Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 203 * 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 203 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 21 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 -2097320.8 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 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 -2097320.8

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 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 21 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 203 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 111601,6355.560,-1319.855,40,1.8,40,-12.6 TGT_NAME LW

_CALLS 5 TGT_LATLONG 6400.000,-1330.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,-0.212

_SM_DEPTHo 1.32 KALMAN_X -156115.9,12.1,3.6,-35086.5,18146.7

_SM_ANGLEo -54.7 KALMAN_Y 22619.4,-3049.0,-1719.4,156073.3,43365.0

GPS2 113447,6355.713,-1319.754,11,3.2,30,-12.6 MHEAD_RNG_PITCHd_Wd 326.3,11499,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.014081 ALTIM_BOTTOM_PING 675.2,45.5

SM_CCo 19784,110.75,0.597,0,0,508,557.32 _24V_AH 23.6,35.658

SM_GC 1.40,0.00,0.00,110.75,0.000,0.000,0.597,71,2235,508,-10.25,0.14,557.32 _10V_AH 10.1,18.120

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47399,955

TT8_MAMPS 0.023777 CAP_FILE_SIZE 142875,0

HUMID 1862 CFSIZE 260165632,245972992

TCM_TEMP 17.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 61 GPS 190708,170822,6357.704,-1327.683,39,2.9,58,-12.7

ALTIM_TOP_PING 18.9,17.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 103.84 SBE_CT 707 24 400.75

Roll_motor 136 87 281.67 SBE_O2 650 19 291.64

VBD_pump_during_apogee 421 1108 11018.97 WL_BB2F 587 105 1456.22

VBD_pump_during_surface 110 597 1561.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 107 103 262.21 nil 0 0 0.00

Iridium_during_connect 231 160 875.75 nil 0 0 0.00

Iridium_during_xfer 371 223 1957.04

Transponder_ping 21 420 213.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.97

TT8 1708 19 341.61

LPSleep 15541 2 343.76

TT8_Active 700 19 140.07

TT8_Sampling 2011 39 808.63

TT8_CF8 1057 45 489.32

TT8_Kalman 0 81 0.00

Analog_circuits 1703 12 206.50

GPS_charging 0 0 0.00

Compass 1952 8 157.76

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 0 147 0.00 0.00 -121.10 0.000 2 0.000 0.000 68 2241 3027

151 -0.85 -146.6 4.4 -3.7 6 176 11.48 2.65 -7.78 0.000 4 0.171 0.081 2110 3647 3380

322 -0.65 -146.6 29.4 -11.3 13 329 0.22 2.58 0.00 0.000 6 0.091 0.048 2155 2223 3381

640 -0.60 -146.6 54.5 -6.9 29 641 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2223 3381

948 -0.55 -146.6 78.3 -8.6 44 953 0.12 2.65 0.00 0.000 4 0.097 0.070 2179 3640 3381

1004 -0.59 -146.6 83.0 -7.9 46 1010 0.00 2.55 0.00 0.000 6 0.000 0.047 2179 2220 3381

1320 -0.59 -146.6 106.4 -8.1 62 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2220 3381

1629 -0.59 -146.6 131.5 -7.9 77 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2220 3381

1939 -0.59 -146.6 151.8 -5.8 92 1940 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2220 3381

2247 -0.59 -146.6 167.1 -4.7 107 2252 0.00 2.67 0.00 0.000 4 0.000 0.072 2178 3643 3381

2287 -0.59 -146.6 168.8 -4.5 109 2292 0.00 2.55 0.00 0.000 6 0.000 0.048 2178 2225 3381

2614 -0.59 -146.6 184.8 -5.1 125 2615 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2225 3381

2923 -0.59 -146.6 202.8 -5.9 140 2924 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2224 3380

3232 -0.59 -146.6 220.2 -5.4 155 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2224 3380

3542 -0.59 -146.6 238.0 -6.0 170 3546 0.00 2.67 0.00 0.000 4 0.000 0.074 2179 3638 3380

3574 -0.59 -146.6 240.1 -6.7 171 3580 0.00 2.55 0.00 0.000 6 0.000 0.048 2179 2222 3380

3891 -0.59 -146.6 258.2 -5.6 187 3892 0.00 0.00 0.00 0.000 6 0.000 0.000 2178 2221 3380

4202 -0.64 -146.6 275.7 -5.7 202 4204 0.00 0.00 0.00 0.000 6 0.000 0.000 2179 2222 3379

4509 -0.68 -146.6 293.5 -5.6 217 4514 0.12 2.65 0.00 0.000 4 0.047 0.074 2137 3640 3379

4554 -0.58 -146.6 297.1 -8.8 219 4559 0.17 2.55 0.00 0.000 6 0.085 0.048 2171 2222 3379

4875 -0.58 -146.6 318.6 -6.6 235 4876 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3379

5184 -0.58 -146.6 339.9 -6.9 250 5185 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3378

5494 -0.58 -146.6 361.4 -6.8 265 5495 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3379

5803 -0.58 -146.6 381.9 -6.7 280 5804 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2221 3378

6112 -0.58 -146.6 402.6 -6.6 295 6113 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3378

6422 -0.58 -146.6 425.5 -7.9 310 6427 0.00 2.67 0.00 0.000 4 0.000 0.074 2171 3638 3379

6463 -0.62 -146.6 428.6 -8.0 312 6467 0.00 2.55 0.00 0.000 6 0.000 0.048 2171 2222 3378

6789 -0.62 -146.6 455.1 -7.8 328 6790 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3378

7100 -0.62 -146.6 476.0 -6.0 343 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3378

7408 -0.62 -146.6 494.2 -5.9 358 7409 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2222 3378

7717 -0.68 -146.6 512.8 -6.0 373 7722 0.00 2.55 0.00 0.000 4 0.000 0.060 2171 818 3378

7769 -0.78 -146.6 515.4 -5.2 375 7774 0.20 2.55 0.00 0.000 6 0.041 0.051 2114 2229 3378

8085 -0.59 -146.6 549.6 -13.8 390 8090 0.22 2.60 0.00 0.000 4 0.088 0.063 2163 819 3377

8176 -0.70 -146.6 560.2 -9.3 394 8181 0.00 2.55 0.00 0.000 6 0.000 0.051 2163 2232 3378

8503 -0.70 -146.6 595.4 -7.5 410 8507 0.00 2.60 0.00 0.000 4 0.000 0.061 2163 817 3377

8536 -0.78 -146.6 597.4 -5.7 411 8543 0.15 2.58 0.00 0.000 6 0.044 0.053 2117 2236 3377

8853 -0.65 -146.6 628.6 -12.2 427 8855 0.20 0.00 0.00 0.000 6 0.087 0.000 2156 2237 3378

9161 -0.65 -146.6 655.4 -8.8 442 9162 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2237 3377

9471 -0.65 -146.6 674.8 -3.5 457 9476 0.00 2.67 0.00 0.000 4 0.000 0.072 2156 816 3377

9585 -0.65 -146.6 678.0 -5.8 462 9589 0.00 2.60 0.00 0.000 6 0.000 0.057 2156 2237 3376

9906 -0.65 -146.6 702.7 -6.3 478 9907 0.00 0.00 0.00 0.000 6 0.000 0.000 2156 2237 3376

10027 end dive: BOTTOM_OBSTACLE_DETECTED

state 10027 begin apogee

10033 -0.31 0.0 711.9 6.2 484 10171 0.38 0.00 131.18 1.108 6 0.100 0.000 2231 2237 2781

10171 end apogee: CONTROL_FINISHED_OK

state 10172 begin climb

10174 0.85 146.6 722.1 0.0 491 10317 1.20 2.85 130.77 1.092 4 0.084 0.084 2480 3645 2182

10375 0.79 146.6 710.3 12.6 500 10380 0.00 2.62 0.00 0.000 6 0.000 0.061 2480 2242 2182

10690 0.79 146.6 694.4 9.4 515 10695 0.00 2.75 0.00 0.000 4 0.000 0.087 2480 3646 2181

10861 0.79 146.6 684.6 10.4 522 10867 0.00 2.62 0.00 0.000 6 0.000 0.061 2480 2238 2180

11176 0.95 292.3 668.6 2.0 538 11312 0.12 2.78 127.40 1.084 4 0.061 0.072 2512 835 1588

11371 0.99 327.5 658.5 5.0 547 11408 0.00 2.65 31.92 1.039 6 0.000 0.061 2512 2238 1446

11719 1.03 327.5 638.0 7.9 564 11720 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2238 1445

12027 1.03 327.5 608.3 10.8 579 12028 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2238 1444

12336 1.08 327.5 577.0 8.5 594 12341 0.10 2.67 0.00 0.000 4 0.076 0.071 2536 829 1443

12391 1.08 327.5 572.6 8.2 596 12397 0.00 2.62 0.00 0.000 6 0.000 0.059 2536 2243 1443

12707 1.08 327.5 551.7 6.4 612 12712 0.00 2.70 0.00 0.000 4 0.000 0.080 2536 3648 1442

12752 1.04 327.5 547.9 8.5 614 12757 0.00 2.62 0.00 0.000 6 0.000 0.063 2536 2244 1443

13073 1.04 327.5 523.9 7.8 630 13077 0.00 2.67 0.00 0.000 4 0.000 0.069 2536 821 1442

13173 0.97 327.5 516.0 7.6 634 13180 0.12 2.62 0.00 0.000 6 0.094 0.055 2511 2247 1442

13489 0.97 327.5 491.8 8.0 650 13490 0.00 0.00 0.00 0.000 6 0.000 0.000 2513 2247 1442

13798 0.97 327.5 463.2 10.3 665 13803 0.00 2.67 0.00 0.000 4 0.000 0.067 2511 819 1442

13854 1.01 327.5 458.1 9.4 667 13860 0.00 2.60 0.00 0.000 6 0.000 0.054 2511 2238 1442

14170 1.01 327.5 428.1 9.5 683 14174 0.00 2.67 0.00 0.000 4 0.000 0.076 2511 3648 1443

14203 1.01 327.5 424.7 9.8 684 14209 0.00 2.60 0.00 0.000 6 0.000 0.058 2511 2238 1443

14518 1.01 327.5 396.4 8.8 700 14523 0.00 2.62 0.00 0.000 4 0.000 0.066 2511 826 1443

14558 1.01 327.5 393.1 7.5 702 14562 0.00 2.60 0.00 0.000 6 0.000 0.052 2511 2241 1443

14885 1.01 327.5 365.0 8.7 718 14889 0.00 2.65 0.00 0.000 4 0.000 0.066 2511 825 1444

14929 1.01 327.5 361.2 8.1 720 14933 0.00 2.60 0.00 0.000 6 0.000 0.052 2511 2245 1444

15250 1.01 327.5 336.3 6.9 736 15254 0.00 2.67 0.00 0.000 4 0.000 0.065 2511 817 1444

15300 1.02 328.4 333.0 6.0 738 15304 0.00 2.60 0.00 0.000 6 0.000 0.052 2511 2242 1444

15615 1.02 328.4 311.1 7.4 753 15616 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2241 1444

15925 1.02 328.4 289.5 6.5 768 15929 0.00 2.62 0.00 0.000 4 0.000 0.064 2511 824 1444

15964 1.02 328.4 286.9 6.9 770 15969 0.00 2.58 0.00 0.000 6 0.000 0.051 2511 2240 1444

16291 1.02 328.4 261.8 8.5 786 16293 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2239 1445

16601 1.02 328.4 234.5 8.6 801 16605 0.00 2.62 0.00 0.000 4 0.000 0.063 2511 824 1445

16645 1.02 328.4 230.6 7.8 803 16649 0.00 2.58 0.00 0.000 6 0.000 0.051 2511 2240 1445

16966 1.02 328.4 207.6 6.8 819 16967 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1446

17275 1.02 328.4 184.3 7.5 834 17276 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2240 1446

17585 1.02 328.4 161.7 7.1 849 17589 0.00 2.62 0.00 0.000 4 0.000 0.063 2511 824 1447

17628 1.02 328.4 158.3 7.5 851 17633 0.00 2.58 0.00 0.000 6 0.000 0.050 2511 2241 1447

17950 1.02 328.4 134.1 7.9 867 17954 0.00 2.62 0.00 0.000 4 0.000 0.071 2511 3650 1447

17982 1.02 328.4 131.2 8.2 868 17989 0.00 2.58 0.00 0.000 6 0.000 0.055 2511 2238 1447

18300 1.02 328.4 109.4 6.5 884 18302 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1447

18608 1.02 328.4 86.1 8.2 899 18610 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1447

18917 1.02 328.4 64.7 6.9 914 18918 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1447

19227 1.02 328.4 39.9 8.3 929 19228 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2238 1447

19537 1.06 328.4 18.9 6.9 944 19541 0.00 2.65 0.00 0.000 4 0.000 0.070 2511 3654 1448

19593 1.13 328.4 14.4 9.5 946 19600 0.15 2.55 0.00 0.000 6 0.043 0.051 2555 2237 1449

19741 end climb: SURFACE_DEPTH_REACHED

state 19741 begin surface coast

19763 end surface coast: CONTROL_FINISHED_OK

state 19763 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	203	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	21	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	-2097320.8	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	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	111601,6355.560,-1319.855,40,1.8,40,-12.6	TGT_NAME	LW
_CALLS	5	TGT_LATLONG	6400.000,-1330.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,-0.212
_SM_DEPTHo	1.32	KALMAN_X	-156115.9,12.1,3.6,-35086.5,18146.7
_SM_ANGLEo	-54.7	KALMAN_Y	22619.4,-3049.0,-1719.4,156073.3,43365.0
GPS2	113447,6355.713,-1319.754,11,3.2,30,-12.6	MHEAD_RNG_PITCHd_Wd	326.3,11499,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.014081	ALTIM_BOTTOM_PING	675.2,45.5
SM_CCo	19784,110.75,0.597,0,0,508,557.32	_24V_AH	23.6,35.658
SM_GC	1.40,0.00,0.00,110.75,0.000,0.000,0.597,71,2235,508,-10.25,0.14,557.32	_10V_AH	10.1,18.120
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47399,955
TT8_MAMPS	0.023777	CAP_FILE_SIZE	142875,0
HUMID	1862	CFSIZE	260165632,245972992
TCM_TEMP	17.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	61	GPS	190708,170822,6357.704,-1327.683,39,2.9,58,-12.7
ALTIM_TOP_PING	18.9,17.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	103.84	SBE_CT	707	24	400.75
Roll_motor	136	87	281.67	SBE_O2	650	19	291.64
VBD_pump_during_apogee	421	1108	11018.97	WL_BB2F	587	105	1456.22
VBD_pump_during_surface	110	597	1561.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	107	103	262.21	nil	0	0	0.00
Iridium_during_connect	231	160	875.75	nil	0	0	0.00
Iridium_during_xfer	371	223	1957.04
Transponder_ping	21	420	213.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.97
TT8	1708	19	341.61
LPSleep	15541	2	343.76
TT8_Active	700	19	140.07
TT8_Sampling	2011	39	808.63
TT8_CF8	1057	45	489.32
TT8_Kalman	0	81	0.00
Analog_circuits	1703	12	206.50
GPS_charging	0	0	0.00
Compass	1952	8	157.76
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	147	0.00	0.00	-121.10	0.000	2	0.000	0.000	68	2241	3027
151	-0.85	-146.6	4.4	-3.7	6	176	11.48	2.65	-7.78	0.000	4	0.171	0.081	2110	3647	3380
322	-0.65	-146.6	29.4	-11.3	13	329	0.22	2.58	0.00	0.000	6	0.091	0.048	2155	2223	3381
640	-0.60	-146.6	54.5	-6.9	29	641	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2223	3381
948	-0.55	-146.6	78.3	-8.6	44	953	0.12	2.65	0.00	0.000	4	0.097	0.070	2179	3640	3381
1004	-0.59	-146.6	83.0	-7.9	46	1010	0.00	2.55	0.00	0.000	6	0.000	0.047	2179	2220	3381
1320	-0.59	-146.6	106.4	-8.1	62	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2220	3381
1629	-0.59	-146.6	131.5	-7.9	77	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2220	3381
1939	-0.59	-146.6	151.8	-5.8	92	1940	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2220	3381
2247	-0.59	-146.6	167.1	-4.7	107	2252	0.00	2.67	0.00	0.000	4	0.000	0.072	2178	3643	3381
2287	-0.59	-146.6	168.8	-4.5	109	2292	0.00	2.55	0.00	0.000	6	0.000	0.048	2178	2225	3381
2614	-0.59	-146.6	184.8	-5.1	125	2615	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2225	3381
2923	-0.59	-146.6	202.8	-5.9	140	2924	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2224	3380
3232	-0.59	-146.6	220.2	-5.4	155	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2224	3380
3542	-0.59	-146.6	238.0	-6.0	170	3546	0.00	2.67	0.00	0.000	4	0.000	0.074	2179	3638	3380
3574	-0.59	-146.6	240.1	-6.7	171	3580	0.00	2.55	0.00	0.000	6	0.000	0.048	2179	2222	3380
3891	-0.59	-146.6	258.2	-5.6	187	3892	0.00	0.00	0.00	0.000	6	0.000	0.000	2178	2221	3380
4202	-0.64	-146.6	275.7	-5.7	202	4204	0.00	0.00	0.00	0.000	6	0.000	0.000	2179	2222	3379
4509	-0.68	-146.6	293.5	-5.6	217	4514	0.12	2.65	0.00	0.000	4	0.047	0.074	2137	3640	3379
4554	-0.58	-146.6	297.1	-8.8	219	4559	0.17	2.55	0.00	0.000	6	0.085	0.048	2171	2222	3379
4875	-0.58	-146.6	318.6	-6.6	235	4876	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3379
5184	-0.58	-146.6	339.9	-6.9	250	5185	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3378
5494	-0.58	-146.6	361.4	-6.8	265	5495	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3379
5803	-0.58	-146.6	381.9	-6.7	280	5804	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2221	3378
6112	-0.58	-146.6	402.6	-6.6	295	6113	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3378
6422	-0.58	-146.6	425.5	-7.9	310	6427	0.00	2.67	0.00	0.000	4	0.000	0.074	2171	3638	3379
6463	-0.62	-146.6	428.6	-8.0	312	6467	0.00	2.55	0.00	0.000	6	0.000	0.048	2171	2222	3378
6789	-0.62	-146.6	455.1	-7.8	328	6790	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3378
7100	-0.62	-146.6	476.0	-6.0	343	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3378
7408	-0.62	-146.6	494.2	-5.9	358	7409	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2222	3378
7717	-0.68	-146.6	512.8	-6.0	373	7722	0.00	2.55	0.00	0.000	4	0.000	0.060	2171	818	3378
7769	-0.78	-146.6	515.4	-5.2	375	7774	0.20	2.55	0.00	0.000	6	0.041	0.051	2114	2229	3378
8085	-0.59	-146.6	549.6	-13.8	390	8090	0.22	2.60	0.00	0.000	4	0.088	0.063	2163	819	3377
8176	-0.70	-146.6	560.2	-9.3	394	8181	0.00	2.55	0.00	0.000	6	0.000	0.051	2163	2232	3378
8503	-0.70	-146.6	595.4	-7.5	410	8507	0.00	2.60	0.00	0.000	4	0.000	0.061	2163	817	3377
8536	-0.78	-146.6	597.4	-5.7	411	8543	0.15	2.58	0.00	0.000	6	0.044	0.053	2117	2236	3377
8853	-0.65	-146.6	628.6	-12.2	427	8855	0.20	0.00	0.00	0.000	6	0.087	0.000	2156	2237	3378
9161	-0.65	-146.6	655.4	-8.8	442	9162	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2237	3377
9471	-0.65	-146.6	674.8	-3.5	457	9476	0.00	2.67	0.00	0.000	4	0.000	0.072	2156	816	3377
9585	-0.65	-146.6	678.0	-5.8	462	9589	0.00	2.60	0.00	0.000	6	0.000	0.057	2156	2237	3376
9906	-0.65	-146.6	702.7	-6.3	478	9907	0.00	0.00	0.00	0.000	6	0.000	0.000	2156	2237	3376
10027	end dive: BOTTOM_OBSTACLE_DETECTED
state	10027	begin apogee
10033	-0.31	0.0	711.9	6.2	484	10171	0.38	0.00	131.18	1.108	6	0.100	0.000	2231	2237	2781
10171	end apogee: CONTROL_FINISHED_OK
state	10172	begin climb
10174	0.85	146.6	722.1	0.0	491	10317	1.20	2.85	130.77	1.092	4	0.084	0.084	2480	3645	2182
10375	0.79	146.6	710.3	12.6	500	10380	0.00	2.62	0.00	0.000	6	0.000	0.061	2480	2242	2182
10690	0.79	146.6	694.4	9.4	515	10695	0.00	2.75	0.00	0.000	4	0.000	0.087	2480	3646	2181
10861	0.79	146.6	684.6	10.4	522	10867	0.00	2.62	0.00	0.000	6	0.000	0.061	2480	2238	2180
11176	0.95	292.3	668.6	2.0	538	11312	0.12	2.78	127.40	1.084	4	0.061	0.072	2512	835	1588
11371	0.99	327.5	658.5	5.0	547	11408	0.00	2.65	31.92	1.039	6	0.000	0.061	2512	2238	1446
11719	1.03	327.5	638.0	7.9	564	11720	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2238	1445
12027	1.03	327.5	608.3	10.8	579	12028	0.00	0.00	0.00	0.000	6	0.000	0.000	2512	2238	1444
12336	1.08	327.5	577.0	8.5	594	12341	0.10	2.67	0.00	0.000	4	0.076	0.071	2536	829	1443
12391	1.08	327.5	572.6	8.2	596	12397	0.00	2.62	0.00	0.000	6	0.000	0.059	2536	2243	1443
12707	1.08	327.5	551.7	6.4	612	12712	0.00	2.70	0.00	0.000	4	0.000	0.080	2536	3648	1442
12752	1.04	327.5	547.9	8.5	614	12757	0.00	2.62	0.00	0.000	6	0.000	0.063	2536	2244	1443
13073	1.04	327.5	523.9	7.8	630	13077	0.00	2.67	0.00	0.000	4	0.000	0.069	2536	821	1442
13173	0.97	327.5	516.0	7.6	634	13180	0.12	2.62	0.00	0.000	6	0.094	0.055	2511	2247	1442
13489	0.97	327.5	491.8	8.0	650	13490	0.00	0.00	0.00	0.000	6	0.000	0.000	2513	2247	1442
13798	0.97	327.5	463.2	10.3	665	13803	0.00	2.67	0.00	0.000	4	0.000	0.067	2511	819	1442
13854	1.01	327.5	458.1	9.4	667	13860	0.00	2.60	0.00	0.000	6	0.000	0.054	2511	2238	1442
14170	1.01	327.5	428.1	9.5	683	14174	0.00	2.67	0.00	0.000	4	0.000	0.076	2511	3648	1443
14203	1.01	327.5	424.7	9.8	684	14209	0.00	2.60	0.00	0.000	6	0.000	0.058	2511	2238	1443
14518	1.01	327.5	396.4	8.8	700	14523	0.00	2.62	0.00	0.000	4	0.000	0.066	2511	826	1443
14558	1.01	327.5	393.1	7.5	702	14562	0.00	2.60	0.00	0.000	6	0.000	0.052	2511	2241	1443
14885	1.01	327.5	365.0	8.7	718	14889	0.00	2.65	0.00	0.000	4	0.000	0.066	2511	825	1444
14929	1.01	327.5	361.2	8.1	720	14933	0.00	2.60	0.00	0.000	6	0.000	0.052	2511	2245	1444
15250	1.01	327.5	336.3	6.9	736	15254	0.00	2.67	0.00	0.000	4	0.000	0.065	2511	817	1444
15300	1.02	328.4	333.0	6.0	738	15304	0.00	2.60	0.00	0.000	6	0.000	0.052	2511	2242	1444
15615	1.02	328.4	311.1	7.4	753	15616	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2241	1444
15925	1.02	328.4	289.5	6.5	768	15929	0.00	2.62	0.00	0.000	4	0.000	0.064	2511	824	1444
15964	1.02	328.4	286.9	6.9	770	15969	0.00	2.58	0.00	0.000	6	0.000	0.051	2511	2240	1444
16291	1.02	328.4	261.8	8.5	786	16293	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2239	1445
16601	1.02	328.4	234.5	8.6	801	16605	0.00	2.62	0.00	0.000	4	0.000	0.063	2511	824	1445
16645	1.02	328.4	230.6	7.8	803	16649	0.00	2.58	0.00	0.000	6	0.000	0.051	2511	2240	1445
16966	1.02	328.4	207.6	6.8	819	16967	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1446
17275	1.02	328.4	184.3	7.5	834	17276	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2240	1446
17585	1.02	328.4	161.7	7.1	849	17589	0.00	2.62	0.00	0.000	4	0.000	0.063	2511	824	1447
17628	1.02	328.4	158.3	7.5	851	17633	0.00	2.58	0.00	0.000	6	0.000	0.050	2511	2241	1447
17950	1.02	328.4	134.1	7.9	867	17954	0.00	2.62	0.00	0.000	4	0.000	0.071	2511	3650	1447
17982	1.02	328.4	131.2	8.2	868	17989	0.00	2.58	0.00	0.000	6	0.000	0.055	2511	2238	1447
18300	1.02	328.4	109.4	6.5	884	18302	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1447
18608	1.02	328.4	86.1	8.2	899	18610	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1447
18917	1.02	328.4	64.7	6.9	914	18918	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1447
19227	1.02	328.4	39.9	8.3	929	19228	0.00	0.00	0.00	0.000	6	0.000	0.000	2511	2238	1447
19537	1.06	328.4	18.9	6.9	944	19541	0.00	2.65	0.00	0.000	4	0.000	0.070	2511	3654	1448
19593	1.13	328.4	14.4	9.5	946	19600	0.15	2.55	0.00	0.000	6	0.043	0.051	2555	2237	1449
19741	end climb: SURFACE_DEPTH_REACHED
state	19741	begin surface coast
19763	end surface coast: CONTROL_FINISHED_OK
state	19763	begin surface