Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 200 * 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 200 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 19 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 -2097240.2 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 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 -2097240.2

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 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 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 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 200 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 153056,6343.437,-1312.347,37,1.9,37,-12.4 TGT_NAME KW

_CALLS 2 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.26 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -58.9 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 153945,6343.336,-1312.440,13,1.6,13,-12.4 MHEAD_RNG_PITCHd_Wd 21.6,12501,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027120 ALTIM_BOTTOM_PING 775.9,41.9

SM_CCo 22882,108.00,0.597,0,0,508,557.32 _24V_AH 23.5,35.124

SM_GC 1.37,0.00,0.00,108.00,0.000,0.000,0.597,70,2237,508,-10.26,0.20,557.32 _10V_AH 10.2,17.827

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 56869,1107

TT8_MAMPS 0.023777 CAP_FILE_SIZE 139216,0

HUMID 1858 CFSIZE 260165632,246177792

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 24 GPS 180708,220437,6347.643,-1310.993,37,1.2,43,-12.4

ALTIM_TOP_PING 18.6,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 168 101.12 SBE_CT 805 24 454.49

Roll_motor 98 79 183.47 SBE_O2 767 19 342.63

VBD_pump_during_apogee 431 1161 11767.74 WL_BB2F 633 105 1564.03

VBD_pump_during_surface 108 597 1516.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.12 nil 0 0 0.00

Iridium_during_connect 58 160 218.84 nil 0 0 0.00

Iridium_during_xfer 241 223 1264.00

Transponder_ping 13 420 130.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 1904 19 384.69

LPSleep 18173 2 405.95

TT8_Active 737 19 148.92

TT8_Sampling 2037 39 827.30

TT8_CF8 663 45 309.83

TT8_Kalman 0 81 0.00

Analog_circuits 1705 12 208.75

GPS_charging 0 0 0.00

Compass 2000 8 163.25

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 0 149 0.00 0.00 -120.90 0.000 2 0.000 0.000 70 2244 2960

153 -0.85 -146.6 3.7 -3.0 6 183 11.48 2.70 -10.35 0.000 4 0.169 0.069 2109 811 3380

241 -0.71 -146.6 16.2 -10.2 10 246 0.17 2.60 0.00 0.000 6 0.093 0.049 2143 2230 3380

568 -0.60 -146.6 44.9 -9.2 26 570 0.12 0.00 0.00 0.000 6 0.101 0.000 2166 2230 3380

877 -0.60 -146.6 67.6 -7.2 41 878 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3380

1186 -0.60 -146.6 90.7 -8.3 56 1187 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3379

1497 -0.60 -146.6 112.6 -6.2 71 1499 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3380

1805 -0.60 -146.6 129.9 -6.1 86 1806 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3380

2115 -0.60 -146.6 151.1 -6.4 101 2116 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2230 3380

2424 -0.60 -146.6 171.8 -6.8 116 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2230 3380

2733 -0.60 -146.6 194.1 -7.7 131 2737 0.00 2.65 0.00 0.000 4 0.000 0.073 2166 3647 3380

2772 -0.60 -146.6 197.4 -8.7 133 2776 0.00 2.58 0.00 0.000 6 0.000 0.051 2166 2223 3380

3099 -0.60 -146.6 223.4 -8.1 149 3100 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2223 3379

3407 -0.60 -146.6 247.5 -8.0 164 3409 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2222 3380

3717 -0.60 -146.6 271.4 -7.6 179 3718 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2222 3380

4026 -0.60 -146.6 294.1 -7.5 194 4028 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2222 3379

4335 -0.60 -146.6 317.7 -7.6 209 4336 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2222 3379

4644 -0.60 -146.6 340.0 -7.2 224 4649 0.00 2.67 0.00 0.000 4 0.000 0.074 2167 3640 3379

4685 -0.60 -146.6 343.1 -8.1 226 4689 0.00 2.55 0.00 0.000 6 0.000 0.049 2167 2227 3379

5011 -0.60 -146.6 366.0 -6.9 242 5012 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2227 3379

5320 -0.60 -146.6 388.7 -7.7 257 5321 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2227 3378

5630 -0.60 -146.6 414.0 -8.2 272 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2227 3379

5939 -0.60 -146.6 440.6 -8.7 287 5940 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2227 3378

6248 -0.60 -146.6 466.6 -8.4 302 6249 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2227 3378

6558 -0.60 -146.6 491.0 -7.7 317 6559 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2227 3378

6866 -0.60 -146.6 514.9 -7.9 332 6871 0.00 2.65 0.00 0.000 4 0.000 0.072 2166 3640 3378

6911 -0.60 -146.6 518.9 -8.9 334 6915 0.00 2.53 0.00 0.000 6 0.000 0.048 2166 2228 3378

7232 -0.60 -146.6 543.0 -7.7 350 7233 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3378

7541 -0.60 -146.6 566.2 -7.3 365 7542 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3378

7850 -0.60 -146.6 588.9 -7.4 380 7851 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3377

8160 -0.60 -146.6 608.7 -5.2 395 8161 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3377

8468 -0.60 -146.6 629.8 -8.6 410 8473 0.00 2.65 0.00 0.000 4 0.000 0.073 2166 3641 3377

8519 -0.65 -146.6 634.7 -9.8 412 8523 0.00 2.53 0.00 0.000 6 0.000 0.047 2166 2228 3377

8835 -0.65 -146.6 660.1 -6.9 427 8836 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2228 3377

9144 -0.65 -146.6 673.5 -2.7 442 9148 0.00 2.58 0.00 0.000 4 0.000 0.058 2166 816 3377

9185 -0.72 -146.6 674.5 -2.6 444 9190 0.12 2.58 0.00 0.000 6 0.048 0.050 2126 2232 3377

9514 -0.62 -146.6 688.0 -4.5 460 9516 0.20 0.00 0.00 0.000 6 0.087 0.000 2165 2232 3377

9820 -0.62 -146.6 706.6 -7.2 475 9822 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2232 3376

10130 -0.62 -146.6 719.0 -1.9 490 10131 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2232 3376

10440 -0.62 -146.6 729.3 -4.2 505 10444 0.00 2.65 0.00 0.000 4 0.000 0.079 2165 3643 3376

10484 -0.62 -146.6 731.8 -6.0 507 10488 0.00 2.55 0.00 0.000 6 0.000 0.051 2165 2226 3376

10805 -0.62 -146.6 752.3 -6.7 523 10806 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3377

11114 -0.66 -146.6 771.6 -6.4 538 11115 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2226 3376

11423 -0.70 -146.6 792.3 -6.7 553 11425 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2225 3376

11689 end dive: BOTTOM_OBSTACLE_DETECTED

state 11689 begin apogee

11696 -0.31 0.0 808.7 6.3 566 11832 0.32 0.00 131.77 1.161 6 0.086 0.000 2232 2226 2781

11832 end apogee: CONTROL_FINISHED_OK

state 11832 begin climb

11835 0.85 146.6 814.6 0.0 573 11972 1.20 0.00 132.15 1.141 6 0.077 0.000 2481 2225 2183

12282 0.91 205.3 798.3 4.4 595 12340 0.00 0.00 53.50 1.111 6 0.000 0.000 2481 2225 1944

12651 0.97 205.3 777.2 6.3 613 12656 0.12 2.60 0.00 0.000 4 0.055 0.065 2517 832 1942

12701 0.90 205.3 772.8 8.8 615 12705 0.00 2.60 0.00 0.000 6 0.000 0.054 2517 2240 1942

13018 0.86 205.3 742.0 10.0 630 13019 0.15 0.00 0.00 0.000 6 0.090 0.000 2487 2240 1942

13326 0.90 244.0 723.5 4.9 645 13365 0.00 0.00 35.17 1.075 6 0.000 0.000 2487 2240 1786

13676 1.00 265.3 704.1 5.4 662 13699 0.12 0.00 20.48 1.036 6 0.051 0.000 2525 2239 1699

14004 1.00 265.3 673.0 11.3 678 14006 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2239 1698

14314 1.00 265.3 644.5 9.1 693 14315 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2240 1698

14623 1.00 265.3 619.5 7.6 708 14625 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2241 1698

14932 1.00 265.3 597.9 6.4 723 14933 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2240 1698

15242 1.07 331.7 583.5 4.2 738 15302 0.00 0.00 58.15 1.007 6 0.000 0.000 2524 2240 1428

15612 1.07 331.7 561.1 7.1 756 15616 0.00 2.65 0.00 0.000 4 0.000 0.062 2524 823 1428

15661 1.07 331.7 557.4 7.4 758 15666 0.00 2.60 0.00 0.000 6 0.000 0.051 2524 2243 1428

15977 1.07 331.7 532.0 8.8 773 15978 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2241 1428

16287 1.07 331.7 505.6 8.0 788 16291 0.00 2.62 0.00 0.000 4 0.000 0.062 2524 829 1428

16336 1.07 331.7 501.6 7.5 790 16340 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2240 1428

16651 1.07 331.7 476.4 8.0 805 16653 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2240 1428

16961 1.07 331.7 454.0 7.3 820 16962 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2239 1428

17270 1.07 332.2 432.9 6.0 835 17275 0.00 2.60 0.00 0.000 4 0.000 0.063 2525 829 1428

17315 1.07 332.2 430.4 6.1 837 17319 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2243 1428

17636 1.07 332.2 411.2 6.1 853 17637 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2243 1428

17944 1.07 332.2 392.3 6.4 868 17949 0.00 2.62 0.00 0.000 4 0.000 0.063 2524 830 1429

17985 1.11 332.2 389.5 7.3 870 17989 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2240 1428

18312 1.11 332.3 368.2 6.0 886 18313 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2240 1429

18620 1.11 332.3 349.6 6.2 901 18625 0.00 2.62 0.00 0.000 4 0.000 0.063 2524 823 1429

18661 1.11 332.9 347.0 6.0 903 18665 0.00 2.60 0.00 0.000 6 0.000 0.051 2524 2245 1429

18987 1.11 332.9 324.2 7.4 919 18988 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2246 1429

19296 1.11 332.9 299.7 7.8 934 19300 0.00 2.65 0.00 0.000 4 0.000 0.061 2524 823 1430

19362 1.11 332.9 294.3 7.9 937 19367 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2246 1430

19684 1.16 332.9 270.7 7.1 953 19686 0.12 0.00 0.00 0.000 6 0.053 0.000 2554 2246 1430

19993 1.10 332.9 243.2 8.7 968 19997 0.00 2.65 0.00 0.000 4 0.000 0.062 2555 823 1430

20032 1.10 332.9 239.7 8.4 970 20037 0.00 2.58 0.00 0.000 6 0.000 0.051 2555 2239 1430

20361 1.05 332.9 210.7 9.3 986 20362 0.15 0.00 0.00 0.000 6 0.082 0.000 2524 2239 1430

20669 1.05 332.9 185.8 7.9 1001 20673 0.00 2.62 0.00 0.000 4 0.000 0.062 2524 827 1430

20719 1.09 332.9 182.0 7.2 1003 20723 0.00 2.58 0.00 0.000 6 0.000 0.051 2524 2246 1430

21035 1.14 332.9 160.7 6.8 1018 21037 0.10 0.00 0.00 0.000 6 0.052 0.000 2558 2246 1430

21344 1.08 332.9 130.5 10.8 1033 21346 0.12 0.00 0.00 0.000 6 0.086 0.000 2533 2246 1430

21654 1.08 332.9 100.5 8.4 1048 21658 0.00 2.62 0.00 0.000 4 0.000 0.061 2533 829 1430

21694 1.12 332.9 97.3 7.4 1050 21698 0.00 2.55 0.00 0.000 6 0.000 0.051 2533 2240 1431

22020 1.12 332.9 68.4 8.8 1066 22021 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 2240 1430

22330 1.12 332.9 43.4 7.6 1081 22334 0.00 2.60 0.00 0.000 4 0.000 0.060 2533 828 1430

22393 1.16 332.9 38.3 7.3 1084 22397 0.00 2.55 0.00 0.000 6 0.000 0.049 2533 2240 1430

22720 1.16 332.9 11.9 8.1 1100 22724 0.00 2.60 0.00 0.000 4 0.000 0.069 2533 3650 1430

22760 1.21 332.9 8.7 7.2 1102 22765 0.15 2.55 0.00 0.000 6 0.044 0.053 2579 2239 1431

22837 end climb: SURFACE_DEPTH_REACHED

state 22837 begin surface coast

22861 end surface coast: CONTROL_FINISHED_OK

state 22861 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	200	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	19	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	-2097240.2	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	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	153056,6343.437,-1312.347,37,1.9,37,-12.4	TGT_NAME	KW
_CALLS	2	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.26	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-58.9	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	153945,6343.336,-1312.440,13,1.6,13,-12.4	MHEAD_RNG_PITCHd_Wd	21.6,12501,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027120	ALTIM_BOTTOM_PING	775.9,41.9
SM_CCo	22882,108.00,0.597,0,0,508,557.32	_24V_AH	23.5,35.124
SM_GC	1.37,0.00,0.00,108.00,0.000,0.000,0.597,70,2237,508,-10.26,0.20,557.32	_10V_AH	10.2,17.827
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	56869,1107
TT8_MAMPS	0.023777	CAP_FILE_SIZE	139216,0
HUMID	1858	CFSIZE	260165632,246177792
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	24	GPS	180708,220437,6347.643,-1310.993,37,1.2,43,-12.4
ALTIM_TOP_PING	18.6,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	168	101.12	SBE_CT	805	24	454.49
Roll_motor	98	79	183.47	SBE_O2	767	19	342.63
VBD_pump_during_apogee	431	1161	11767.74	WL_BB2F	633	105	1564.03
VBD_pump_during_surface	108	597	1516.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.12	nil	0	0	0.00
Iridium_during_connect	58	160	218.84	nil	0	0	0.00
Iridium_during_xfer	241	223	1264.00
Transponder_ping	13	420	130.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	1904	19	384.69
LPSleep	18173	2	405.95
TT8_Active	737	19	148.92
TT8_Sampling	2037	39	827.30
TT8_CF8	663	45	309.83
TT8_Kalman	0	81	0.00
Analog_circuits	1705	12	208.75
GPS_charging	0	0	0.00
Compass	2000	8	163.25
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	149	0.00	0.00	-120.90	0.000	2	0.000	0.000	70	2244	2960
153	-0.85	-146.6	3.7	-3.0	6	183	11.48	2.70	-10.35	0.000	4	0.169	0.069	2109	811	3380
241	-0.71	-146.6	16.2	-10.2	10	246	0.17	2.60	0.00	0.000	6	0.093	0.049	2143	2230	3380
568	-0.60	-146.6	44.9	-9.2	26	570	0.12	0.00	0.00	0.000	6	0.101	0.000	2166	2230	3380
877	-0.60	-146.6	67.6	-7.2	41	878	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3380
1186	-0.60	-146.6	90.7	-8.3	56	1187	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3379
1497	-0.60	-146.6	112.6	-6.2	71	1499	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3380
1805	-0.60	-146.6	129.9	-6.1	86	1806	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3380
2115	-0.60	-146.6	151.1	-6.4	101	2116	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2230	3380
2424	-0.60	-146.6	171.8	-6.8	116	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2230	3380
2733	-0.60	-146.6	194.1	-7.7	131	2737	0.00	2.65	0.00	0.000	4	0.000	0.073	2166	3647	3380
2772	-0.60	-146.6	197.4	-8.7	133	2776	0.00	2.58	0.00	0.000	6	0.000	0.051	2166	2223	3380
3099	-0.60	-146.6	223.4	-8.1	149	3100	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2223	3379
3407	-0.60	-146.6	247.5	-8.0	164	3409	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2222	3380
3717	-0.60	-146.6	271.4	-7.6	179	3718	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2222	3380
4026	-0.60	-146.6	294.1	-7.5	194	4028	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2222	3379
4335	-0.60	-146.6	317.7	-7.6	209	4336	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2222	3379
4644	-0.60	-146.6	340.0	-7.2	224	4649	0.00	2.67	0.00	0.000	4	0.000	0.074	2167	3640	3379
4685	-0.60	-146.6	343.1	-8.1	226	4689	0.00	2.55	0.00	0.000	6	0.000	0.049	2167	2227	3379
5011	-0.60	-146.6	366.0	-6.9	242	5012	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2227	3379
5320	-0.60	-146.6	388.7	-7.7	257	5321	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2227	3378
5630	-0.60	-146.6	414.0	-8.2	272	5631	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2227	3379
5939	-0.60	-146.6	440.6	-8.7	287	5940	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2227	3378
6248	-0.60	-146.6	466.6	-8.4	302	6249	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2227	3378
6558	-0.60	-146.6	491.0	-7.7	317	6559	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2227	3378
6866	-0.60	-146.6	514.9	-7.9	332	6871	0.00	2.65	0.00	0.000	4	0.000	0.072	2166	3640	3378
6911	-0.60	-146.6	518.9	-8.9	334	6915	0.00	2.53	0.00	0.000	6	0.000	0.048	2166	2228	3378
7232	-0.60	-146.6	543.0	-7.7	350	7233	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3378
7541	-0.60	-146.6	566.2	-7.3	365	7542	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3378
7850	-0.60	-146.6	588.9	-7.4	380	7851	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3377
8160	-0.60	-146.6	608.7	-5.2	395	8161	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3377
8468	-0.60	-146.6	629.8	-8.6	410	8473	0.00	2.65	0.00	0.000	4	0.000	0.073	2166	3641	3377
8519	-0.65	-146.6	634.7	-9.8	412	8523	0.00	2.53	0.00	0.000	6	0.000	0.047	2166	2228	3377
8835	-0.65	-146.6	660.1	-6.9	427	8836	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2228	3377
9144	-0.65	-146.6	673.5	-2.7	442	9148	0.00	2.58	0.00	0.000	4	0.000	0.058	2166	816	3377
9185	-0.72	-146.6	674.5	-2.6	444	9190	0.12	2.58	0.00	0.000	6	0.048	0.050	2126	2232	3377
9514	-0.62	-146.6	688.0	-4.5	460	9516	0.20	0.00	0.00	0.000	6	0.087	0.000	2165	2232	3377
9820	-0.62	-146.6	706.6	-7.2	475	9822	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2232	3376
10130	-0.62	-146.6	719.0	-1.9	490	10131	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2232	3376
10440	-0.62	-146.6	729.3	-4.2	505	10444	0.00	2.65	0.00	0.000	4	0.000	0.079	2165	3643	3376
10484	-0.62	-146.6	731.8	-6.0	507	10488	0.00	2.55	0.00	0.000	6	0.000	0.051	2165	2226	3376
10805	-0.62	-146.6	752.3	-6.7	523	10806	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3377
11114	-0.66	-146.6	771.6	-6.4	538	11115	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2226	3376
11423	-0.70	-146.6	792.3	-6.7	553	11425	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2225	3376
11689	end dive: BOTTOM_OBSTACLE_DETECTED
state	11689	begin apogee
11696	-0.31	0.0	808.7	6.3	566	11832	0.32	0.00	131.77	1.161	6	0.086	0.000	2232	2226	2781
11832	end apogee: CONTROL_FINISHED_OK
state	11832	begin climb
11835	0.85	146.6	814.6	0.0	573	11972	1.20	0.00	132.15	1.141	6	0.077	0.000	2481	2225	2183
12282	0.91	205.3	798.3	4.4	595	12340	0.00	0.00	53.50	1.111	6	0.000	0.000	2481	2225	1944
12651	0.97	205.3	777.2	6.3	613	12656	0.12	2.60	0.00	0.000	4	0.055	0.065	2517	832	1942
12701	0.90	205.3	772.8	8.8	615	12705	0.00	2.60	0.00	0.000	6	0.000	0.054	2517	2240	1942
13018	0.86	205.3	742.0	10.0	630	13019	0.15	0.00	0.00	0.000	6	0.090	0.000	2487	2240	1942
13326	0.90	244.0	723.5	4.9	645	13365	0.00	0.00	35.17	1.075	6	0.000	0.000	2487	2240	1786
13676	1.00	265.3	704.1	5.4	662	13699	0.12	0.00	20.48	1.036	6	0.051	0.000	2525	2239	1699
14004	1.00	265.3	673.0	11.3	678	14006	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2239	1698
14314	1.00	265.3	644.5	9.1	693	14315	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2240	1698
14623	1.00	265.3	619.5	7.6	708	14625	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2241	1698
14932	1.00	265.3	597.9	6.4	723	14933	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2240	1698
15242	1.07	331.7	583.5	4.2	738	15302	0.00	0.00	58.15	1.007	6	0.000	0.000	2524	2240	1428
15612	1.07	331.7	561.1	7.1	756	15616	0.00	2.65	0.00	0.000	4	0.000	0.062	2524	823	1428
15661	1.07	331.7	557.4	7.4	758	15666	0.00	2.60	0.00	0.000	6	0.000	0.051	2524	2243	1428
15977	1.07	331.7	532.0	8.8	773	15978	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2241	1428
16287	1.07	331.7	505.6	8.0	788	16291	0.00	2.62	0.00	0.000	4	0.000	0.062	2524	829	1428
16336	1.07	331.7	501.6	7.5	790	16340	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2240	1428
16651	1.07	331.7	476.4	8.0	805	16653	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2240	1428
16961	1.07	331.7	454.0	7.3	820	16962	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2239	1428
17270	1.07	332.2	432.9	6.0	835	17275	0.00	2.60	0.00	0.000	4	0.000	0.063	2525	829	1428
17315	1.07	332.2	430.4	6.1	837	17319	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2243	1428
17636	1.07	332.2	411.2	6.1	853	17637	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2243	1428
17944	1.07	332.2	392.3	6.4	868	17949	0.00	2.62	0.00	0.000	4	0.000	0.063	2524	830	1429
17985	1.11	332.2	389.5	7.3	870	17989	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2240	1428
18312	1.11	332.3	368.2	6.0	886	18313	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2240	1429
18620	1.11	332.3	349.6	6.2	901	18625	0.00	2.62	0.00	0.000	4	0.000	0.063	2524	823	1429
18661	1.11	332.9	347.0	6.0	903	18665	0.00	2.60	0.00	0.000	6	0.000	0.051	2524	2245	1429
18987	1.11	332.9	324.2	7.4	919	18988	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2246	1429
19296	1.11	332.9	299.7	7.8	934	19300	0.00	2.65	0.00	0.000	4	0.000	0.061	2524	823	1430
19362	1.11	332.9	294.3	7.9	937	19367	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2246	1430
19684	1.16	332.9	270.7	7.1	953	19686	0.12	0.00	0.00	0.000	6	0.053	0.000	2554	2246	1430
19993	1.10	332.9	243.2	8.7	968	19997	0.00	2.65	0.00	0.000	4	0.000	0.062	2555	823	1430
20032	1.10	332.9	239.7	8.4	970	20037	0.00	2.58	0.00	0.000	6	0.000	0.051	2555	2239	1430
20361	1.05	332.9	210.7	9.3	986	20362	0.15	0.00	0.00	0.000	6	0.082	0.000	2524	2239	1430
20669	1.05	332.9	185.8	7.9	1001	20673	0.00	2.62	0.00	0.000	4	0.000	0.062	2524	827	1430
20719	1.09	332.9	182.0	7.2	1003	20723	0.00	2.58	0.00	0.000	6	0.000	0.051	2524	2246	1430
21035	1.14	332.9	160.7	6.8	1018	21037	0.10	0.00	0.00	0.000	6	0.052	0.000	2558	2246	1430
21344	1.08	332.9	130.5	10.8	1033	21346	0.12	0.00	0.00	0.000	6	0.086	0.000	2533	2246	1430
21654	1.08	332.9	100.5	8.4	1048	21658	0.00	2.62	0.00	0.000	4	0.000	0.061	2533	829	1430
21694	1.12	332.9	97.3	7.4	1050	21698	0.00	2.55	0.00	0.000	6	0.000	0.051	2533	2240	1431
22020	1.12	332.9	68.4	8.8	1066	22021	0.00	0.00	0.00	0.000	6	0.000	0.000	2533	2240	1430
22330	1.12	332.9	43.4	7.6	1081	22334	0.00	2.60	0.00	0.000	4	0.000	0.060	2533	828	1430
22393	1.16	332.9	38.3	7.3	1084	22397	0.00	2.55	0.00	0.000	6	0.000	0.049	2533	2240	1430
22720	1.16	332.9	11.9	8.1	1100	22724	0.00	2.60	0.00	0.000	4	0.000	0.069	2533	3650	1430
22760	1.21	332.9	8.7	7.2	1102	22765	0.15	2.55	0.00	0.000	6	0.044	0.053	2579	2239	1431
22837	end climb: SURFACE_DEPTH_REACHED
state	22837	begin surface coast
22861	end surface coast: CONTROL_FINISHED_OK
state	22861	begin surface