Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 62 * 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 62 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 2200 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 24 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 -2093986.8 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 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 -2093986.8

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 2200 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 24 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 62 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 144854,6042.062,-730.142,36,1.7,38,-8.1 TGT_NAME WTB_4

_CALLS 2 TGT_LATLONG 6045.000,-730.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.193,0.108

_SM_DEPTHo 0.93 KALMAN_X -100823.9,-370.7,4776.5,-23737.3,-31226.8

_SM_ANGLEo -47.4 KALMAN_Y -67250.5,232.2,864.3,55736.5,-11864.8

GPS2 145515,6042.025,-729.867,14,1.6,14,-8.1 MHEAD_RNG_PITCHd_Wd 6.9,5511,-16.2,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.027227 ALTIM_BOTTOM_PING 900.1,73.6

SM_CCo 20234,171.02,0.613,0,0,509,557.32 _24V_AH 23.4,13.033

SM_GC 1.13,0.00,0.00,171.02,0.000,0.000,0.613,70,2308,509,-10.25,0.23,557.32 _10V_AH 10.1,6.517

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 50427,972

TT8_MAMPS 0.023777 CAP_FILE_SIZE 151723,0

HUMID 1815 CFSIZE 260165632,254447616

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 49 GPS 190608,203751,6045.983,-732.654,37,3.5,57,-8.2

ALTIM_TOP_PING 19.4,999.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 167 103.67 SBE_CT 718 24 403.51

Roll_motor 177 88 368.92 SBE_O2 664 19 295.52

VBD_pump_during_apogee 315 1341 9917.89 WL_BB2F 520 105 1278.60

VBD_pump_during_surface 171 612 2452.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.89 nil 0 0 0.00

Iridium_during_connect 52 160 195.29 nil 0 0 0.00

Iridium_during_xfer 130 223 681.90

Transponder_ping 20 420 203.93

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.44

TT8 1832 19 366.46

LPSleep 15424 2 341.18

TT8_Active 691 19 138.31

TT8_Sampling 2326 39 935.01

TT8_CF8 525 45 243.15

TT8_Kalman 33 81 27.56

Analog_circuits 1840 12 223.01

GPS_charging 0 0 0.00

Compass 2269 8 183.38

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 -1.10 -77.0 0.0 0.0 0 149 0.00 0.00 -120.68 0.000 2 0.000 0.000 72 2316 2959

152 -1.16 -136.4 3.4 -2.9 6 179 10.95 2.70 -9.52 0.000 4 0.168 0.075 2038 873 3337

327 -0.99 -136.4 33.1 -16.2 14 332 0.25 2.62 0.00 0.000 6 0.114 0.054 2084 2295 3338

654 -0.92 -136.4 77.7 -14.0 30 659 0.00 2.65 0.00 0.000 4 0.000 0.067 2084 878 3337

766 -0.92 -136.4 92.7 -13.1 35 771 0.00 2.62 0.00 0.000 6 0.000 0.054 2084 2304 3337

1087 -0.86 -136.4 134.7 -12.9 51 1093 0.15 2.67 0.00 0.000 4 0.108 0.067 2116 877 3337

1143 -0.95 -136.4 141.2 -10.1 53 1150 0.00 2.60 0.00 0.000 6 0.000 0.053 2116 2303 3337

1459 -0.95 -136.4 171.1 -8.9 69 1463 0.00 2.67 0.00 0.000 4 0.000 0.067 2116 873 3337

1509 -1.04 -136.4 175.4 -8.0 71 1514 0.20 2.60 0.00 0.000 6 0.041 0.054 2058 2300 3337

1825 -0.91 -136.4 214.8 -13.0 86 1827 0.22 0.00 0.00 0.000 6 0.094 0.000 2102 2300 3337

2135 -0.91 -136.4 251.0 -11.8 101 2139 0.00 2.65 0.00 0.000 4 0.000 0.069 2102 880 3337

2213 -0.96 -136.4 260.7 -12.9 104 2218 0.00 2.62 0.00 0.000 6 0.000 0.054 2102 2307 3337

2528 -0.96 -136.4 298.6 -12.1 120 2533 0.00 2.70 0.00 0.000 4 0.000 0.069 2102 871 3337

2573 -1.02 -136.4 304.0 -11.5 122 2578 0.12 2.62 0.00 0.000 6 0.049 0.054 2064 2302 3337

2894 -0.92 -136.4 347.3 -13.3 138 2899 0.17 2.67 0.00 0.000 4 0.097 0.070 2099 877 3337

2973 -0.97 -136.4 356.5 -11.3 141 2979 0.00 2.60 0.00 0.000 6 0.000 0.054 2099 2298 3337

3288 -0.97 -136.4 396.1 -13.3 157 3293 0.00 2.65 0.00 0.000 4 0.000 0.070 2099 879 3337

3412 -1.02 -136.4 412.8 -13.0 162 3418 0.00 2.60 0.00 0.000 6 0.000 0.054 2099 2302 3337

3727 -1.02 -136.4 449.1 -10.8 178 3732 0.00 2.67 0.00 0.000 4 0.000 0.071 2100 879 3336

3845 -1.07 -136.4 463.7 -12.5 183 3850 0.15 2.60 0.00 0.000 6 0.046 0.054 2054 2306 3337

4161 -0.95 -136.4 505.3 -12.3 198 4166 0.17 2.67 0.00 0.000 4 0.097 0.069 2090 880 3337

4224 -0.95 -136.4 511.2 -9.2 201 4228 0.00 2.60 0.00 0.000 6 0.000 0.054 2090 2304 3336

4550 -0.95 -136.4 538.9 -8.5 217 4555 0.00 2.67 0.00 0.000 4 0.000 0.070 2090 878 3336

4662 -0.95 -136.4 548.5 -8.1 222 4666 0.00 2.60 0.00 0.000 6 0.000 0.055 2090 2305 3336

4983 -0.95 -136.4 576.8 -9.0 238 4987 0.00 2.67 0.00 0.000 4 0.000 0.069 2090 877 3335

5112 -0.95 -136.4 588.1 -9.6 244 5116 0.00 2.62 0.00 0.000 6 0.000 0.057 2090 2299 3335

5438 -0.95 -136.4 616.1 -7.8 260 5442 0.00 2.67 0.00 0.000 4 0.000 0.071 2090 877 3335

5505 -1.00 -136.4 621.5 -8.2 263 5509 0.00 2.62 0.00 0.000 6 0.000 0.058 2090 2302 3335

5825 -1.00 -136.4 646.8 -7.8 279 5826 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2302 3335

6135 -1.01 -142.9 666.3 -5.7 294 6136 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2302 3333

6444 -1.01 -142.9 688.3 -8.4 309 6448 0.00 2.72 0.00 0.000 4 0.000 0.089 2090 3711 3332

6476 -1.01 -142.9 691.4 -9.4 310 6483 0.00 2.65 0.00 0.000 6 0.000 0.067 2090 2292 3332

6793 -1.01 -142.9 721.2 -10.6 326 6794 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2292 3330

7102 -1.01 -142.9 757.1 -11.9 341 7103 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2292 3329

7411 -1.01 -142.9 787.4 -8.9 356 7412 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2292 3328

7721 -1.01 -142.9 816.8 -10.8 371 7722 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2291 3326

8029 -1.01 -142.9 843.1 -8.6 386 8030 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2290 3324

8339 -1.01 -142.9 874.7 -10.6 401 8348 0.00 2.67 0.00 0.000 4 0.000 0.086 2090 890 3323

8416 -1.06 -142.9 882.8 -9.8 404 8420 0.00 2.65 0.00 0.000 6 0.000 0.067 2090 2299 3324

8736 -1.06 -142.9 904.3 -7.1 420 8737 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2300 3322

9046 -1.06 -142.9 936.2 -10.6 435 9047 0.00 0.00 0.00 0.000 6 0.000 0.000 2090 2300 3321

9332 end dive: BOTTOM_OBSTACLE_DETECTED

state 9332 begin apogee

9339 -0.31 0.0 965.1 8.1 449 9467 0.70 0.00 124.70 1.341 6 0.117 0.000 2226 2194 2781

9467 end apogee: CONTROL_FINISHED_OK

state 9468 begin climb

9470 1.17 142.9 969.3 0.0 455 9614 1.55 2.83 133.02 1.310 4 0.084 0.085 2549 3612 2198

9740 1.10 142.9 950.4 12.8 467 9745 0.00 2.67 0.00 0.000 6 0.000 0.064 2548 2194 2198

10056 1.05 142.9 924.3 9.0 482 10057 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2194 2197

10365 1.05 142.9 899.0 9.8 497 10369 0.00 2.78 0.00 0.000 4 0.000 0.085 2548 3616 2197

10443 1.09 179.4 892.2 4.1 500 10483 0.00 2.67 34.50 1.250 6 0.000 0.068 2548 2197 2049

10800 1.09 179.4 860.0 11.4 518 10801 0.00 0.00 0.00 0.000 6 0.000 0.000 2548 2197 2048

11109 1.09 179.4 815.7 13.5 533 11113 0.00 2.78 0.00 0.000 4 0.000 0.087 2548 3618 2048

11187 1.03 179.4 805.9 12.4 536 11193 0.12 2.70 0.00 0.000 6 0.109 0.071 2525 2196 2047

11502 1.03 179.4 787.5 7.8 552 11504 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2196 2047

11811 1.03 179.4 761.0 8.3 567 11813 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2196 2046

12121 1.08 179.4 732.1 12.9 582 12126 0.00 2.75 0.00 0.000 4 0.000 0.088 2525 3613 2046

12193 1.10 198.6 726.0 5.0 585 12218 0.00 2.67 18.12 1.134 6 0.000 0.071 2525 2202 1971

12536 1.16 198.6 690.5 10.0 602 12538 0.12 0.00 0.00 0.000 6 0.064 0.000 2557 2202 1970

12845 1.16 198.6 658.1 11.4 617 12849 0.00 2.75 0.00 0.000 4 0.000 0.089 2557 3612 1970

12999 1.07 198.6 638.5 11.6 624 13004 0.12 2.70 0.00 0.000 6 0.114 0.074 2535 2196 1970

13326 1.07 198.6 607.9 9.1 640 13330 0.00 2.78 0.00 0.000 4 0.000 0.089 2535 3615 1969

13410 1.07 198.6 598.7 11.5 644 13414 0.00 2.70 0.00 0.000 6 0.000 0.073 2536 2196 1970

13736 1.07 198.6 561.5 11.7 660 13741 0.00 2.78 0.00 0.000 4 0.000 0.088 2535 3619 1968

13965 1.07 198.6 533.1 11.7 670 13970 0.00 2.70 0.00 0.000 6 0.000 0.073 2535 2202 1969

14281 1.07 198.6 499.7 10.1 685 14285 0.00 2.70 0.00 0.000 4 0.000 0.081 2535 782 1968

14343 1.07 198.6 493.3 10.7 688 14347 0.00 2.65 0.00 0.000 6 0.000 0.060 2535 2203 1968

14669 1.07 198.6 462.0 8.9 704 14673 0.00 2.72 0.00 0.000 4 0.000 0.088 2535 3613 1968

14803 1.07 198.6 449.6 8.7 710 14807 0.00 2.67 0.00 0.000 6 0.000 0.071 2535 2199 1968

15124 1.12 198.6 427.2 7.1 726 15129 0.00 2.75 0.00 0.000 4 0.000 0.085 2535 3619 1968

15281 1.12 198.6 413.6 8.0 733 15285 0.00 2.70 0.00 0.000 6 0.000 0.071 2535 2193 1968

15601 1.12 198.6 387.7 9.7 749 15606 0.00 2.72 0.00 0.000 4 0.000 0.083 2535 3616 1968

15674 1.12 198.6 379.8 10.2 752 15678 0.00 2.67 0.00 0.000 6 0.000 0.070 2535 2201 1969

15989 1.12 198.6 350.3 8.4 767 15994 0.00 2.72 0.00 0.000 4 0.000 0.082 2535 3616 1968

16074 1.12 198.6 343.1 8.8 771 16079 0.00 2.67 0.00 0.000 6 0.000 0.069 2535 2199 1970

16400 1.12 198.6 312.2 9.9 787 16405 0.00 2.72 0.00 0.000 4 0.000 0.081 2535 3616 1971

16445 1.12 198.6 307.8 9.3 789 16449 0.00 2.67 0.00 0.000 6 0.000 0.068 2535 2199 1971

16766 1.17 198.6 282.9 8.0 805 16767 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 2199 1972

17075 1.22 198.6 262.9 6.4 820 17080 0.15 2.72 0.00 0.000 4 0.048 0.077 2579 3622 1972

17142 1.10 198.6 257.0 9.4 823 17148 0.20 2.67 0.00 0.000 6 0.094 0.067 2540 2191 1973

17464 1.15 198.6 236.2 6.4 839 17465 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2193 1973

17773 1.15 202.0 217.3 5.8 854 17784 0.00 2.72 5.60 0.621 4 0.000 0.077 2540 3614 1956

17907 1.15 202.0 207.7 7.5 860 17912 0.00 2.65 0.00 0.000 6 0.000 0.064 2540 2200 1957

18230 1.20 202.0 184.1 8.3 876 18231 0.00 0.00 0.00 0.000 6 0.000 0.000 2540 2200 1957

18539 1.25 202.0 157.8 8.5 891 18544 0.15 2.70 0.00 0.000 4 0.048 0.077 2589 3618 1958

18601 1.13 202.0 150.8 13.3 894 18606 0.22 2.65 0.00 0.000 6 0.095 0.064 2546 2197 1958

18929 1.13 202.0 118.1 10.3 910 18930 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2197 1959

19238 1.13 202.0 85.8 9.5 925 19242 0.00 2.70 0.00 0.000 4 0.000 0.077 2546 3616 1959

19394 1.13 202.0 70.4 9.2 932 19398 0.00 2.62 0.00 0.000 6 0.000 0.062 2546 2201 1960

19716 1.13 202.0 43.3 8.7 948 19718 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2200 1960

20025 1.18 202.0 15.9 8.0 963 20029 0.00 2.70 0.00 0.000 4 0.000 0.077 2546 3619 1961

20102 1.18 202.0 9.6 9.3 966 20109 0.00 2.62 0.00 0.000 6 0.000 0.062 2546 2201 1962

20189 end climb: SURFACE_DEPTH_REACHED

state 20189 begin surface coast

20212 end surface coast: CONTROL_FINISHED_OK

state 20212 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	62	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	2200	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	24	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	-2093986.8	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	144854,6042.062,-730.142,36,1.7,38,-8.1	TGT_NAME	WTB_4
_CALLS	2	TGT_LATLONG	6045.000,-730.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.193,0.108
_SM_DEPTHo	0.93	KALMAN_X	-100823.9,-370.7,4776.5,-23737.3,-31226.8
_SM_ANGLEo	-47.4	KALMAN_Y	-67250.5,232.2,864.3,55736.5,-11864.8
GPS2	145515,6042.025,-729.867,14,1.6,14,-8.1	MHEAD_RNG_PITCHd_Wd	6.9,5511,-16.2,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.027227	ALTIM_BOTTOM_PING	900.1,73.6
SM_CCo	20234,171.02,0.613,0,0,509,557.32	_24V_AH	23.4,13.033
SM_GC	1.13,0.00,0.00,171.02,0.000,0.000,0.613,70,2308,509,-10.25,0.23,557.32	_10V_AH	10.1,6.517
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	50427,972
TT8_MAMPS	0.023777	CAP_FILE_SIZE	151723,0
HUMID	1815	CFSIZE	260165632,254447616
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	49	GPS	190608,203751,6045.983,-732.654,37,3.5,57,-8.2
ALTIM_TOP_PING	19.4,999.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	167	103.67	SBE_CT	718	24	403.51
Roll_motor	177	88	368.92	SBE_O2	664	19	295.52
VBD_pump_during_apogee	315	1341	9917.89	WL_BB2F	520	105	1278.60
VBD_pump_during_surface	171	612	2452.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.89	nil	0	0	0.00
Iridium_during_connect	52	160	195.29	nil	0	0	0.00
Iridium_during_xfer	130	223	681.90
Transponder_ping	20	420	203.93
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.44
TT8	1832	19	366.46
LPSleep	15424	2	341.18
TT8_Active	691	19	138.31
TT8_Sampling	2326	39	935.01
TT8_CF8	525	45	243.15
TT8_Kalman	33	81	27.56
Analog_circuits	1840	12	223.01
GPS_charging	0	0	0.00
Compass	2269	8	183.38
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	-1.10	-77.0	0.0	0.0	0	149	0.00	0.00	-120.68	0.000	2	0.000	0.000	72	2316	2959
152	-1.16	-136.4	3.4	-2.9	6	179	10.95	2.70	-9.52	0.000	4	0.168	0.075	2038	873	3337
327	-0.99	-136.4	33.1	-16.2	14	332	0.25	2.62	0.00	0.000	6	0.114	0.054	2084	2295	3338
654	-0.92	-136.4	77.7	-14.0	30	659	0.00	2.65	0.00	0.000	4	0.000	0.067	2084	878	3337
766	-0.92	-136.4	92.7	-13.1	35	771	0.00	2.62	0.00	0.000	6	0.000	0.054	2084	2304	3337
1087	-0.86	-136.4	134.7	-12.9	51	1093	0.15	2.67	0.00	0.000	4	0.108	0.067	2116	877	3337
1143	-0.95	-136.4	141.2	-10.1	53	1150	0.00	2.60	0.00	0.000	6	0.000	0.053	2116	2303	3337
1459	-0.95	-136.4	171.1	-8.9	69	1463	0.00	2.67	0.00	0.000	4	0.000	0.067	2116	873	3337
1509	-1.04	-136.4	175.4	-8.0	71	1514	0.20	2.60	0.00	0.000	6	0.041	0.054	2058	2300	3337
1825	-0.91	-136.4	214.8	-13.0	86	1827	0.22	0.00	0.00	0.000	6	0.094	0.000	2102	2300	3337
2135	-0.91	-136.4	251.0	-11.8	101	2139	0.00	2.65	0.00	0.000	4	0.000	0.069	2102	880	3337
2213	-0.96	-136.4	260.7	-12.9	104	2218	0.00	2.62	0.00	0.000	6	0.000	0.054	2102	2307	3337
2528	-0.96	-136.4	298.6	-12.1	120	2533	0.00	2.70	0.00	0.000	4	0.000	0.069	2102	871	3337
2573	-1.02	-136.4	304.0	-11.5	122	2578	0.12	2.62	0.00	0.000	6	0.049	0.054	2064	2302	3337
2894	-0.92	-136.4	347.3	-13.3	138	2899	0.17	2.67	0.00	0.000	4	0.097	0.070	2099	877	3337
2973	-0.97	-136.4	356.5	-11.3	141	2979	0.00	2.60	0.00	0.000	6	0.000	0.054	2099	2298	3337
3288	-0.97	-136.4	396.1	-13.3	157	3293	0.00	2.65	0.00	0.000	4	0.000	0.070	2099	879	3337
3412	-1.02	-136.4	412.8	-13.0	162	3418	0.00	2.60	0.00	0.000	6	0.000	0.054	2099	2302	3337
3727	-1.02	-136.4	449.1	-10.8	178	3732	0.00	2.67	0.00	0.000	4	0.000	0.071	2100	879	3336
3845	-1.07	-136.4	463.7	-12.5	183	3850	0.15	2.60	0.00	0.000	6	0.046	0.054	2054	2306	3337
4161	-0.95	-136.4	505.3	-12.3	198	4166	0.17	2.67	0.00	0.000	4	0.097	0.069	2090	880	3337
4224	-0.95	-136.4	511.2	-9.2	201	4228	0.00	2.60	0.00	0.000	6	0.000	0.054	2090	2304	3336
4550	-0.95	-136.4	538.9	-8.5	217	4555	0.00	2.67	0.00	0.000	4	0.000	0.070	2090	878	3336
4662	-0.95	-136.4	548.5	-8.1	222	4666	0.00	2.60	0.00	0.000	6	0.000	0.055	2090	2305	3336
4983	-0.95	-136.4	576.8	-9.0	238	4987	0.00	2.67	0.00	0.000	4	0.000	0.069	2090	877	3335
5112	-0.95	-136.4	588.1	-9.6	244	5116	0.00	2.62	0.00	0.000	6	0.000	0.057	2090	2299	3335
5438	-0.95	-136.4	616.1	-7.8	260	5442	0.00	2.67	0.00	0.000	4	0.000	0.071	2090	877	3335
5505	-1.00	-136.4	621.5	-8.2	263	5509	0.00	2.62	0.00	0.000	6	0.000	0.058	2090	2302	3335
5825	-1.00	-136.4	646.8	-7.8	279	5826	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2302	3335
6135	-1.01	-142.9	666.3	-5.7	294	6136	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2302	3333
6444	-1.01	-142.9	688.3	-8.4	309	6448	0.00	2.72	0.00	0.000	4	0.000	0.089	2090	3711	3332
6476	-1.01	-142.9	691.4	-9.4	310	6483	0.00	2.65	0.00	0.000	6	0.000	0.067	2090	2292	3332
6793	-1.01	-142.9	721.2	-10.6	326	6794	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2292	3330
7102	-1.01	-142.9	757.1	-11.9	341	7103	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2292	3329
7411	-1.01	-142.9	787.4	-8.9	356	7412	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2292	3328
7721	-1.01	-142.9	816.8	-10.8	371	7722	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2291	3326
8029	-1.01	-142.9	843.1	-8.6	386	8030	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2290	3324
8339	-1.01	-142.9	874.7	-10.6	401	8348	0.00	2.67	0.00	0.000	4	0.000	0.086	2090	890	3323
8416	-1.06	-142.9	882.8	-9.8	404	8420	0.00	2.65	0.00	0.000	6	0.000	0.067	2090	2299	3324
8736	-1.06	-142.9	904.3	-7.1	420	8737	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2300	3322
9046	-1.06	-142.9	936.2	-10.6	435	9047	0.00	0.00	0.00	0.000	6	0.000	0.000	2090	2300	3321
9332	end dive: BOTTOM_OBSTACLE_DETECTED
state	9332	begin apogee
9339	-0.31	0.0	965.1	8.1	449	9467	0.70	0.00	124.70	1.341	6	0.117	0.000	2226	2194	2781
9467	end apogee: CONTROL_FINISHED_OK
state	9468	begin climb
9470	1.17	142.9	969.3	0.0	455	9614	1.55	2.83	133.02	1.310	4	0.084	0.085	2549	3612	2198
9740	1.10	142.9	950.4	12.8	467	9745	0.00	2.67	0.00	0.000	6	0.000	0.064	2548	2194	2198
10056	1.05	142.9	924.3	9.0	482	10057	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2194	2197
10365	1.05	142.9	899.0	9.8	497	10369	0.00	2.78	0.00	0.000	4	0.000	0.085	2548	3616	2197
10443	1.09	179.4	892.2	4.1	500	10483	0.00	2.67	34.50	1.250	6	0.000	0.068	2548	2197	2049
10800	1.09	179.4	860.0	11.4	518	10801	0.00	0.00	0.00	0.000	6	0.000	0.000	2548	2197	2048
11109	1.09	179.4	815.7	13.5	533	11113	0.00	2.78	0.00	0.000	4	0.000	0.087	2548	3618	2048
11187	1.03	179.4	805.9	12.4	536	11193	0.12	2.70	0.00	0.000	6	0.109	0.071	2525	2196	2047
11502	1.03	179.4	787.5	7.8	552	11504	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2196	2047
11811	1.03	179.4	761.0	8.3	567	11813	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2196	2046
12121	1.08	179.4	732.1	12.9	582	12126	0.00	2.75	0.00	0.000	4	0.000	0.088	2525	3613	2046
12193	1.10	198.6	726.0	5.0	585	12218	0.00	2.67	18.12	1.134	6	0.000	0.071	2525	2202	1971
12536	1.16	198.6	690.5	10.0	602	12538	0.12	0.00	0.00	0.000	6	0.064	0.000	2557	2202	1970
12845	1.16	198.6	658.1	11.4	617	12849	0.00	2.75	0.00	0.000	4	0.000	0.089	2557	3612	1970
12999	1.07	198.6	638.5	11.6	624	13004	0.12	2.70	0.00	0.000	6	0.114	0.074	2535	2196	1970
13326	1.07	198.6	607.9	9.1	640	13330	0.00	2.78	0.00	0.000	4	0.000	0.089	2535	3615	1969
13410	1.07	198.6	598.7	11.5	644	13414	0.00	2.70	0.00	0.000	6	0.000	0.073	2536	2196	1970
13736	1.07	198.6	561.5	11.7	660	13741	0.00	2.78	0.00	0.000	4	0.000	0.088	2535	3619	1968
13965	1.07	198.6	533.1	11.7	670	13970	0.00	2.70	0.00	0.000	6	0.000	0.073	2535	2202	1969
14281	1.07	198.6	499.7	10.1	685	14285	0.00	2.70	0.00	0.000	4	0.000	0.081	2535	782	1968
14343	1.07	198.6	493.3	10.7	688	14347	0.00	2.65	0.00	0.000	6	0.000	0.060	2535	2203	1968
14669	1.07	198.6	462.0	8.9	704	14673	0.00	2.72	0.00	0.000	4	0.000	0.088	2535	3613	1968
14803	1.07	198.6	449.6	8.7	710	14807	0.00	2.67	0.00	0.000	6	0.000	0.071	2535	2199	1968
15124	1.12	198.6	427.2	7.1	726	15129	0.00	2.75	0.00	0.000	4	0.000	0.085	2535	3619	1968
15281	1.12	198.6	413.6	8.0	733	15285	0.00	2.70	0.00	0.000	6	0.000	0.071	2535	2193	1968
15601	1.12	198.6	387.7	9.7	749	15606	0.00	2.72	0.00	0.000	4	0.000	0.083	2535	3616	1968
15674	1.12	198.6	379.8	10.2	752	15678	0.00	2.67	0.00	0.000	6	0.000	0.070	2535	2201	1969
15989	1.12	198.6	350.3	8.4	767	15994	0.00	2.72	0.00	0.000	4	0.000	0.082	2535	3616	1968
16074	1.12	198.6	343.1	8.8	771	16079	0.00	2.67	0.00	0.000	6	0.000	0.069	2535	2199	1970
16400	1.12	198.6	312.2	9.9	787	16405	0.00	2.72	0.00	0.000	4	0.000	0.081	2535	3616	1971
16445	1.12	198.6	307.8	9.3	789	16449	0.00	2.67	0.00	0.000	6	0.000	0.068	2535	2199	1971
16766	1.17	198.6	282.9	8.0	805	16767	0.00	0.00	0.00	0.000	6	0.000	0.000	2535	2199	1972
17075	1.22	198.6	262.9	6.4	820	17080	0.15	2.72	0.00	0.000	4	0.048	0.077	2579	3622	1972
17142	1.10	198.6	257.0	9.4	823	17148	0.20	2.67	0.00	0.000	6	0.094	0.067	2540	2191	1973
17464	1.15	198.6	236.2	6.4	839	17465	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2193	1973
17773	1.15	202.0	217.3	5.8	854	17784	0.00	2.72	5.60	0.621	4	0.000	0.077	2540	3614	1956
17907	1.15	202.0	207.7	7.5	860	17912	0.00	2.65	0.00	0.000	6	0.000	0.064	2540	2200	1957
18230	1.20	202.0	184.1	8.3	876	18231	0.00	0.00	0.00	0.000	6	0.000	0.000	2540	2200	1957
18539	1.25	202.0	157.8	8.5	891	18544	0.15	2.70	0.00	0.000	4	0.048	0.077	2589	3618	1958
18601	1.13	202.0	150.8	13.3	894	18606	0.22	2.65	0.00	0.000	6	0.095	0.064	2546	2197	1958
18929	1.13	202.0	118.1	10.3	910	18930	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2197	1959
19238	1.13	202.0	85.8	9.5	925	19242	0.00	2.70	0.00	0.000	4	0.000	0.077	2546	3616	1959
19394	1.13	202.0	70.4	9.2	932	19398	0.00	2.62	0.00	0.000	6	0.000	0.062	2546	2201	1960
19716	1.13	202.0	43.3	8.7	948	19718	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2200	1960
20025	1.18	202.0	15.9	8.0	963	20029	0.00	2.70	0.00	0.000	4	0.000	0.077	2546	3619	1961
20102	1.18	202.0	9.6	9.3	966	20109	0.00	2.62	0.00	0.000	6	0.000	0.062	2546	2201	1962
20189	end climb: SURFACE_DEPTH_REACHED
state	20189	begin surface coast
20212	end surface coast: CONTROL_FINISHED_OK
state	20212	begin surface