Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 32 * 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 32 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 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 300 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 20 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 -2093133.5 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 1 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 300

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 -2093133.5

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 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 32 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 102337,6040.049,-548.971,37,1.8,37,-7.3 TGT_NAME WTB_2

_CALLS 1 TGT_LATLONG 6015.000,-645.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.140,-0.171

_SM_DEPTHo 1.45 KALMAN_X -12703.4,1403.6,898.7,-18715.9,-10125.0

_SM_ANGLEo -62.9 KALMAN_Y -29819.2,124.8,-208.2,15763.9,2947.3

GPS2 102927,6040.018,-549.114,15,2.0,15,-7.3 MHEAD_RNG_PITCHd_Wd 235.2,69169,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.005677 ALTIM_BOTTOM_PING 575.4,47.6

SM_CCo 17706,17.00,0.602,0,0,1558,300.00 _24V_AH 23.5,8.020

SM_GC 1.25,0.00,0.00,17.00,0.000,0.000,0.602,70,2305,1558,-10.26,0.14,300.00 _10V_AH 10.1,3.438

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44271,854

TT8_MAMPS 0.023777 CAP_FILE_SIZE 137503,0

HUMID 1877 CFSIZE 260165632,256712704

TCM_TEMP 17.60 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,7,0,0

XPDR_PINGS 55 GPS 110608,152707,6038.437,-553.057,39,1.7,44,-7.3

ALTIM_TOP_PING 19.2,17.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 163 97.13 SBE_CT 623 24 351.93

Roll_motor 190 91 409.63 SBE_O2 580 19 259.02

VBD_pump_during_apogee 372 1096 9607.00 WL_BB2F 555 105 1369.67

VBD_pump_during_surface 17 602 240.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 43.63 nil 0 0 0.00

Iridium_during_connect 31 160 119.33 nil 0 0 0.00

Iridium_during_xfer 175 223 921.96

Transponder_ping 18 420 185.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.77

TT8 1603 19 320.74

LPSleep 13469 2 297.94

TT8_Active 559 19 111.84

TT8_Sampling 1921 39 772.21

TT8_CF8 520 45 240.77

TT8_Kalman 33 81 27.55

Analog_circuits 1535 12 186.11

GPS_charging 0 0 0.00

Compass 1879 8 151.85

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 86 0.00 0.00 -60.62 0.000 2 0.000 0.000 74 2301 2772

90 -0.85 -146.6 3.1 -3.9 3 126 11.25 2.65 -18.75 0.000 4 0.163 0.084 2108 3707 3379

334 -0.69 -146.6 31.9 -12.0 13 339 0.20 2.58 0.00 0.000 6 0.093 0.051 2148 2292 3380

656 -0.64 -146.6 60.8 -8.4 29 657 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2292 3380

967 -0.58 -146.6 85.9 -8.1 44 972 0.12 2.62 0.00 0.000 4 0.097 0.066 2171 880 3381

1007 -0.65 -146.6 88.9 -6.7 46 1012 0.00 2.60 0.00 0.000 6 0.000 0.052 2171 2305 3381

1334 -0.65 -146.6 111.1 -6.9 62 1338 0.00 2.62 0.00 0.000 4 0.000 0.063 2171 885 3381

1374 -0.71 -146.6 113.7 -6.8 64 1379 0.12 2.60 0.00 0.000 6 0.046 0.053 2129 2305 3382

1701 -0.62 -146.6 144.0 -9.6 80 1706 0.15 2.65 0.00 0.000 4 0.084 0.074 2163 3712 3382

1729 -0.62 -146.6 146.6 -9.2 81 1733 0.00 2.58 0.00 0.000 6 0.000 0.054 2163 2298 3382

2045 -0.62 -146.6 172.6 -8.2 96 2049 0.00 2.62 0.00 0.000 4 0.000 0.067 2163 881 3382

2133 -0.62 -146.6 180.0 -8.3 100 2138 0.00 2.60 0.00 0.000 6 0.000 0.054 2162 2299 3382

2455 -0.62 -146.6 205.7 -8.2 116 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2300 3382

2764 -0.62 -146.6 229.2 -7.1 131 2768 0.00 2.65 0.00 0.000 4 0.000 0.067 2163 877 3382

2808 -0.67 -146.6 232.4 -7.0 133 2813 0.00 2.60 0.00 0.000 6 0.000 0.055 2163 2302 3382

3130 -0.67 -146.6 251.9 -5.9 149 3131 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2302 3383

3439 -0.67 -146.6 269.2 -5.4 164 3443 0.00 2.65 0.00 0.000 4 0.000 0.068 2163 885 3382

3480 -0.74 -146.6 271.1 -5.0 166 3485 0.12 2.60 0.00 0.000 6 0.048 0.057 2122 2299 3382

3807 -0.64 -146.6 294.5 -7.8 182 3809 0.17 0.00 0.00 0.000 6 0.084 0.000 2156 2299 3382

4115 -0.64 -146.6 316.3 -7.5 197 4120 0.00 2.65 0.00 0.000 4 0.000 0.068 2156 880 3383

4156 -0.69 -146.6 319.4 -7.9 199 4160 0.00 2.62 0.00 0.000 6 0.000 0.057 2156 2305 3382

4482 -0.69 -146.6 344.9 -7.5 215 4486 0.00 2.67 0.00 0.000 4 0.000 0.069 2156 876 3381

4515 -0.73 -146.6 347.3 -7.3 216 4521 0.00 2.62 0.00 0.000 6 0.000 0.058 2156 2305 3382

4830 -0.73 -146.6 369.5 -7.1 232 4835 0.00 2.65 0.00 0.000 4 0.000 0.068 2156 885 3382

4881 -0.77 -146.6 373.4 -7.9 234 4886 0.12 2.60 0.00 0.000 6 0.050 0.058 2117 2300 3381

5199 -0.68 -146.6 401.7 -9.5 249 5201 0.17 0.00 0.00 0.000 6 0.087 0.000 2153 2300 3381

5505 -0.68 -146.6 424.6 -7.1 264 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2300 3381

5815 -0.68 -146.6 444.7 -6.1 279 5819 0.00 2.65 0.00 0.000 4 0.000 0.070 2152 881 3380

5848 -0.68 -146.6 446.7 -5.8 280 5854 0.00 2.60 0.00 0.000 6 0.000 0.060 2152 2302 3380

6164 -0.68 -146.6 465.0 -5.9 296 6165 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2302 3380

6473 -0.68 -146.6 484.0 -6.0 311 6477 0.00 2.67 0.00 0.000 4 0.000 0.071 2152 880 3379

6545 -0.74 -146.6 488.7 -7.3 314 6550 0.00 2.62 0.00 0.000 6 0.000 0.062 2152 2300 3379

6861 -0.74 -146.6 508.8 -6.8 329 6862 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2300 3378

7170 -0.74 -146.6 531.0 -7.4 344 7174 0.00 2.67 0.00 0.000 4 0.000 0.074 2152 880 3379

7232 -0.78 -146.6 535.9 -7.8 347 7237 0.00 2.65 0.00 0.000 6 0.000 0.063 2152 2305 3378

7559 -0.78 -146.6 560.1 -7.2 363 7564 0.00 2.67 0.00 0.000 4 0.000 0.074 2152 888 3377

7600 -0.84 -146.6 562.9 -7.1 365 7605 0.17 2.62 0.00 0.000 6 0.049 0.065 2104 2304 3377

7929 -0.72 -146.6 591.3 -8.7 381 7934 0.15 2.72 0.00 0.000 4 0.097 0.091 2137 3710 3375

7969 -0.72 -146.6 594.9 -8.4 383 7973 0.00 2.62 0.00 0.000 6 0.000 0.065 2137 2298 3376

8231 end dive: BOTTOM_OBSTACLE_DETECTED

state 8231 begin apogee

8238 -0.31 0.0 614.4 7.2 396 8374 0.47 0.00 131.10 1.097 6 0.100 0.000 2231 2298 2781

8374 end apogee: CONTROL_FINISHED_OK

state 8374 begin climb

8377 0.85 146.6 615.1 0.0 403 8520 1.17 2.90 131.02 1.063 4 0.078 0.091 2480 3710 2182

8601 0.85 149.8 609.2 5.9 413 8613 0.00 2.67 4.75 0.726 6 0.000 0.066 2481 2304 2169

8922 0.94 229.2 594.4 3.8 429 8996 0.10 0.00 71.38 1.055 6 0.061 0.000 2508 2304 1846

9291 0.94 229.2 570.1 7.4 447 9295 0.00 2.75 0.00 0.000 4 0.000 0.081 2508 886 1845

9323 0.94 229.2 567.7 7.9 448 9330 0.00 2.67 0.00 0.000 6 0.000 0.066 2508 2303 1844

9639 0.94 229.2 545.0 6.9 464 9643 0.00 2.72 0.00 0.000 4 0.000 0.078 2508 884 1844

9711 0.94 229.2 540.1 7.0 467 9715 0.00 2.67 0.00 0.000 6 0.000 0.065 2508 2299 1843

10026 0.94 229.2 520.7 6.1 482 10031 0.00 2.72 0.00 0.000 4 0.000 0.077 2508 884 1842

10072 0.94 229.2 517.5 7.2 484 10077 0.00 2.67 0.00 0.000 6 0.000 0.066 2508 2299 1841

10393 0.94 229.2 493.0 8.3 500 10397 0.00 2.72 0.00 0.000 4 0.000 0.077 2508 879 1841

10425 0.94 229.2 490.1 8.3 501 10431 0.00 2.67 0.00 0.000 6 0.000 0.065 2508 2299 1841

10741 0.94 229.2 464.6 7.3 517 10745 0.00 2.70 0.00 0.000 4 0.000 0.077 2509 884 1841

10803 0.94 229.2 460.0 7.1 520 10807 0.00 2.67 0.00 0.000 6 0.000 0.064 2508 2299 1841

11129 0.94 229.2 435.3 7.6 536 11134 0.00 2.72 0.00 0.000 4 0.000 0.077 2508 877 1841

11184 0.94 229.2 431.1 7.5 538 11191 0.00 2.65 0.00 0.000 6 0.000 0.064 2508 2301 1840

11500 0.94 229.2 410.6 6.4 554 11504 0.00 2.72 0.00 0.000 4 0.000 0.087 2508 3709 1840

11532 0.94 229.2 408.0 7.6 555 11539 0.00 2.65 0.00 0.000 6 0.000 0.067 2508 2299 1841

11849 0.94 229.2 387.7 6.3 571 11853 0.00 2.70 0.00 0.000 4 0.000 0.077 2508 879 1841

11888 0.94 229.2 385.3 6.5 573 11892 0.00 2.65 0.00 0.000 6 0.000 0.061 2508 2305 1840

12214 0.94 229.2 364.9 6.3 589 12218 0.00 2.70 0.00 0.000 4 0.000 0.074 2509 882 1840

12269 0.94 229.2 360.9 7.3 591 12275 0.00 2.65 0.00 0.000 6 0.000 0.059 2509 2306 1840

12585 0.94 229.2 338.6 6.6 607 12589 0.00 2.70 0.00 0.000 4 0.000 0.073 2509 882 1840

12611 0.94 229.2 336.8 7.3 608 12616 0.00 2.62 0.00 0.000 6 0.000 0.058 2508 2302 1840

12927 0.94 229.2 316.6 6.1 623 12931 0.00 2.70 0.00 0.000 4 0.000 0.081 2509 3716 1840

12948 0.94 229.2 315.1 6.5 624 12953 0.00 2.65 0.00 0.000 6 0.000 0.061 2508 2297 1841

13270 0.94 229.2 295.2 6.6 640 13271 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2297 1840

13579 0.94 229.2 274.1 6.9 655 13583 0.00 2.65 0.00 0.000 4 0.000 0.071 2509 883 1841

13622 0.94 229.2 271.1 7.1 657 13627 0.00 2.60 0.00 0.000 6 0.000 0.055 2509 2301 1841

13944 0.94 229.2 249.4 6.8 673 13945 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2301 1841

14253 0.94 229.2 226.6 7.8 688 14257 0.00 2.65 0.00 0.000 4 0.000 0.067 2508 883 1842

14308 0.94 229.2 222.0 8.6 690 14314 0.00 2.60 0.00 0.000 6 0.000 0.054 2509 2307 1842

14624 0.94 229.2 198.8 6.9 706 14625 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2307 1843

14933 0.97 256.2 182.5 5.3 721 14962 0.00 2.75 23.50 0.760 4 0.000 0.065 2508 878 1735

15014 0.97 260.7 177.7 5.9 724 15025 0.00 2.62 5.65 0.608 6 0.000 0.052 2508 2302 1718

15347 0.97 260.7 157.6 6.2 741 15351 0.00 2.65 0.00 0.000 4 0.000 0.065 2509 881 1718

15386 0.97 260.7 155.2 6.2 743 15391 0.00 2.60 0.00 0.000 6 0.000 0.053 2509 2300 1717

15714 0.97 264.7 135.7 5.9 759 15721 0.00 0.00 5.32 0.577 6 0.000 0.000 2509 2300 1701

16024 0.97 264.7 116.5 6.3 774 16028 0.00 2.65 0.00 0.000 4 0.000 0.064 2509 880 1701

16051 0.97 264.7 114.5 6.5 775 16056 0.00 2.60 0.00 0.000 6 0.000 0.051 2509 2301 1700

16367 0.97 264.7 92.1 7.6 790 16372 0.00 2.65 0.00 0.000 4 0.000 0.064 2509 878 1701

16467 0.97 264.7 84.2 7.8 794 16473 0.00 2.60 0.00 0.000 6 0.000 0.052 2509 2301 1701

16783 0.98 265.6 64.5 6.0 810 16788 0.00 2.65 0.00 0.000 4 0.000 0.064 2509 875 1702

16829 1.02 265.6 61.5 7.2 812 16833 0.00 2.60 0.00 0.000 6 0.000 0.051 2509 2301 1702

17150 1.06 265.6 40.8 6.5 828 17155 0.10 2.62 0.00 0.000 4 0.059 0.071 2538 3707 1703

17206 1.00 265.6 36.0 8.7 830 17212 0.00 2.58 0.00 0.000 6 0.000 0.056 2539 2295 1703

17523 0.95 265.6 10.8 8.1 846 17528 0.15 2.62 0.00 0.000 4 0.084 0.065 2503 880 1704

17585 0.95 265.6 6.4 6.2 849 17590 0.00 2.60 0.00 0.000 6 0.000 0.052 2502 2305 1703

17664 end climb: SURFACE_DEPTH_REACHED

state 17664 begin surface coast

17684 end surface coast: CONTROL_FINISHED_OK

state 17684 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	32	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	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	300	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	20	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	-2093133.5	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	1	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	102337,6040.049,-548.971,37,1.8,37,-7.3	TGT_NAME	WTB_2
_CALLS	1	TGT_LATLONG	6015.000,-645.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.140,-0.171
_SM_DEPTHo	1.45	KALMAN_X	-12703.4,1403.6,898.7,-18715.9,-10125.0
_SM_ANGLEo	-62.9	KALMAN_Y	-29819.2,124.8,-208.2,15763.9,2947.3
GPS2	102927,6040.018,-549.114,15,2.0,15,-7.3	MHEAD_RNG_PITCHd_Wd	235.2,69169,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.005677	ALTIM_BOTTOM_PING	575.4,47.6
SM_CCo	17706,17.00,0.602,0,0,1558,300.00	_24V_AH	23.5,8.020
SM_GC	1.25,0.00,0.00,17.00,0.000,0.000,0.602,70,2305,1558,-10.26,0.14,300.00	_10V_AH	10.1,3.438
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44271,854
TT8_MAMPS	0.023777	CAP_FILE_SIZE	137503,0
HUMID	1877	CFSIZE	260165632,256712704
TCM_TEMP	17.60	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
XPDR_PINGS	55	GPS	110608,152707,6038.437,-553.057,39,1.7,44,-7.3
ALTIM_TOP_PING	19.2,17.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	163	97.13	SBE_CT	623	24	351.93
Roll_motor	190	91	409.63	SBE_O2	580	19	259.02
VBD_pump_during_apogee	372	1096	9607.00	WL_BB2F	555	105	1369.67
VBD_pump_during_surface	17	602	240.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	43.63	nil	0	0	0.00
Iridium_during_connect	31	160	119.33	nil	0	0	0.00
Iridium_during_xfer	175	223	921.96
Transponder_ping	18	420	185.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.77
TT8	1603	19	320.74
LPSleep	13469	2	297.94
TT8_Active	559	19	111.84
TT8_Sampling	1921	39	772.21
TT8_CF8	520	45	240.77
TT8_Kalman	33	81	27.55
Analog_circuits	1535	12	186.11
GPS_charging	0	0	0.00
Compass	1879	8	151.85
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	86	0.00	0.00	-60.62	0.000	2	0.000	0.000	74	2301	2772
90	-0.85	-146.6	3.1	-3.9	3	126	11.25	2.65	-18.75	0.000	4	0.163	0.084	2108	3707	3379
334	-0.69	-146.6	31.9	-12.0	13	339	0.20	2.58	0.00	0.000	6	0.093	0.051	2148	2292	3380
656	-0.64	-146.6	60.8	-8.4	29	657	0.00	0.00	0.00	0.000	6	0.000	0.000	2148	2292	3380
967	-0.58	-146.6	85.9	-8.1	44	972	0.12	2.62	0.00	0.000	4	0.097	0.066	2171	880	3381
1007	-0.65	-146.6	88.9	-6.7	46	1012	0.00	2.60	0.00	0.000	6	0.000	0.052	2171	2305	3381
1334	-0.65	-146.6	111.1	-6.9	62	1338	0.00	2.62	0.00	0.000	4	0.000	0.063	2171	885	3381
1374	-0.71	-146.6	113.7	-6.8	64	1379	0.12	2.60	0.00	0.000	6	0.046	0.053	2129	2305	3382
1701	-0.62	-146.6	144.0	-9.6	80	1706	0.15	2.65	0.00	0.000	4	0.084	0.074	2163	3712	3382
1729	-0.62	-146.6	146.6	-9.2	81	1733	0.00	2.58	0.00	0.000	6	0.000	0.054	2163	2298	3382
2045	-0.62	-146.6	172.6	-8.2	96	2049	0.00	2.62	0.00	0.000	4	0.000	0.067	2163	881	3382
2133	-0.62	-146.6	180.0	-8.3	100	2138	0.00	2.60	0.00	0.000	6	0.000	0.054	2162	2299	3382
2455	-0.62	-146.6	205.7	-8.2	116	2456	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2300	3382
2764	-0.62	-146.6	229.2	-7.1	131	2768	0.00	2.65	0.00	0.000	4	0.000	0.067	2163	877	3382
2808	-0.67	-146.6	232.4	-7.0	133	2813	0.00	2.60	0.00	0.000	6	0.000	0.055	2163	2302	3382
3130	-0.67	-146.6	251.9	-5.9	149	3131	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2302	3383
3439	-0.67	-146.6	269.2	-5.4	164	3443	0.00	2.65	0.00	0.000	4	0.000	0.068	2163	885	3382
3480	-0.74	-146.6	271.1	-5.0	166	3485	0.12	2.60	0.00	0.000	6	0.048	0.057	2122	2299	3382
3807	-0.64	-146.6	294.5	-7.8	182	3809	0.17	0.00	0.00	0.000	6	0.084	0.000	2156	2299	3382
4115	-0.64	-146.6	316.3	-7.5	197	4120	0.00	2.65	0.00	0.000	4	0.000	0.068	2156	880	3383
4156	-0.69	-146.6	319.4	-7.9	199	4160	0.00	2.62	0.00	0.000	6	0.000	0.057	2156	2305	3382
4482	-0.69	-146.6	344.9	-7.5	215	4486	0.00	2.67	0.00	0.000	4	0.000	0.069	2156	876	3381
4515	-0.73	-146.6	347.3	-7.3	216	4521	0.00	2.62	0.00	0.000	6	0.000	0.058	2156	2305	3382
4830	-0.73	-146.6	369.5	-7.1	232	4835	0.00	2.65	0.00	0.000	4	0.000	0.068	2156	885	3382
4881	-0.77	-146.6	373.4	-7.9	234	4886	0.12	2.60	0.00	0.000	6	0.050	0.058	2117	2300	3381
5199	-0.68	-146.6	401.7	-9.5	249	5201	0.17	0.00	0.00	0.000	6	0.087	0.000	2153	2300	3381
5505	-0.68	-146.6	424.6	-7.1	264	5507	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2300	3381
5815	-0.68	-146.6	444.7	-6.1	279	5819	0.00	2.65	0.00	0.000	4	0.000	0.070	2152	881	3380
5848	-0.68	-146.6	446.7	-5.8	280	5854	0.00	2.60	0.00	0.000	6	0.000	0.060	2152	2302	3380
6164	-0.68	-146.6	465.0	-5.9	296	6165	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2302	3380
6473	-0.68	-146.6	484.0	-6.0	311	6477	0.00	2.67	0.00	0.000	4	0.000	0.071	2152	880	3379
6545	-0.74	-146.6	488.7	-7.3	314	6550	0.00	2.62	0.00	0.000	6	0.000	0.062	2152	2300	3379
6861	-0.74	-146.6	508.8	-6.8	329	6862	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2300	3378
7170	-0.74	-146.6	531.0	-7.4	344	7174	0.00	2.67	0.00	0.000	4	0.000	0.074	2152	880	3379
7232	-0.78	-146.6	535.9	-7.8	347	7237	0.00	2.65	0.00	0.000	6	0.000	0.063	2152	2305	3378
7559	-0.78	-146.6	560.1	-7.2	363	7564	0.00	2.67	0.00	0.000	4	0.000	0.074	2152	888	3377
7600	-0.84	-146.6	562.9	-7.1	365	7605	0.17	2.62	0.00	0.000	6	0.049	0.065	2104	2304	3377
7929	-0.72	-146.6	591.3	-8.7	381	7934	0.15	2.72	0.00	0.000	4	0.097	0.091	2137	3710	3375
7969	-0.72	-146.6	594.9	-8.4	383	7973	0.00	2.62	0.00	0.000	6	0.000	0.065	2137	2298	3376
8231	end dive: BOTTOM_OBSTACLE_DETECTED
state	8231	begin apogee
8238	-0.31	0.0	614.4	7.2	396	8374	0.47	0.00	131.10	1.097	6	0.100	0.000	2231	2298	2781
8374	end apogee: CONTROL_FINISHED_OK
state	8374	begin climb
8377	0.85	146.6	615.1	0.0	403	8520	1.17	2.90	131.02	1.063	4	0.078	0.091	2480	3710	2182
8601	0.85	149.8	609.2	5.9	413	8613	0.00	2.67	4.75	0.726	6	0.000	0.066	2481	2304	2169
8922	0.94	229.2	594.4	3.8	429	8996	0.10	0.00	71.38	1.055	6	0.061	0.000	2508	2304	1846
9291	0.94	229.2	570.1	7.4	447	9295	0.00	2.75	0.00	0.000	4	0.000	0.081	2508	886	1845
9323	0.94	229.2	567.7	7.9	448	9330	0.00	2.67	0.00	0.000	6	0.000	0.066	2508	2303	1844
9639	0.94	229.2	545.0	6.9	464	9643	0.00	2.72	0.00	0.000	4	0.000	0.078	2508	884	1844
9711	0.94	229.2	540.1	7.0	467	9715	0.00	2.67	0.00	0.000	6	0.000	0.065	2508	2299	1843
10026	0.94	229.2	520.7	6.1	482	10031	0.00	2.72	0.00	0.000	4	0.000	0.077	2508	884	1842
10072	0.94	229.2	517.5	7.2	484	10077	0.00	2.67	0.00	0.000	6	0.000	0.066	2508	2299	1841
10393	0.94	229.2	493.0	8.3	500	10397	0.00	2.72	0.00	0.000	4	0.000	0.077	2508	879	1841
10425	0.94	229.2	490.1	8.3	501	10431	0.00	2.67	0.00	0.000	6	0.000	0.065	2508	2299	1841
10741	0.94	229.2	464.6	7.3	517	10745	0.00	2.70	0.00	0.000	4	0.000	0.077	2509	884	1841
10803	0.94	229.2	460.0	7.1	520	10807	0.00	2.67	0.00	0.000	6	0.000	0.064	2508	2299	1841
11129	0.94	229.2	435.3	7.6	536	11134	0.00	2.72	0.00	0.000	4	0.000	0.077	2508	877	1841
11184	0.94	229.2	431.1	7.5	538	11191	0.00	2.65	0.00	0.000	6	0.000	0.064	2508	2301	1840
11500	0.94	229.2	410.6	6.4	554	11504	0.00	2.72	0.00	0.000	4	0.000	0.087	2508	3709	1840
11532	0.94	229.2	408.0	7.6	555	11539	0.00	2.65	0.00	0.000	6	0.000	0.067	2508	2299	1841
11849	0.94	229.2	387.7	6.3	571	11853	0.00	2.70	0.00	0.000	4	0.000	0.077	2508	879	1841
11888	0.94	229.2	385.3	6.5	573	11892	0.00	2.65	0.00	0.000	6	0.000	0.061	2508	2305	1840
12214	0.94	229.2	364.9	6.3	589	12218	0.00	2.70	0.00	0.000	4	0.000	0.074	2509	882	1840
12269	0.94	229.2	360.9	7.3	591	12275	0.00	2.65	0.00	0.000	6	0.000	0.059	2509	2306	1840
12585	0.94	229.2	338.6	6.6	607	12589	0.00	2.70	0.00	0.000	4	0.000	0.073	2509	882	1840
12611	0.94	229.2	336.8	7.3	608	12616	0.00	2.62	0.00	0.000	6	0.000	0.058	2508	2302	1840
12927	0.94	229.2	316.6	6.1	623	12931	0.00	2.70	0.00	0.000	4	0.000	0.081	2509	3716	1840
12948	0.94	229.2	315.1	6.5	624	12953	0.00	2.65	0.00	0.000	6	0.000	0.061	2508	2297	1841
13270	0.94	229.2	295.2	6.6	640	13271	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2297	1840
13579	0.94	229.2	274.1	6.9	655	13583	0.00	2.65	0.00	0.000	4	0.000	0.071	2509	883	1841
13622	0.94	229.2	271.1	7.1	657	13627	0.00	2.60	0.00	0.000	6	0.000	0.055	2509	2301	1841
13944	0.94	229.2	249.4	6.8	673	13945	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2301	1841
14253	0.94	229.2	226.6	7.8	688	14257	0.00	2.65	0.00	0.000	4	0.000	0.067	2508	883	1842
14308	0.94	229.2	222.0	8.6	690	14314	0.00	2.60	0.00	0.000	6	0.000	0.054	2509	2307	1842
14624	0.94	229.2	198.8	6.9	706	14625	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2307	1843
14933	0.97	256.2	182.5	5.3	721	14962	0.00	2.75	23.50	0.760	4	0.000	0.065	2508	878	1735
15014	0.97	260.7	177.7	5.9	724	15025	0.00	2.62	5.65	0.608	6	0.000	0.052	2508	2302	1718
15347	0.97	260.7	157.6	6.2	741	15351	0.00	2.65	0.00	0.000	4	0.000	0.065	2509	881	1718
15386	0.97	260.7	155.2	6.2	743	15391	0.00	2.60	0.00	0.000	6	0.000	0.053	2509	2300	1717
15714	0.97	264.7	135.7	5.9	759	15721	0.00	0.00	5.32	0.577	6	0.000	0.000	2509	2300	1701
16024	0.97	264.7	116.5	6.3	774	16028	0.00	2.65	0.00	0.000	4	0.000	0.064	2509	880	1701
16051	0.97	264.7	114.5	6.5	775	16056	0.00	2.60	0.00	0.000	6	0.000	0.051	2509	2301	1700
16367	0.97	264.7	92.1	7.6	790	16372	0.00	2.65	0.00	0.000	4	0.000	0.064	2509	878	1701
16467	0.97	264.7	84.2	7.8	794	16473	0.00	2.60	0.00	0.000	6	0.000	0.052	2509	2301	1701
16783	0.98	265.6	64.5	6.0	810	16788	0.00	2.65	0.00	0.000	4	0.000	0.064	2509	875	1702
16829	1.02	265.6	61.5	7.2	812	16833	0.00	2.60	0.00	0.000	6	0.000	0.051	2509	2301	1702
17150	1.06	265.6	40.8	6.5	828	17155	0.10	2.62	0.00	0.000	4	0.059	0.071	2538	3707	1703
17206	1.00	265.6	36.0	8.7	830	17212	0.00	2.58	0.00	0.000	6	0.000	0.056	2539	2295	1703
17523	0.95	265.6	10.8	8.1	846	17528	0.15	2.62	0.00	0.000	4	0.084	0.065	2503	880	1704
17585	0.95	265.6	6.4	6.2	849	17590	0.00	2.60	0.00	0.000	6	0.000	0.052	2502	2305	1703
17664	end climb: SURFACE_DEPTH_REACHED
state	17664	begin surface coast
17684	end surface coast: CONTROL_FINISHED_OK
state	17684	begin surface