.33,0.00,0.00,98.78,0.000,0.000,0.597,69,2229,509,-10.26,-0.06,557.32 _10V_AH 10.2,20.406

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44159,883

TT8_MAMPS 0.02301 CAP_FILE_SIZE 128818,0

HUMID 1876 CFSIZE 260165632,244273152

TCM_TEMP 19.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 8 GPS 250708,141538,6349.019,-1300.497,36,1.1,36,-12.4

ALTIM_TOP_PING 19.9,18.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 167 103.19 SBE_CT 651 24 369.14

Roll_motor 139 74 245.73 SBE_O2 603 19 270.82

VBD_pump_during_apogee 453 1066 11409.13 WL_BB2F 576 105 1429.27

VBD_pump_during_surface 98 597 1392.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.89 nil 0 0 0.00

Iridium_during_connect 37 160 140.75 nil 0 0 0.00

Iridium_during_xfer 154 223 815.45

Transponder_ping 7 420 76.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.40

TT8 1583 19 319.75

LPSleep 14225 2 317.76

TT8_Active 723 19 146.17

TT8_Sampling 1783 39 723.98

TT8_CF8 523 45 244.76

TT8_Kalman 0 81 0.00

Analog_circuits 1628 12 199.28

GPS_charging 0 0 0.00

Compass 1746 8 142.54

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 0 128 0.00 0.00 -101.55 0.000 2 0.000 0.000 70 2235 2595

131 -0.85 -146.6 3.0 -1.8 5 175 11.43 2.65 -25.98 0.000 4 0.167 0.068 2110 816 3381

296 -0.71 -146.6 19.9 -11.5 12 301 0.17 2.55 0.00 0.000 6 0.095 0.048 2144 2229 3381

617 -0.59 -146.6 48.2 -7.6 28 622 0.15 2.62 0.00 0.000 4 0.095 0.066 2176 3642 3381

658 -0.59 -146.6 50.9 -5.7 30 663 0.00 2.53 0.00 0.000 6 0.000 0.048 2176 2230 3381

986 -0.59 -146.6 71.0 -7.0 46 990 0.00 2.58 0.00 0.000 4 0.000 0.060 2176 817 3381

1042 -0.68 -146.6 75.2 -7.8 48 1049 0.12 2.55 0.00 0.000 6 0.044 0.048 2133 2234 3381

1360 -0.57 -146.6 103.9 -8.7 64 1365 0.17 2.60 0.00 0.000 4 0.083 0.059 2173 817 3382

1405 -0.65 -146.6 107.4 -7.1 66 1409 0.00 2.55 0.00 0.000 6 0.000 0.047 2173 2233 3381

1727 -0.65 -146.6 128.3 -6.4 82 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2233 3381

2035 -0.65 -146.6 147.5 -6.2 97 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2173 2232 3381

2345 -0.65 -146.6 165.7 -5.9 112 2349 0.00 2.60 0.00 0.000 4 0.000 0.060 2173 817 3381

2374 -0.70 -146.6 167.4 -6.0 113 2379 0.12 2.55 0.00 0.000 6 0.046 0.049 2130 2229 3381

2690 -0.58 -146.6 192.8 -8.5 128 2695 0.17 2.62 0.00 0.000 4 0.085 0.070 2170 3640 3381

2722 -0.58 -146.6 195.4 -7.2 129 2728 0.00 2.55 0.00 0.000 6 0.000 0.051 2170 2225 3381

3039 -0.58 -146.6 215.8 -6.8 145 3043 0.00 2.58 0.00 0.000 4 0.000 0.062 2170 815 3381

3066 -0.58 -146.6 217.9 -7.2 146 3070 0.00 2.55 0.00 0.000 6 0.000 0.049 2170 2230 3382

3382 -0.58 -146.6 240.7 -7.3 161 3383 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3381

3692 -0.58 -146.6 264.1 -7.9 176 3693 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3381

4001 -0.58 -146.6 288.7 -7.8 191 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2230 3381

4310 -0.58 -146.6 312.3 -7.7 206 4314 0.00 2.60 0.00 0.000 4 0.000 0.060 2170 813 3381

4350 -0.64 -146.6 315.4 -8.2 208 4354 0.00 2.58 0.00 0.000 6 0.000 0.049 2170 2235 3381

4676 -0.64 -146.6 340.7 -7.6 224 4677 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2235 3381

4985 -0.64 -146.6 364.5 -7.6 239 4987 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2236 3381

5295 -0.64 -146.6 388.4 -8.0 254 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2236 3381

5604 -0.64 -146.6 411.5 -7.2 269 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2235 3380

5913 -0.64 -146.6 434.6 -7.3 284 5918 0.00 2.60 0.00 0.000 4 0.000 0.061 2170 819 3380

5942 -0.70 -146.6 436.9 -8.3 285 5946 0.00 2.55 0.00 0.000 6 0.000 0.049 2170 2235 3380

6257 -0.70 -146.6 461.4 -7.7 300 6258 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2235 3380

6567 -0.70 -146.6 485.0 -7.5 315 6568 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2235 3380

6876 -0.70 -146.6 505.5 -6.3 330 6881 0.00 2.60 0.00 0.000 4 0.000 0.060 2170 816 3380

6904 -0.76 -146.6 507.5 -7.3 331 6909 0.17 2.55 0.00 0.000 6 0.041 0.049 2116 2233 3380

7221 -0.61 -146.6 537.4 -9.6 346 7226 0.22 2.60 0.00 0.000 4 0.084 0.070 2165 3639 3379

7271 -0.61 -146.6 541.7 -7.9 348 7275 0.00 2.53 0.00 0.000 6 0.000 0.050 2165 2230 3379

7587 -0.61 -146.6 565.3 -7.5 363 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2230 3379

7896 -0.61 -146.6 589.0 -8.1 378 7901 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 817 3379

7937 -0.67 -146.6 592.5 -8.9 380 7941 0.00 2.55 0.00 0.000 6 0.000 0.048 2165 2232 3379

8264 -0.67 -146.6 622.7 -9.9 396 8265 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2232 3379

8578 -0.67 -146.6 651.0 -8.7 411 8579 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2232 3379

8883 -0.67 -146.6 672.2 -5.9 426 8887 0.00 2.60 0.00 0.000 4 0.000 0.061 2165 817 3379

8933 -0.78 -146.6 675.1 -6.0 428 8938 0.17 2.55 0.00 0.000 6 0.042 0.050 2112 2236 3379

9205 end dive: BOTTOM_OBSTACLE_DETECTED

state 9205 begin apogee

9212 -0.31 0.0 697.3 8.5 441 9348 0.57 0.00 131.70 1.067 6 0.092 0.000 2228 2235 2781

9348 end apogee: CONTROL_FINISHED_OK

state 9348 begin climb

9351 0.85 146.6 702.3 0.0 448 9489 1.20 2.78 130.15 1.050 4 0.074 0.073 2480 3645 2182

9568 0.85 146.6 693.8 7.1 458 9572 0.00 2.58 0.00 0.000 6 0.000 0.054 2479 2240 2182

9884 0.85 153.5 676.0 5.8 473 9898 0.00 2.72 7.25 0.838 4 0.000 0.074 2480 3646 2155

9932 0.85 153.5 672.9 7.2 475 9936 0.00 2.58 0.00 0.000 6 0.000 0.054 2480 2239 2155

10254 0.87 165.7 654.6 5.7 491 10268 0.00 0.00 12.27 0.933 6 0.000 0.000 2479 2239 2105

10580 0.88 175.5 635.1 5.7 506 10596 0.00 2.67 10.45 0.912 4 0.000 0.067 2480 826 2064

10630 0.92 178.3 632.1 5.9 507 10642 0.00 2.60 3.92 0.639 6 0.000 0.051 2480 2243 2053

10952 1.06 263.0 617.0 3.7 523 11035 0.20 2.72 75.05 1.026 4 0.047 0.074 2537 3652 1708

11072 0.97 265.6 610.8 5.9 528 11084 0.15 2.60 4.03 0.641 6 0.088 0.054 2509 2243 1698

11393 1.06 347.8 599.5 3.8 544 11471 0.00 0.00 72.50 1.011 6 0.000 0.000 2509 2243 1362

11782 1.14 352.4 578.7 5.9 563 11794 0.17 2.65 5.80 0.759 4 0.047 0.064 2556 828 1343

11817 1.08 352.4 575.9 8.3 564 11823 0.00 2.58 0.00 0.000 6 0.000 0.049 2556 2242 1343

12132 1.00 352.4 547.0 9.7 580 12137 0.17 2.65 0.00 0.000 4 0.086 0.071 2518 3652 1343

12155 1.00 352.4 544.9 9.3 581 12159 0.00 2.58 0.00 0.000 6 0.000 0.053 2519 2239 1343

12476 1.05 352.4 518.1 8.4 597 12477 0.00 0.00 0.00 0.000 6 0.000 0.000 2518 2239 1343

12785 1.05 352.4 493.6 8.0 612 12789 0.00 2.60 0.00 0.000 4 0.000 0.064 2518 829 1343

12813 1.11 352.4 491.3 8.4 613 12818 0.10 2.55 0.00 0.000 6 0.054 0.048 2546 2240 1343

13128 1.11 352.4 458.1 10.8 628 13133 0.00 2.62 0.00 0.000 4 0.000 0.071 2546 3648 1343

13146 1.11 352.4 456.3 10.9 629 13150 0.00 2.58 0.00 0.000 6 0.000 0.053 2545 2237 1343

13473 1.11 352.4 421.0 10.6 645 13474 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2237 1343

13781 1.11 352.4 388.9 10.3 660 13782 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2237 1343

14090 1.11 352.4 356.5 10.3 675 14095 0.00 2.60 0.00 0.000 4 0.000 0.064 2547 825 1344

14109 1.11 352.4 354.7 10.3 676 14113 0.00 2.58 0.00 0.000 6 0.000 0.048 2547 2245 1343

14435 1.11 352.4 322.0 9.7 692 14436 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2245 1343

14744 1.11 352.4 293.5 9.1 707 14745 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2244 1344

15054 1.11 352.4 265.2 9.1 722 15055 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2245 1344

15363 1.11 352.4 237.4 8.8 737 15364 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2244 1344

15672 1.11 352.4 210.1 9.5 752 15676 0.00 2.62 0.00 0.000 4 0.000 0.063 2546 820 1345

15689 1.11 352.4 208.5 8.9 753 15693 0.00 2.58 0.00 0.000 6 0.000 0.048 2547 2243 1344

16015 1.11 352.4 178.3 8.8 769 16020 0.00 2.60 0.00 0.000 4 0.000 0.070 2547 3648 1345

16037 1.11 352.4 176.1 8.8 770 16042 0.00 2.55 0.00 0.000 6 0.000 0.054 2547 2238 1345

16359 1.11 352.4 148.9 8.4 786 16363 0.00 2.58 0.00 0.000 4 0.000 0.063 2547 828 1345

16387 1.11 352.4 146.5 7.7 787 16391 0.00 2.55 0.00 0.000 6 0.000 0.048 2547 2244 1344

16704 1.11 352.4 122.7 7.0 802 16708 0.00 2.60 0.00 0.000 4 0.000 0.070 2547 3648 1345

16727 1.11 352.4 120.9 6.9 803 16731 0.00 2.55 0.00 0.000 6 0.000 0.054 2547 2240 1345

17048 1.11 352.4 99.3 6.7 819 17050 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2240 1345

17359 1.11 352.4 79.1 6.4 834 17360 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2240 1345

17666 1.11 352.4 56.6 7.3 849 17668 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2240 1345

17976 1.11 352.4 33.6 7.2 864 17977 0.00 0.00 0.00 0.000 6 0.000 0.000 2547 2240 1345

18285 1.11 352.4 8.0 7.7 879 18289 0.00 2.58 0.00 0.000 4 0.000 0.063 2547 829 1345

18348 end climb: SURFACE_DEPTH_REACHED

state 18349 begin surface coast

18372 end surface coast: CONTROL_FINISHED_OK

state 18372 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	230	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	23	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	-2098019.5	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	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	090002,6350.348,-1259.989,39,1.7,39,-12.4	TGT_NAME	default
_CALLS	1	TGT_LATLONG	62.000,-6.800
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.33	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-57.5	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	090545,6350.389,-1300.134,16,1.8,16,-12.4	MHEAD_RNG_PITCHd_Wd	180.8,7124448,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.012679	ALTIM_BOTTOM_PING	651.0,55.9
SM_CCo	18397,98.78,0.597,0,0,509,557.32	_24V_AH	23.6,40.040
SM_GC	1.33,0.00,0.00,98.78,0.000,0.000,0.597,69,2229,509,-10.26,-0.06,557.32	_10V_AH	10.2,20.406
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44159,883
TT8_MAMPS	0.02301	CAP_FILE_SIZE	128818,0
HUMID	1876	CFSIZE	260165632,244273152
TCM_TEMP	19.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	8	GPS	250708,141538,6349.019,-1300.497,36,1.1,36,-12.4
ALTIM_TOP_PING	19.9,18.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	167	103.19	SBE_CT	651	24	369.14
Roll_motor	139	74	245.73	SBE_O2	603	19	270.82
VBD_pump_during_apogee	453	1066	11409.13	WL_BB2F	576	105	1429.27
VBD_pump_during_surface	98	597	1392.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.89	nil	0	0	0.00
Iridium_during_connect	37	160	140.75	nil	0	0	0.00
Iridium_during_xfer	154	223	815.45
Transponder_ping	7	420	76.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.40
TT8	1583	19	319.75
LPSleep	14225	2	317.76
TT8_Active	723	19	146.17
TT8_Sampling	1783	39	723.98
TT8_CF8	523	45	244.76
TT8_Kalman	0	81	0.00
Analog_circuits	1628	12	199.28
GPS_charging	0	0	0.00
Compass	1746	8	142.54
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	128	0.00	0.00	-101.55	0.000	2	0.000	0.000	70	2235	2595
131	-0.85	-146.6	3.0	-1.8	5	175	11.43	2.65	-25.98	0.000	4	0.167	0.068	2110	816	3381
296	-0.71	-146.6	19.9	-11.5	12	301	0.17	2.55	0.00	0.000	6	0.095	0.048	2144	2229	3381
617	-0.59	-146.6	48.2	-7.6	28	622	0.15	2.62	0.00	0.000	4	0.095	0.066	2176	3642	3381
658	-0.59	-146.6	50.9	-5.7	30	663	0.00	2.53	0.00	0.000	6	0.000	0.048	2176	2230	3381
986	-0.59	-146.6	71.0	-7.0	46	990	0.00	2.58	0.00	0.000	4	0.000	0.060	2176	817	3381
1042	-0.68	-146.6	75.2	-7.8	48	1049	0.12	2.55	0.00	0.000	6	0.044	0.048	2133	2234	3381
1360	-0.57	-146.6	103.9	-8.7	64	1365	0.17	2.60	0.00	0.000	4	0.083	0.059	2173	817	3382
1405	-0.65	-146.6	107.4	-7.1	66	1409	0.00	2.55	0.00	0.000	6	0.000	0.047	2173	2233	3381
1727	-0.65	-146.6	128.3	-6.4	82	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2233	3381
2035	-0.65	-146.6	147.5	-6.2	97	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2173	2232	3381
2345	-0.65	-146.6	165.7	-5.9	112	2349	0.00	2.60	0.00	0.000	4	0.000	0.060	2173	817	3381
2374	-0.70	-146.6	167.4	-6.0	113	2379	0.12	2.55	0.00	0.000	6	0.046	0.049	2130	2229	3381
2690	-0.58	-146.6	192.8	-8.5	128	2695	0.17	2.62	0.00	0.000	4	0.085	0.070	2170	3640	3381
2722	-0.58	-146.6	195.4	-7.2	129	2728	0.00	2.55	0.00	0.000	6	0.000	0.051	2170	2225	3381
3039	-0.58	-146.6	215.8	-6.8	145	3043	0.00	2.58	0.00	0.000	4	0.000	0.062	2170	815	3381
3066	-0.58	-146.6	217.9	-7.2	146	3070	0.00	2.55	0.00	0.000	6	0.000	0.049	2170	2230	3382
3382	-0.58	-146.6	240.7	-7.3	161	3383	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3381
3692	-0.58	-146.6	264.1	-7.9	176	3693	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3381
4001	-0.58	-146.6	288.7	-7.8	191	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2230	3381
4310	-0.58	-146.6	312.3	-7.7	206	4314	0.00	2.60	0.00	0.000	4	0.000	0.060	2170	813	3381
4350	-0.64	-146.6	315.4	-8.2	208	4354	0.00	2.58	0.00	0.000	6	0.000	0.049	2170	2235	3381
4676	-0.64	-146.6	340.7	-7.6	224	4677	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2235	3381
4985	-0.64	-146.6	364.5	-7.6	239	4987	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2236	3381
5295	-0.64	-146.6	388.4	-8.0	254	5296	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2236	3381
5604	-0.64	-146.6	411.5	-7.2	269	5605	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2235	3380
5913	-0.64	-146.6	434.6	-7.3	284	5918	0.00	2.60	0.00	0.000	4	0.000	0.061	2170	819	3380
5942	-0.70	-146.6	436.9	-8.3	285	5946	0.00	2.55	0.00	0.000	6	0.000	0.049	2170	2235	3380
6257	-0.70	-146.6	461.4	-7.7	300	6258	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2235	3380
6567	-0.70	-146.6	485.0	-7.5	315	6568	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2235	3380
6876	-0.70	-146.6	505.5	-6.3	330	6881	0.00	2.60	0.00	0.000	4	0.000	0.060	2170	816	3380
6904	-0.76	-146.6	507.5	-7.3	331	6909	0.17	2.55	0.00	0.000	6	0.041	0.049	2116	2233	3380
7221	-0.61	-146.6	537.4	-9.6	346	7226	0.22	2.60	0.00	0.000	4	0.084	0.070	2165	3639	3379
7271	-0.61	-146.6	541.7	-7.9	348	7275	0.00	2.53	0.00	0.000	6	0.000	0.050	2165	2230	3379
7587	-0.61	-146.6	565.3	-7.5	363	7588	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2230	3379
7896	-0.61	-146.6	589.0	-8.1	378	7901	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	817	3379
7937	-0.67	-146.6	592.5	-8.9	380	7941	0.00	2.55	0.00	0.000	6	0.000	0.048	2165	2232	3379
8264	-0.67	-146.6	622.7	-9.9	396	8265	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2232	3379
8578	-0.67	-146.6	651.0	-8.7	411	8579	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2232	3379
8883	-0.67	-146.6	672.2	-5.9	426	8887	0.00	2.60	0.00	0.000	4	0.000	0.061	2165	817	3379
8933	-0.78	-146.6	675.1	-6.0	428	8938	0.17	2.55	0.00	0.000	6	0.042	0.050	2112	2236	3379
9205	end dive: BOTTOM_OBSTACLE_DETECTED
state	9205	begin apogee
9212	-0.31	0.0	697.3	8.5	441	9348	0.57	0.00	131.70	1.067	6	0.092	0.000	2228	2235	2781
9348	end apogee: CONTROL_FINISHED_OK
state	9348	begin climb
9351	0.85	146.6	702.3	0.0	448	9489	1.20	2.78	130.15	1.050	4	0.074	0.073	2480	3645	2182
9568	0.85	146.6	693.8	7.1	458	9572	0.00	2.58	0.00	0.000	6	0.000	0.054	2479	2240	2182
9884	0.85	153.5	676.0	5.8	473	9898	0.00	2.72	7.25	0.838	4	0.000	0.074	2480	3646	2155
9932	0.85	153.5	672.9	7.2	475	9936	0.00	2.58	0.00	0.000	6	0.000	0.054	2480	2239	2155
10254	0.87	165.7	654.6	5.7	491	10268	0.00	0.00	12.27	0.933	6	0.000	0.000	2479	2239	2105
10580	0.88	175.5	635.1	5.7	506	10596	0.00	2.67	10.45	0.912	4	0.000	0.067	2480	826	2064
10630	0.92	178.3	632.1	5.9	507	10642	0.00	2.60	3.92	0.639	6	0.000	0.051	2480	2243	2053
10952	1.06	263.0	617.0	3.7	523	11035	0.20	2.72	75.05	1.026	4	0.047	0.074	2537	3652	1708
11072	0.97	265.6	610.8	5.9	528	11084	0.15	2.60	4.03	0.641	6	0.088	0.054	2509	2243	1698
11393	1.06	347.8	599.5	3.8	544	11471	0.00	0.00	72.50	1.011	6	0.000	0.000	2509	2243	1362
11782	1.14	352.4	578.7	5.9	563	11794	0.17	2.65	5.80	0.759	4	0.047	0.064	2556	828	1343
11817	1.08	352.4	575.9	8.3	564	11823	0.00	2.58	0.00	0.000	6	0.000	0.049	2556	2242	1343
12132	1.00	352.4	547.0	9.7	580	12137	0.17	2.65	0.00	0.000	4	0.086	0.071	2518	3652	1343
12155	1.00	352.4	544.9	9.3	581	12159	0.00	2.58	0.00	0.000	6	0.000	0.053	2519	2239	1343
12476	1.05	352.4	518.1	8.4	597	12477	0.00	0.00	0.00	0.000	6	0.000	0.000	2518	2239	1343
12785	1.05	352.4	493.6	8.0	612	12789	0.00	2.60	0.00	0.000	4	0.000	0.064	2518	829	1343
12813	1.11	352.4	491.3	8.4	613	12818	0.10	2.55	0.00	0.000	6	0.054	0.048	2546	2240	1343
13128	1.11	352.4	458.1	10.8	628	13133	0.00	2.62	0.00	0.000	4	0.000	0.071	2546	3648	1343
13146	1.11	352.4	456.3	10.9	629	13150	0.00	2.58	0.00	0.000	6	0.000	0.053	2545	2237	1343
13473	1.11	352.4	421.0	10.6	645	13474	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2237	1343
13781	1.11	352.4	388.9	10.3	660	13782	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2237	1343
14090	1.11	352.4	356.5	10.3	675	14095	0.00	2.60	0.00	0.000	4	0.000	0.064	2547	825	1344
14109	1.11	352.4	354.7	10.3	676	14113	0.00	2.58	0.00	0.000	6	0.000	0.048	2547	2245	1343
14435	1.11	352.4	322.0	9.7	692	14436	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2245	1343
14744	1.11	352.4	293.5	9.1	707	14745	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2244	1344
15054	1.11	352.4	265.2	9.1	722	15055	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2245	1344
15363	1.11	352.4	237.4	8.8	737	15364	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2244	1344
15672	1.11	352.4	210.1	9.5	752	15676	0.00	2.62	0.00	0.000	4	0.000	0.063	2546	820	1345
15689	1.11	352.4	208.5	8.9	753	15693	0.00	2.58	0.00	0.000	6	0.000	0.048	2547	2243	1344
16015	1.11	352.4	178.3	8.8	769	16020	0.00	2.60	0.00	0.000	4	0.000	0.070	2547	3648	1345
16037	1.11	352.4	176.1	8.8	770	16042	0.00	2.55	0.00	0.000	6	0.000	0.054	2547	2238	1345
16359	1.11	352.4	148.9	8.4	786	16363	0.00	2.58	0.00	0.000	4	0.000	0.063	2547	828	1345
16387	1.11	352.4	146.5	7.7	787	16391	0.00	2.55	0.00	0.000	6	0.000	0.048	2547	2244	1344
16704	1.11	352.4	122.7	7.0	802	16708	0.00	2.60	0.00	0.000	4	0.000	0.070	2547	3648	1345
16727	1.11	352.4	120.9	6.9	803	16731	0.00	2.55	0.00	0.000	6	0.000	0.054	2547	2240	1345
17048	1.11	352.4	99.3	6.7	819	17050	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2240	1345
17359	1.11	352.4	79.1	6.4	834	17360	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2240	1345
17666	1.11	352.4	56.6	7.3	849	17668	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2240	1345
17976	1.11	352.4	33.6	7.2	864	17977	0.00	0.00	0.00	0.000	6	0.000	0.000	2547	2240	1345
18285	1.11	352.4	8.0	7.7	879	18289	0.00	2.58	0.00	0.000	4	0.000	0.063	2547	829	1345
18348	end climb: SURFACE_DEPTH_REACHED
state	18349	begin surface coast
18372	end surface coast: CONTROL_FINISHED_OK
state	18372	begin surface