Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 39 * 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 39 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 17 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 -2093345.5 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 -2093345.5

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 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 39 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 164831,6023.698,-545.861,58,1.2,64,-7.1 TGT_NAME WTB_1

_CALLS 1 TGT_LATLONG 6010.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.36 KALMAN_X -2430.1,-296.1,-31.3,-23224.9,5240.5

_SM_ANGLEo -56.3 KALMAN_Y -18566.2,-713.5,-522.5,-24589.5,11573.1

GPS2 165350,6023.676,-545.686,14,1.2,31,-7.1 MHEAD_RNG_PITCHd_Wd 222.2,30953,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027111 ALTIM_BOTTOM_PING 575.2,100.9

SM_CCo 18777,15.18,0.587,0,0,1558,300.00 _24V_AH 23.5,8.918

SM_GC 1.55,0.00,0.00,15.18,0.000,0.000,0.587,70,2301,1558,-10.26,0.03,300.00 _10V_AH 10.1,3.962

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47328,902

TT8_MAMPS 0.023777 CAP_FILE_SIZE 138304,0

HUMID 1863 CFSIZE 260165632,256307200

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

XPDR_PINGS 42 GPS 120608,220928,6020.748,-542.909,35,2.8,54,-7.1

ALTIM_TOP_PING 19.0,18.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 161 93.75 SBE_CT 667 24 376.34

Roll_motor 185 95 415.33 SBE_O2 613 19 273.85

VBD_pump_during_apogee 382 1104 9921.41 WL_BB2F 557 105 1376.36

VBD_pump_during_surface 15 586 209.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 17 103 43.53 nil 0 0 0.00

Iridium_during_connect 26 160 100.94 nil 0 0 0.00

Iridium_during_xfer 140 223 735.54

Transponder_ping 15 420 152.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.09

TT8 1669 19 333.87

LPSleep 14402 2 318.56

TT8_Active 567 19 113.51

TT8_Sampling 1992 39 801.05

TT8_CF8 481 45 222.73

TT8_Kalman 33 81 27.56

Analog_circuits 1569 12 190.26

GPS_charging 0 0 0.00

Compass 1932 8 156.13

RAFOS 0 0 0.00

Guidance and control:

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -0.85 -146.6 0.0 0.0 0 88 0.00 0.00 -60.72 0.000 2 0.000 0.000 69 2306 2777

92 -0.85 -146.6 3.3 -4.3 3 127 11.23 2.67 -17.85 0.000 4 0.162 0.086 2107 3710 3380

329 -0.64 -146.6 31.4 -12.1 13 336 0.25 2.58 0.00 0.000 6 0.091 0.055 2157 2298 3381

645 -0.64 -146.6 60.3 -9.1 29 650 0.00 2.62 0.00 0.000 4 0.000 0.065 2157 878 3381

723 -0.64 -146.6 67.3 -8.5 32 730 0.00 2.62 0.00 0.000 6 0.000 0.057 2157 2304 3381

1040 -0.64 -146.6 87.7 -5.6 48 1041 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2305 3382

1348 -0.64 -146.6 110.4 -8.1 63 1353 0.00 2.65 0.00 0.000 4 0.000 0.062 2157 873 3382

1382 -0.64 -146.6 113.3 -8.8 64 1388 0.00 2.62 0.00 0.000 6 0.000 0.058 2157 2300 3382

1699 -0.64 -146.6 139.3 -7.8 80 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2300 3382

2006 -0.64 -146.6 161.5 -7.1 95 2011 0.00 2.62 0.00 0.000 4 0.000 0.064 2157 880 3382

2039 -0.64 -146.6 163.8 -6.9 96 2045 0.00 2.62 0.00 0.000 6 0.000 0.059 2155 2302 3382

2355 -0.64 -146.6 186.3 -7.3 112 2356 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3382

2664 -0.64 -146.6 210.1 -8.2 127 2669 0.00 2.65 0.00 0.000 4 0.000 0.064 2157 874 3382

2703 -0.64 -146.6 213.6 -8.8 129 2708 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2302 3382

3030 -0.64 -146.6 240.3 -7.9 145 3031 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2302 3382

3339 -0.64 -146.6 266.4 -8.5 160 3343 0.00 2.62 0.00 0.000 4 0.000 0.064 2157 881 3382

3378 -0.64 -146.6 269.8 -8.9 162 3383 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2303 3382

3705 -0.64 -146.6 297.4 -8.2 178 3706 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3382

4014 -0.64 -146.6 321.6 -7.7 193 4015 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3382

4324 -0.64 -146.6 346.3 -7.8 208 4325 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3382

4633 -0.64 -146.6 372.8 -8.7 223 4637 0.00 2.65 0.00 0.000 4 0.000 0.067 2157 878 3382

4662 -0.64 -146.6 375.3 -8.8 224 4666 0.00 2.62 0.00 0.000 6 0.000 0.059 2157 2303 3382

4977 -0.64 -146.6 403.3 -8.6 239 4979 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2303 3381

5286 -0.64 -146.6 426.4 -6.7 254 5291 0.00 2.67 0.00 0.000 4 0.000 0.082 2157 3707 3382

5313 -0.64 -146.6 428.4 -7.4 255 5318 0.00 2.60 0.00 0.000 6 0.000 0.058 2157 2295 3382

5631 -0.64 -146.6 450.1 -7.2 270 5632 0.00 0.00 0.00 0.000 6 0.000 0.000 2157 2295 3382

5938 -0.64 -146.6 470.8 -6.2 285 5942 0.00 2.62 0.00 0.000 4 0.000 0.067 2157 874 3382

5988 -0.71 -146.6 474.0 -6.7 287 5992 0.00 2.62 0.00 0.000 6 0.000 0.060 2157 2300 3382

6304 -0.71 -146.6 495.0 -6.4 302 6308 0.00 2.67 0.00 0.000 4 0.000 0.083 2157 3707 3382

6365 -0.71 -146.6 499.6 -7.5 305 6373 0.00 2.58 0.00 0.000 6 0.000 0.058 2157 2298 3382

6700 -0.71 -146.6 522.3 -6.2 321 6704 0.00 2.62 0.00 0.000 4 0.000 0.070 2157 883 3382

6733 -0.77 -146.6 524.4 -6.5 322 6740 0.12 2.62 0.00 0.000 6 0.049 0.061 2117 2302 3382

7049 -0.67 -146.6 549.5 -8.3 338 7054 0.15 2.65 0.00 0.000 4 0.091 0.067 2150 882 3381

7118 -0.72 -146.6 554.1 -6.0 341 7122 0.00 2.62 0.00 0.000 6 0.000 0.060 2150 2303 3381

7438 -0.72 -146.6 574.4 -7.1 357 7443 0.00 2.70 0.00 0.000 4 0.000 0.087 2150 3708 3380

7488 -0.72 -146.6 578.3 -8.2 359 7492 0.00 2.60 0.00 0.000 6 0.000 0.060 2150 2300 3380

7803 -0.72 -146.6 600.6 -7.0 374 7805 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2299 3379

8113 -0.72 -146.6 620.1 -5.9 389 8117 0.00 2.65 0.00 0.000 4 0.000 0.074 2150 884 3379

8146 -0.77 -146.6 622.1 -6.5 390 8152 0.00 2.65 0.00 0.000 6 0.000 0.065 2150 2302 3379

8462 -0.77 -146.6 641.1 -6.3 406 8466 0.00 2.75 0.00 0.000 4 0.000 0.094 2150 3713 3378

8489 -0.77 -146.6 643.0 -7.2 407 8493 0.00 2.65 0.00 0.000 6 0.000 0.066 2150 2297 3378

8804 -0.77 -146.6 662.5 -6.2 422 8806 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2297 3376

8864 end dive: BOTTOM_OBSTACLE_DETECTED

state 8864 begin apogee

8870 -0.31 0.0 666.5 6.5 425 9007 0.43 0.00 131.43 1.104 6 0.121 0.000 2230 2297 2781

9007 end apogee: CONTROL_FINISHED_OK

state 9007 begin climb

9010 0.85 146.6 671.8 0.0 432 9147 1.23 0.00 131.55 1.079 6 0.085 0.000 2482 2297 2182

9460 0.87 166.0 652.7 5.5 454 9484 0.00 2.78 18.38 1.015 4 0.000 0.078 2482 893 2104

9640 0.90 196.8 643.1 5.2 462 9674 0.00 2.67 28.67 1.048 6 0.000 0.068 2482 2299 1978

9991 0.91 205.5 624.3 5.8 479 10005 0.00 2.85 8.88 0.936 4 0.000 0.095 2482 3713 1943

10037 0.95 206.1 621.7 6.0 481 10042 0.12 2.70 0.00 0.000 6 0.064 0.071 2514 2301 1943

10364 0.90 206.1 599.1 7.2 497 10368 0.00 2.72 0.00 0.000 4 0.000 0.083 2514 886 1941

10426 0.83 206.1 594.6 7.3 500 10431 0.17 2.67 0.00 0.000 6 0.094 0.066 2480 2301 1941

10754 0.90 229.1 576.4 5.4 516 10783 0.00 2.90 21.88 1.039 4 0.000 0.093 2479 3714 1847

10829 0.96 233.8 572.1 5.9 519 10841 0.12 2.70 6.12 0.844 6 0.058 0.070 2513 2301 1827

11150 0.96 233.8 551.0 7.4 535 11151 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2301 1826

11459 0.96 233.8 525.4 8.1 550 11463 0.00 2.70 0.00 0.000 4 0.000 0.079 2513 885 1825

11581 0.96 233.8 515.1 8.2 555 11588 0.00 2.65 0.00 0.000 6 0.000 0.064 2513 2301 1824

11897 0.96 233.8 490.2 7.6 571 11902 0.00 2.72 0.00 0.000 4 0.000 0.087 2513 3713 1824

11919 0.96 233.8 488.6 6.6 572 11924 0.00 2.65 0.00 0.000 6 0.000 0.067 2513 2300 1824

12241 0.97 248.9 469.4 5.6 588 12262 0.00 2.75 13.98 0.931 4 0.000 0.074 2513 878 1766

12308 0.97 248.9 465.3 6.5 591 12313 0.00 2.65 0.00 0.000 6 0.000 0.060 2513 2301 1765

12635 0.97 248.9 443.5 7.3 607 12636 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2301 1766

12944 0.97 248.9 420.2 7.7 622 12946 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2301 1766

13254 0.97 248.9 397.0 7.2 637 13255 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2300 1766

13563 0.97 248.9 375.3 6.8 652 13567 0.00 2.70 0.00 0.000 4 0.000 0.082 2513 3717 1766

13602 0.97 248.9 372.5 7.1 654 13607 0.00 2.65 0.00 0.000 6 0.000 0.063 2513 2293 1767

13929 0.99 265.0 353.9 5.6 670 13948 0.00 0.00 15.85 0.841 6 0.000 0.000 2513 2293 1700

14258 0.99 265.0 334.2 6.2 686 14262 0.00 2.65 0.00 0.000 4 0.000 0.071 2513 877 1701

14298 1.00 269.5 331.7 5.9 688 14308 0.00 2.62 5.53 0.668 6 0.000 0.055 2513 2301 1682

14624 1.00 269.5 310.6 6.5 704 14628 0.00 2.65 0.00 0.000 4 0.000 0.066 2513 881 1683

14651 1.00 269.5 308.6 7.0 705 14655 0.00 2.62 0.00 0.000 6 0.000 0.056 2513 2305 1683

14966 1.00 269.5 284.2 8.0 720 14971 0.00 2.65 0.00 0.000 4 0.000 0.067 2513 883 1683

15011 1.00 269.5 280.5 8.4 722 15015 0.00 2.62 0.00 0.000 6 0.000 0.055 2513 2304 1683

15331 1.00 269.5 256.4 7.4 738 15336 0.00 2.65 0.00 0.000 4 0.000 0.067 2513 882 1684

15371 1.00 269.5 253.4 7.6 740 15376 0.00 2.62 0.00 0.000 6 0.000 0.055 2513 2304 1684

15698 1.00 269.5 230.1 7.0 756 15703 0.00 2.65 0.00 0.000 4 0.000 0.067 2513 880 1685

15748 1.00 269.5 226.4 7.5 758 15753 0.00 2.62 0.00 0.000 6 0.000 0.055 2513 2305 1685

16064 1.00 269.5 204.0 7.2 773 16068 0.00 2.65 0.00 0.000 4 0.000 0.066 2513 881 1685

16091 1.00 269.5 201.9 7.3 774 16095 0.00 2.62 0.00 0.000 6 0.000 0.054 2513 2306 1686

16406 1.00 269.5 180.8 6.3 789 16411 0.00 2.65 0.00 0.000 4 0.000 0.065 2513 881 1686

16451 1.00 269.5 177.7 7.6 791 16455 0.00 2.60 0.00 0.000 6 0.000 0.054 2513 2301 1686

16771 1.00 269.5 155.6 7.7 807 16776 0.00 2.65 0.00 0.000 4 0.000 0.064 2513 877 1687

16827 1.00 269.5 151.0 8.0 809 16833 0.00 2.62 0.00 0.000 6 0.000 0.055 2513 2305 1687

17145 1.00 269.5 128.1 7.0 825 17149 0.00 2.65 0.00 0.000 4 0.000 0.064 2513 876 1687

17184 1.00 269.5 125.2 6.5 827 17189 0.00 2.60 0.00 0.000 6 0.000 0.054 2513 2301 1687

17511 1.00 269.5 101.9 7.3 843 17515 0.00 2.65 0.00 0.000 4 0.000 0.065 2513 874 1687

17551 1.00 269.5 98.8 8.0 845 17555 0.00 2.62 0.00 0.000 6 0.000 0.054 2513 2303 1687

17877 1.00 269.5 71.4 8.0 861 17878 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2303 1688

18186 1.00 269.5 47.9 7.5 876 18191 0.00 2.65 0.00 0.000 4 0.000 0.065 2513 875 1688

18281 1.00 269.5 39.8 7.7 880 18286 0.00 2.62 0.00 0.000 6 0.000 0.054 2513 2308 1688

18598 1.05 269.5 14.2 8.2 895 18602 0.00 2.65 0.00 0.000 4 0.000 0.066 2513 881 1689

18648 1.10 269.5 9.9 8.9 897 18653 0.12 2.60 0.00 0.000 6 0.054 0.056 2547 2301 1689

18735 end climb: SURFACE_DEPTH_REACHED

state 18735 begin surface coast

18756 end surface coast: CONTROL_FINISHED_OK

state 18756 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	39	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	17	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	-2093345.5	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	164831,6023.698,-545.861,58,1.2,64,-7.1	TGT_NAME	WTB_1
_CALLS	1	TGT_LATLONG	6010.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.36	KALMAN_X	-2430.1,-296.1,-31.3,-23224.9,5240.5
_SM_ANGLEo	-56.3	KALMAN_Y	-18566.2,-713.5,-522.5,-24589.5,11573.1
GPS2	165350,6023.676,-545.686,14,1.2,31,-7.1	MHEAD_RNG_PITCHd_Wd	222.2,30953,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027111	ALTIM_BOTTOM_PING	575.2,100.9
SM_CCo	18777,15.18,0.587,0,0,1558,300.00	_24V_AH	23.5,8.918
SM_GC	1.55,0.00,0.00,15.18,0.000,0.000,0.587,70,2301,1558,-10.26,0.03,300.00	_10V_AH	10.1,3.962
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47328,902
TT8_MAMPS	0.023777	CAP_FILE_SIZE	138304,0
HUMID	1863	CFSIZE	260165632,256307200
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
XPDR_PINGS	42	GPS	120608,220928,6020.748,-542.909,35,2.8,54,-7.1
ALTIM_TOP_PING	19.0,18.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	161	93.75	SBE_CT	667	24	376.34
Roll_motor	185	95	415.33	SBE_O2	613	19	273.85
VBD_pump_during_apogee	382	1104	9921.41	WL_BB2F	557	105	1376.36
VBD_pump_during_surface	15	586	209.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	17	103	43.53	nil	0	0	0.00
Iridium_during_connect	26	160	100.94	nil	0	0	0.00
Iridium_during_xfer	140	223	735.54
Transponder_ping	15	420	152.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.09
TT8	1669	19	333.87
LPSleep	14402	2	318.56
TT8_Active	567	19	113.51
TT8_Sampling	1992	39	801.05
TT8_CF8	481	45	222.73
TT8_Kalman	33	81	27.56
Analog_circuits	1569	12	190.26
GPS_charging	0	0	0.00
Compass	1932	8	156.13
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-0.85	-146.6	0.0	0.0	0	88	0.00	0.00	-60.72	0.000	2	0.000	0.000	69	2306	2777
92	-0.85	-146.6	3.3	-4.3	3	127	11.23	2.67	-17.85	0.000	4	0.162	0.086	2107	3710	3380
329	-0.64	-146.6	31.4	-12.1	13	336	0.25	2.58	0.00	0.000	6	0.091	0.055	2157	2298	3381
645	-0.64	-146.6	60.3	-9.1	29	650	0.00	2.62	0.00	0.000	4	0.000	0.065	2157	878	3381
723	-0.64	-146.6	67.3	-8.5	32	730	0.00	2.62	0.00	0.000	6	0.000	0.057	2157	2304	3381
1040	-0.64	-146.6	87.7	-5.6	48	1041	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2305	3382
1348	-0.64	-146.6	110.4	-8.1	63	1353	0.00	2.65	0.00	0.000	4	0.000	0.062	2157	873	3382
1382	-0.64	-146.6	113.3	-8.8	64	1388	0.00	2.62	0.00	0.000	6	0.000	0.058	2157	2300	3382
1699	-0.64	-146.6	139.3	-7.8	80	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2300	3382
2006	-0.64	-146.6	161.5	-7.1	95	2011	0.00	2.62	0.00	0.000	4	0.000	0.064	2157	880	3382
2039	-0.64	-146.6	163.8	-6.9	96	2045	0.00	2.62	0.00	0.000	6	0.000	0.059	2155	2302	3382
2355	-0.64	-146.6	186.3	-7.3	112	2356	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3382
2664	-0.64	-146.6	210.1	-8.2	127	2669	0.00	2.65	0.00	0.000	4	0.000	0.064	2157	874	3382
2703	-0.64	-146.6	213.6	-8.8	129	2708	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2302	3382
3030	-0.64	-146.6	240.3	-7.9	145	3031	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2302	3382
3339	-0.64	-146.6	266.4	-8.5	160	3343	0.00	2.62	0.00	0.000	4	0.000	0.064	2157	881	3382
3378	-0.64	-146.6	269.8	-8.9	162	3383	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2303	3382
3705	-0.64	-146.6	297.4	-8.2	178	3706	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3382
4014	-0.64	-146.6	321.6	-7.7	193	4015	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3382
4324	-0.64	-146.6	346.3	-7.8	208	4325	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3382
4633	-0.64	-146.6	372.8	-8.7	223	4637	0.00	2.65	0.00	0.000	4	0.000	0.067	2157	878	3382
4662	-0.64	-146.6	375.3	-8.8	224	4666	0.00	2.62	0.00	0.000	6	0.000	0.059	2157	2303	3382
4977	-0.64	-146.6	403.3	-8.6	239	4979	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2303	3381
5286	-0.64	-146.6	426.4	-6.7	254	5291	0.00	2.67	0.00	0.000	4	0.000	0.082	2157	3707	3382
5313	-0.64	-146.6	428.4	-7.4	255	5318	0.00	2.60	0.00	0.000	6	0.000	0.058	2157	2295	3382
5631	-0.64	-146.6	450.1	-7.2	270	5632	0.00	0.00	0.00	0.000	6	0.000	0.000	2157	2295	3382
5938	-0.64	-146.6	470.8	-6.2	285	5942	0.00	2.62	0.00	0.000	4	0.000	0.067	2157	874	3382
5988	-0.71	-146.6	474.0	-6.7	287	5992	0.00	2.62	0.00	0.000	6	0.000	0.060	2157	2300	3382
6304	-0.71	-146.6	495.0	-6.4	302	6308	0.00	2.67	0.00	0.000	4	0.000	0.083	2157	3707	3382
6365	-0.71	-146.6	499.6	-7.5	305	6373	0.00	2.58	0.00	0.000	6	0.000	0.058	2157	2298	3382
6700	-0.71	-146.6	522.3	-6.2	321	6704	0.00	2.62	0.00	0.000	4	0.000	0.070	2157	883	3382
6733	-0.77	-146.6	524.4	-6.5	322	6740	0.12	2.62	0.00	0.000	6	0.049	0.061	2117	2302	3382
7049	-0.67	-146.6	549.5	-8.3	338	7054	0.15	2.65	0.00	0.000	4	0.091	0.067	2150	882	3381
7118	-0.72	-146.6	554.1	-6.0	341	7122	0.00	2.62	0.00	0.000	6	0.000	0.060	2150	2303	3381
7438	-0.72	-146.6	574.4	-7.1	357	7443	0.00	2.70	0.00	0.000	4	0.000	0.087	2150	3708	3380
7488	-0.72	-146.6	578.3	-8.2	359	7492	0.00	2.60	0.00	0.000	6	0.000	0.060	2150	2300	3380
7803	-0.72	-146.6	600.6	-7.0	374	7805	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2299	3379
8113	-0.72	-146.6	620.1	-5.9	389	8117	0.00	2.65	0.00	0.000	4	0.000	0.074	2150	884	3379
8146	-0.77	-146.6	622.1	-6.5	390	8152	0.00	2.65	0.00	0.000	6	0.000	0.065	2150	2302	3379
8462	-0.77	-146.6	641.1	-6.3	406	8466	0.00	2.75	0.00	0.000	4	0.000	0.094	2150	3713	3378
8489	-0.77	-146.6	643.0	-7.2	407	8493	0.00	2.65	0.00	0.000	6	0.000	0.066	2150	2297	3378
8804	-0.77	-146.6	662.5	-6.2	422	8806	0.00	0.00	0.00	0.000	6	0.000	0.000	2150	2297	3376
8864	end dive: BOTTOM_OBSTACLE_DETECTED
state	8864	begin apogee
8870	-0.31	0.0	666.5	6.5	425	9007	0.43	0.00	131.43	1.104	6	0.121	0.000	2230	2297	2781
9007	end apogee: CONTROL_FINISHED_OK
state	9007	begin climb
9010	0.85	146.6	671.8	0.0	432	9147	1.23	0.00	131.55	1.079	6	0.085	0.000	2482	2297	2182
9460	0.87	166.0	652.7	5.5	454	9484	0.00	2.78	18.38	1.015	4	0.000	0.078	2482	893	2104
9640	0.90	196.8	643.1	5.2	462	9674	0.00	2.67	28.67	1.048	6	0.000	0.068	2482	2299	1978
9991	0.91	205.5	624.3	5.8	479	10005	0.00	2.85	8.88	0.936	4	0.000	0.095	2482	3713	1943
10037	0.95	206.1	621.7	6.0	481	10042	0.12	2.70	0.00	0.000	6	0.064	0.071	2514	2301	1943
10364	0.90	206.1	599.1	7.2	497	10368	0.00	2.72	0.00	0.000	4	0.000	0.083	2514	886	1941
10426	0.83	206.1	594.6	7.3	500	10431	0.17	2.67	0.00	0.000	6	0.094	0.066	2480	2301	1941
10754	0.90	229.1	576.4	5.4	516	10783	0.00	2.90	21.88	1.039	4	0.000	0.093	2479	3714	1847
10829	0.96	233.8	572.1	5.9	519	10841	0.12	2.70	6.12	0.844	6	0.058	0.070	2513	2301	1827
11150	0.96	233.8	551.0	7.4	535	11151	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2301	1826
11459	0.96	233.8	525.4	8.1	550	11463	0.00	2.70	0.00	0.000	4	0.000	0.079	2513	885	1825
11581	0.96	233.8	515.1	8.2	555	11588	0.00	2.65	0.00	0.000	6	0.000	0.064	2513	2301	1824
11897	0.96	233.8	490.2	7.6	571	11902	0.00	2.72	0.00	0.000	4	0.000	0.087	2513	3713	1824
11919	0.96	233.8	488.6	6.6	572	11924	0.00	2.65	0.00	0.000	6	0.000	0.067	2513	2300	1824
12241	0.97	248.9	469.4	5.6	588	12262	0.00	2.75	13.98	0.931	4	0.000	0.074	2513	878	1766
12308	0.97	248.9	465.3	6.5	591	12313	0.00	2.65	0.00	0.000	6	0.000	0.060	2513	2301	1765
12635	0.97	248.9	443.5	7.3	607	12636	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2301	1766
12944	0.97	248.9	420.2	7.7	622	12946	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2301	1766
13254	0.97	248.9	397.0	7.2	637	13255	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2300	1766
13563	0.97	248.9	375.3	6.8	652	13567	0.00	2.70	0.00	0.000	4	0.000	0.082	2513	3717	1766
13602	0.97	248.9	372.5	7.1	654	13607	0.00	2.65	0.00	0.000	6	0.000	0.063	2513	2293	1767
13929	0.99	265.0	353.9	5.6	670	13948	0.00	0.00	15.85	0.841	6	0.000	0.000	2513	2293	1700
14258	0.99	265.0	334.2	6.2	686	14262	0.00	2.65	0.00	0.000	4	0.000	0.071	2513	877	1701
14298	1.00	269.5	331.7	5.9	688	14308	0.00	2.62	5.53	0.668	6	0.000	0.055	2513	2301	1682
14624	1.00	269.5	310.6	6.5	704	14628	0.00	2.65	0.00	0.000	4	0.000	0.066	2513	881	1683
14651	1.00	269.5	308.6	7.0	705	14655	0.00	2.62	0.00	0.000	6	0.000	0.056	2513	2305	1683
14966	1.00	269.5	284.2	8.0	720	14971	0.00	2.65	0.00	0.000	4	0.000	0.067	2513	883	1683
15011	1.00	269.5	280.5	8.4	722	15015	0.00	2.62	0.00	0.000	6	0.000	0.055	2513	2304	1683
15331	1.00	269.5	256.4	7.4	738	15336	0.00	2.65	0.00	0.000	4	0.000	0.067	2513	882	1684
15371	1.00	269.5	253.4	7.6	740	15376	0.00	2.62	0.00	0.000	6	0.000	0.055	2513	2304	1684
15698	1.00	269.5	230.1	7.0	756	15703	0.00	2.65	0.00	0.000	4	0.000	0.067	2513	880	1685
15748	1.00	269.5	226.4	7.5	758	15753	0.00	2.62	0.00	0.000	6	0.000	0.055	2513	2305	1685
16064	1.00	269.5	204.0	7.2	773	16068	0.00	2.65	0.00	0.000	4	0.000	0.066	2513	881	1685
16091	1.00	269.5	201.9	7.3	774	16095	0.00	2.62	0.00	0.000	6	0.000	0.054	2513	2306	1686
16406	1.00	269.5	180.8	6.3	789	16411	0.00	2.65	0.00	0.000	4	0.000	0.065	2513	881	1686
16451	1.00	269.5	177.7	7.6	791	16455	0.00	2.60	0.00	0.000	6	0.000	0.054	2513	2301	1686
16771	1.00	269.5	155.6	7.7	807	16776	0.00	2.65	0.00	0.000	4	0.000	0.064	2513	877	1687
16827	1.00	269.5	151.0	8.0	809	16833	0.00	2.62	0.00	0.000	6	0.000	0.055	2513	2305	1687
17145	1.00	269.5	128.1	7.0	825	17149	0.00	2.65	0.00	0.000	4	0.000	0.064	2513	876	1687
17184	1.00	269.5	125.2	6.5	827	17189	0.00	2.60	0.00	0.000	6	0.000	0.054	2513	2301	1687
17511	1.00	269.5	101.9	7.3	843	17515	0.00	2.65	0.00	0.000	4	0.000	0.065	2513	874	1687
17551	1.00	269.5	98.8	8.0	845	17555	0.00	2.62	0.00	0.000	6	0.000	0.054	2513	2303	1687
17877	1.00	269.5	71.4	8.0	861	17878	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2303	1688
18186	1.00	269.5	47.9	7.5	876	18191	0.00	2.65	0.00	0.000	4	0.000	0.065	2513	875	1688
18281	1.00	269.5	39.8	7.7	880	18286	0.00	2.62	0.00	0.000	6	0.000	0.054	2513	2308	1688
18598	1.05	269.5	14.2	8.2	895	18602	0.00	2.65	0.00	0.000	4	0.000	0.066	2513	881	1689
18648	1.10	269.5	9.9	8.9	897	18653	0.12	2.60	0.00	0.000	6	0.054	0.056	2547	2301	1689
18735	end climb: SURFACE_DEPTH_REACHED
state	18735	begin surface coast
18756	end surface coast: CONTROL_FINISHED_OK
state	18756	begin surface