Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 105 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 105 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 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 2817 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 -2077471.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 -2077471.8

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 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 105 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 112115,6145.124,-948.882,39,2.1,58,-9.7 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.220,0.026

_SM_DEPTHo 1.29 KALMAN_X -36804.6,1334.2,1858.6,-4627.3,-23128.9

_SM_ANGLEo -56.2 KALMAN_Y 98951.8,-21.3,806.9,-86843.9,-696.1

GPS2 112620,6145.159,-949.016,16,1.9,33,-9.7 MHEAD_RNG_PITCHd_Wd 93.0,29820,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027270 ALTIM_BOTTOM_PING 875.3,98.1

SM_CCo 19569,0.00,0.000,0,0,1231,389.05 _24V_AH 23.5,20.451

SM_GC 1.46,11.27,0.00,0.00,0.041,0.000,0.000,68,2401,1231,-10.70,0.03,389.05 _10V_AH 10.1,9.166

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47400,947

TT8_MAMPS 0.02301 CFSIZE 260165632,253378560

HUMID 2097 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 17.40 GPS 291107,165452,6145.670,-950.679,41,2.4,60,-9.8

XPDR_PINGS 35

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 104.64 SBE_CT 664 24 375.04

Roll_motor 210 92 454.43 SBE_O2 673 19 300.87

VBD_pump_during_apogee 448 1354 14266.77 WL_BB2F 514 105 1269.27

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.89 nil 0 0 0.00

Iridium_during_connect 27 160 101.52 nil 0 0 0.00

Iridium_during_xfer 133 223 701.58

Transponder_ping 16 420 162.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.06

TT8 1763 19 352.73

LPSleep 14872 2 328.96

TT8_Active 620 19 124.15

TT8_Sampling 2268 39 911.90

TT8_CF8 346 45 160.14

TT8_Kalman 33 81 27.57

Analog_circuits 1772 12 214.80

GPS_charging 0 0 0.00

Compass 2190 8 176.98

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.85 -146.6 0.0 0.0 0 124 0.00 0.00 -101.88 0.000 2 0.000 0.000 63 2405 3086

126 -0.85 -146.6 3.7 -2.5 5 148 12.20 0.00 -7.97 0.000 6 0.174 0.000 2223 2405 3415

457 -0.85 -146.6 38.7 -9.3 21 458 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2405 3416

765 -0.85 -146.6 65.0 -8.5 36 770 0.00 2.65 0.00 0.000 4 0.000 0.066 2223 982 3415

804 -0.85 -146.6 68.3 -8.2 38 808 0.00 2.58 0.00 0.000 6 0.000 0.053 2223 2395 3415

1129 -0.85 -146.6 97.7 -8.9 54 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2395 3415

1438 -0.85 -146.6 126.5 -9.6 69 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2395 3415

1747 -0.85 -146.6 158.2 -11.0 84 1751 0.00 2.62 0.00 0.000 4 0.000 0.064 2223 979 3415

1773 -0.85 -146.6 160.6 -8.9 85 1777 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2400 3415

2095 -0.85 -146.6 188.4 -8.5 101 2096 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2400 3415

2403 -0.85 -146.6 216.8 -8.6 116 2408 0.00 2.62 0.00 0.000 4 0.000 0.065 2223 983 3415

2430 -0.85 -146.6 219.5 -10.0 117 2434 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2413 3415

2751 -0.85 -146.6 244.5 -7.7 133 2755 0.00 2.65 0.00 0.000 4 0.000 0.065 2223 982 3416

2782 -0.85 -146.6 246.9 -6.8 134 2789 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2395 3415

3098 -0.85 -146.6 272.3 -8.7 150 3102 0.00 2.62 0.00 0.000 4 0.000 0.065 2223 976 3415

3118 -0.85 -146.6 274.3 -9.6 151 3123 0.00 2.62 0.00 0.000 6 0.000 0.053 2223 2398 3415

3445 -0.85 -146.6 301.2 -10.9 167 3450 0.00 2.62 0.00 0.000 4 0.000 0.066 2223 984 3415

3488 -0.85 -146.6 305.1 -7.4 169 3493 0.00 2.60 0.00 0.000 6 0.000 0.051 2223 2401 3415

3815 -0.85 -146.6 331.7 -8.6 185 3820 0.00 2.62 0.00 0.000 4 0.000 0.064 2223 981 3415

3858 -0.85 -146.6 335.8 -9.9 187 3863 0.00 2.60 0.00 0.000 6 0.000 0.051 2223 2397 3415

4185 -0.85 -146.6 367.9 -9.7 203 4189 0.00 2.62 0.00 0.000 4 0.000 0.066 2224 982 3415

4219 -0.85 -146.6 371.4 -10.2 204 4225 0.00 2.58 0.00 0.000 6 0.000 0.053 2221 2400 3415

4533 -0.85 -146.6 408.1 -10.8 220 4537 0.00 2.62 0.00 0.000 4 0.000 0.066 2223 983 3415

4559 -0.85 -146.6 410.8 -10.1 221 4563 0.00 2.60 0.00 0.000 6 0.000 0.051 2223 2398 3415

4880 -0.85 -146.6 444.7 -9.7 237 4884 0.00 2.62 0.00 0.000 4 0.000 0.064 2224 981 3415

4922 -0.85 -146.6 448.8 -9.0 239 4927 0.00 2.60 0.00 0.000 6 0.000 0.051 2223 2396 3415

5249 -0.85 -146.6 479.0 -10.3 255 5250 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2395 3415

5559 -0.85 -146.6 504.6 -8.1 270 5560 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2395 3415

5868 -0.85 -146.6 530.9 -8.8 285 5872 0.00 2.62 0.00 0.000 4 0.000 0.066 2223 980 3415

5916 -0.85 -146.6 535.5 -8.9 287 5921 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2398 3415

6237 -0.85 -146.6 562.9 -8.4 303 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 2398 3415

6546 -0.85 -146.6 592.5 -9.5 318 6548 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2398 3415

6856 -0.85 -146.6 621.9 -10.1 333 6860 0.00 2.62 0.00 0.000 4 0.000 0.064 2223 977 3415

6904 -0.85 -146.6 626.7 -9.7 335 6909 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2395 3414

7225 -0.85 -146.6 656.5 -9.3 351 7230 0.00 2.62 0.00 0.000 4 0.000 0.066 2223 980 3414

7264 -0.85 -146.6 660.5 -10.7 353 7268 0.00 2.55 0.00 0.000 6 0.000 0.052 2223 2399 3414

7589 -0.85 -146.6 699.2 -10.6 369 7594 0.00 2.62 0.00 0.000 4 0.000 0.065 2223 980 3414

7643 -0.85 -146.6 705.6 -12.0 371 7650 0.00 2.60 0.00 0.000 6 0.000 0.052 2223 2395 3414

7959 -0.85 -146.6 740.6 -10.5 387 7960 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2395 3414

8268 -0.85 -146.6 768.3 -8.2 402 8273 0.00 2.60 0.00 0.000 4 0.000 0.064 2223 982 3414

8307 -0.85 -146.6 771.6 -8.9 404 8311 0.00 2.58 0.00 0.000 6 0.000 0.054 2223 2399 3414

8633 -0.85 -146.6 790.3 -4.7 420 8637 0.00 2.60 0.00 0.000 4 0.000 0.062 2223 982 3414

8659 -0.85 -146.6 791.1 -2.7 421 8664 0.00 2.58 0.00 0.000 6 0.000 0.053 2223 2398 3414

8980 -0.85 -146.6 809.0 -7.5 437 8984 0.00 2.60 0.00 0.000 4 0.000 0.067 2223 983 3414

9018 -0.85 -146.6 812.2 -8.5 439 9022 0.00 2.58 0.00 0.000 6 0.000 0.054 2223 2400 3414

9344 -0.85 -146.6 830.1 -4.8 455 9348 0.00 2.62 0.00 0.000 4 0.000 0.064 2223 979 3414

9488 -0.85 -146.6 838.0 -5.4 461 9495 0.00 2.60 0.00 0.000 6 0.000 0.055 2223 2400 3414

9804 -0.85 -146.6 855.8 -5.7 477 9808 0.00 2.62 0.00 0.000 4 0.000 0.071 2223 985 3415

9932 -0.85 -146.6 863.8 -5.0 483 9936 0.00 2.60 0.00 0.000 6 0.000 0.058 2223 2398 3414

10257 -0.85 -146.6 874.8 -2.7 499 10262 0.00 2.65 0.00 0.000 4 0.000 0.071 2223 978 3414

10329 -0.85 -146.6 882.0 -13.4 502 10334 0.00 2.65 0.00 0.000 6 0.000 0.060 2223 2400 3415

10650 -0.85 -146.6 904.9 -11.2 518 10655 0.00 2.65 0.00 0.000 4 0.000 0.092 2223 3771 3414

10734 -0.85 -146.6 916.5 -13.6 522 10738 0.00 2.53 0.00 0.000 6 0.000 0.061 2223 2400 3414

11059 -0.85 -146.6 946.4 -3.4 538 11064 0.00 2.62 0.00 0.000 4 0.000 0.085 2223 3766 3412

11076 -0.85 -146.6 947.2 -2.2 539 11080 0.00 2.53 0.00 0.000 6 0.000 0.063 2223 2399 3412

11337 end dive: BOTTOM_OBSTACLE_DETECTED

state 11338 begin apogee

11342 -0.31 0.0 964.5 6.5 552 11469 0.60 0.00 123.72 1.355 6 0.117 0.000 2341 2195 2817

11470 end apogee: CONTROL_FINISHED_OK

state 11470 begin climb

11471 0.85 146.6 970.2 0.0 558 11603 1.25 2.80 122.43 1.326 4 0.113 0.077 2585 792 2219

11856 0.90 197.0 951.0 4.6 575 11904 0.00 2.60 42.30 1.284 6 0.000 0.058 2585 2202 2015

12212 0.90 197.0 930.6 7.3 593 12217 0.00 2.72 0.00 0.000 4 0.000 0.078 2585 785 2012

12417 0.90 197.0 913.2 8.1 602 12422 0.00 2.65 0.00 0.000 6 0.000 0.057 2585 2195 2011

12739 1.07 352.2 903.2 1.8 618 12870 0.25 0.00 127.32 1.319 6 0.061 0.000 2650 2195 1381

13170 1.11 390.0 877.8 5.0 639 13212 0.00 2.78 32.42 1.254 4 0.000 0.077 2650 794 1225

13250 1.11 390.0 870.9 9.1 642 13257 0.00 2.62 0.00 0.000 6 0.000 0.055 2650 2201 1224

13565 1.11 390.0 848.3 8.0 658 13570 0.00 2.70 0.00 0.000 4 0.000 0.076 2650 786 1222

13637 1.11 390.0 841.6 10.2 661 13641 0.00 2.60 0.00 0.000 6 0.000 0.053 2650 2202 1222

13957 1.11 390.0 807.1 10.4 677 13962 0.00 2.70 0.00 0.000 4 0.000 0.073 2650 782 1221

14028 1.11 390.0 798.9 10.3 680 14033 0.00 2.60 0.00 0.000 6 0.000 0.049 2650 2192 1221

14350 1.11 390.0 759.3 12.0 696 14354 0.00 2.67 0.00 0.000 4 0.000 0.071 2650 779 1222

14437 1.11 390.0 747.7 15.0 700 14442 0.00 2.60 0.00 0.000 6 0.000 0.048 2650 2193 1222

14765 1.11 390.0 704.2 13.2 716 14769 0.00 2.65 0.00 0.000 4 0.000 0.069 2651 783 1223

14848 1.11 390.0 691.8 14.6 720 14852 0.00 2.58 0.00 0.000 6 0.000 0.046 2650 2205 1224

15173 1.11 390.0 644.2 13.8 736 15177 0.00 2.67 0.00 0.000 4 0.000 0.070 2650 783 1225

15260 1.11 390.0 629.5 17.3 740 15265 0.00 2.58 0.00 0.000 6 0.000 0.046 2650 2195 1225

15588 1.11 390.0 569.5 21.0 756 15589 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2195 1226

15897 1.11 390.0 510.1 17.6 771 15901 0.00 2.65 0.00 0.000 4 0.000 0.068 2650 779 1227

15980 1.11 390.0 496.8 15.4 775 15984 0.00 2.58 0.00 0.000 6 0.000 0.045 2650 2207 1228

16305 1.11 390.0 448.8 15.2 791 16309 0.00 2.67 0.00 0.000 4 0.000 0.070 2650 782 1228

16365 1.11 390.0 439.6 15.7 794 16370 0.00 2.55 0.00 0.000 6 0.000 0.045 2650 2199 1228

16691 1.11 390.0 389.8 14.7 810 16696 0.00 2.65 0.00 0.000 4 0.000 0.070 2650 786 1229

16768 1.11 390.0 377.7 16.2 813 16775 0.00 2.58 0.00 0.000 6 0.000 0.046 2650 2199 1229

17084 1.11 390.0 323.6 18.6 829 17088 0.00 2.65 0.00 0.000 4 0.000 0.068 2650 781 1229

17144 1.11 390.0 312.2 19.0 832 17149 0.00 2.55 0.00 0.000 6 0.000 0.046 2650 2199 1229

17470 1.11 390.0 264.5 13.6 848 17474 0.00 2.65 0.00 0.000 4 0.000 0.067 2650 781 1230

17531 1.11 390.0 255.7 14.0 851 17535 0.00 2.55 0.00 0.000 6 0.000 0.046 2650 2199 1230

17856 1.11 390.0 211.7 12.9 867 17860 0.00 2.65 0.00 0.000 4 0.000 0.068 2650 779 1230

17904 1.11 390.0 205.4 12.3 869 17909 0.00 2.58 0.00 0.000 6 0.000 0.046 2650 2193 1230

18225 1.11 390.0 164.4 11.8 885 18229 0.00 2.62 0.00 0.000 4 0.000 0.067 2650 786 1231

18286 1.11 390.0 157.3 10.6 888 18291 0.00 2.55 0.00 0.000 6 0.000 0.045 2650 2204 1231

18612 1.11 390.0 112.9 14.2 904 18617 0.00 2.65 0.00 0.000 4 0.000 0.067 2650 780 1231

18666 1.11 390.0 105.3 13.1 906 18674 0.00 2.58 0.00 0.000 6 0.000 0.044 2650 2201 1231

18983 1.11 390.0 64.3 10.9 922 18987 0.00 2.62 0.00 0.000 4 0.000 0.067 2650 786 1231

19044 1.11 390.0 57.0 12.3 925 19048 0.00 2.55 0.00 0.000 6 0.000 0.045 2650 2204 1232

19370 1.11 390.0 13.6 11.7 941 19374 0.00 2.65 0.00 0.000 4 0.000 0.067 2650 779 1232

19432 1.11 390.0 6.1 12.1 944 19437 0.00 2.55 0.00 0.000 6 0.000 0.045 2650 2201 1232

19468 end climb: SURFACE_DEPTH_REACHED

state 19468 begin surface coast

19490 end surface coast: CONTROL_FINISHED_OK

state 19490 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	105	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	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	2817	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	-2077471.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	112115,6145.124,-948.882,39,2.1,58,-9.7	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.220,0.026
_SM_DEPTHo	1.29	KALMAN_X	-36804.6,1334.2,1858.6,-4627.3,-23128.9
_SM_ANGLEo	-56.2	KALMAN_Y	98951.8,-21.3,806.9,-86843.9,-696.1
GPS2	112620,6145.159,-949.016,16,1.9,33,-9.7	MHEAD_RNG_PITCHd_Wd	93.0,29820,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027270	ALTIM_BOTTOM_PING	875.3,98.1
SM_CCo	19569,0.00,0.000,0,0,1231,389.05	_24V_AH	23.5,20.451
SM_GC	1.46,11.27,0.00,0.00,0.041,0.000,0.000,68,2401,1231,-10.70,0.03,389.05	_10V_AH	10.1,9.166
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47400,947
TT8_MAMPS	0.02301	CFSIZE	260165632,253378560
HUMID	2097	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	17.40	GPS	291107,165452,6145.670,-950.679,41,2.4,60,-9.8
XPDR_PINGS	35

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	104.64	SBE_CT	664	24	375.04
Roll_motor	210	92	454.43	SBE_O2	673	19	300.87
VBD_pump_during_apogee	448	1354	14266.77	WL_BB2F	514	105	1269.27
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.89	nil	0	0	0.00
Iridium_during_connect	27	160	101.52	nil	0	0	0.00
Iridium_during_xfer	133	223	701.58
Transponder_ping	16	420	162.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.06
TT8	1763	19	352.73
LPSleep	14872	2	328.96
TT8_Active	620	19	124.15
TT8_Sampling	2268	39	911.90
TT8_CF8	346	45	160.14
TT8_Kalman	33	81	27.57
Analog_circuits	1772	12	214.80
GPS_charging	0	0	0.00
Compass	2190	8	176.98
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.85	-146.6	0.0	0.0	0	124	0.00	0.00	-101.88	0.000	2	0.000	0.000	63	2405	3086
126	-0.85	-146.6	3.7	-2.5	5	148	12.20	0.00	-7.97	0.000	6	0.174	0.000	2223	2405	3415
457	-0.85	-146.6	38.7	-9.3	21	458	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2405	3416
765	-0.85	-146.6	65.0	-8.5	36	770	0.00	2.65	0.00	0.000	4	0.000	0.066	2223	982	3415
804	-0.85	-146.6	68.3	-8.2	38	808	0.00	2.58	0.00	0.000	6	0.000	0.053	2223	2395	3415
1129	-0.85	-146.6	97.7	-8.9	54	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2395	3415
1438	-0.85	-146.6	126.5	-9.6	69	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2395	3415
1747	-0.85	-146.6	158.2	-11.0	84	1751	0.00	2.62	0.00	0.000	4	0.000	0.064	2223	979	3415
1773	-0.85	-146.6	160.6	-8.9	85	1777	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2400	3415
2095	-0.85	-146.6	188.4	-8.5	101	2096	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2400	3415
2403	-0.85	-146.6	216.8	-8.6	116	2408	0.00	2.62	0.00	0.000	4	0.000	0.065	2223	983	3415
2430	-0.85	-146.6	219.5	-10.0	117	2434	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2413	3415
2751	-0.85	-146.6	244.5	-7.7	133	2755	0.00	2.65	0.00	0.000	4	0.000	0.065	2223	982	3416
2782	-0.85	-146.6	246.9	-6.8	134	2789	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2395	3415
3098	-0.85	-146.6	272.3	-8.7	150	3102	0.00	2.62	0.00	0.000	4	0.000	0.065	2223	976	3415
3118	-0.85	-146.6	274.3	-9.6	151	3123	0.00	2.62	0.00	0.000	6	0.000	0.053	2223	2398	3415
3445	-0.85	-146.6	301.2	-10.9	167	3450	0.00	2.62	0.00	0.000	4	0.000	0.066	2223	984	3415
3488	-0.85	-146.6	305.1	-7.4	169	3493	0.00	2.60	0.00	0.000	6	0.000	0.051	2223	2401	3415
3815	-0.85	-146.6	331.7	-8.6	185	3820	0.00	2.62	0.00	0.000	4	0.000	0.064	2223	981	3415
3858	-0.85	-146.6	335.8	-9.9	187	3863	0.00	2.60	0.00	0.000	6	0.000	0.051	2223	2397	3415
4185	-0.85	-146.6	367.9	-9.7	203	4189	0.00	2.62	0.00	0.000	4	0.000	0.066	2224	982	3415
4219	-0.85	-146.6	371.4	-10.2	204	4225	0.00	2.58	0.00	0.000	6	0.000	0.053	2221	2400	3415
4533	-0.85	-146.6	408.1	-10.8	220	4537	0.00	2.62	0.00	0.000	4	0.000	0.066	2223	983	3415
4559	-0.85	-146.6	410.8	-10.1	221	4563	0.00	2.60	0.00	0.000	6	0.000	0.051	2223	2398	3415
4880	-0.85	-146.6	444.7	-9.7	237	4884	0.00	2.62	0.00	0.000	4	0.000	0.064	2224	981	3415
4922	-0.85	-146.6	448.8	-9.0	239	4927	0.00	2.60	0.00	0.000	6	0.000	0.051	2223	2396	3415
5249	-0.85	-146.6	479.0	-10.3	255	5250	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2395	3415
5559	-0.85	-146.6	504.6	-8.1	270	5560	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2395	3415
5868	-0.85	-146.6	530.9	-8.8	285	5872	0.00	2.62	0.00	0.000	4	0.000	0.066	2223	980	3415
5916	-0.85	-146.6	535.5	-8.9	287	5921	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2398	3415
6237	-0.85	-146.6	562.9	-8.4	303	6238	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	2398	3415
6546	-0.85	-146.6	592.5	-9.5	318	6548	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2398	3415
6856	-0.85	-146.6	621.9	-10.1	333	6860	0.00	2.62	0.00	0.000	4	0.000	0.064	2223	977	3415
6904	-0.85	-146.6	626.7	-9.7	335	6909	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2395	3414
7225	-0.85	-146.6	656.5	-9.3	351	7230	0.00	2.62	0.00	0.000	4	0.000	0.066	2223	980	3414
7264	-0.85	-146.6	660.5	-10.7	353	7268	0.00	2.55	0.00	0.000	6	0.000	0.052	2223	2399	3414
7589	-0.85	-146.6	699.2	-10.6	369	7594	0.00	2.62	0.00	0.000	4	0.000	0.065	2223	980	3414
7643	-0.85	-146.6	705.6	-12.0	371	7650	0.00	2.60	0.00	0.000	6	0.000	0.052	2223	2395	3414
7959	-0.85	-146.6	740.6	-10.5	387	7960	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2395	3414
8268	-0.85	-146.6	768.3	-8.2	402	8273	0.00	2.60	0.00	0.000	4	0.000	0.064	2223	982	3414
8307	-0.85	-146.6	771.6	-8.9	404	8311	0.00	2.58	0.00	0.000	6	0.000	0.054	2223	2399	3414
8633	-0.85	-146.6	790.3	-4.7	420	8637	0.00	2.60	0.00	0.000	4	0.000	0.062	2223	982	3414
8659	-0.85	-146.6	791.1	-2.7	421	8664	0.00	2.58	0.00	0.000	6	0.000	0.053	2223	2398	3414
8980	-0.85	-146.6	809.0	-7.5	437	8984	0.00	2.60	0.00	0.000	4	0.000	0.067	2223	983	3414
9018	-0.85	-146.6	812.2	-8.5	439	9022	0.00	2.58	0.00	0.000	6	0.000	0.054	2223	2400	3414
9344	-0.85	-146.6	830.1	-4.8	455	9348	0.00	2.62	0.00	0.000	4	0.000	0.064	2223	979	3414
9488	-0.85	-146.6	838.0	-5.4	461	9495	0.00	2.60	0.00	0.000	6	0.000	0.055	2223	2400	3414
9804	-0.85	-146.6	855.8	-5.7	477	9808	0.00	2.62	0.00	0.000	4	0.000	0.071	2223	985	3415
9932	-0.85	-146.6	863.8	-5.0	483	9936	0.00	2.60	0.00	0.000	6	0.000	0.058	2223	2398	3414
10257	-0.85	-146.6	874.8	-2.7	499	10262	0.00	2.65	0.00	0.000	4	0.000	0.071	2223	978	3414
10329	-0.85	-146.6	882.0	-13.4	502	10334	0.00	2.65	0.00	0.000	6	0.000	0.060	2223	2400	3415
10650	-0.85	-146.6	904.9	-11.2	518	10655	0.00	2.65	0.00	0.000	4	0.000	0.092	2223	3771	3414
10734	-0.85	-146.6	916.5	-13.6	522	10738	0.00	2.53	0.00	0.000	6	0.000	0.061	2223	2400	3414
11059	-0.85	-146.6	946.4	-3.4	538	11064	0.00	2.62	0.00	0.000	4	0.000	0.085	2223	3766	3412
11076	-0.85	-146.6	947.2	-2.2	539	11080	0.00	2.53	0.00	0.000	6	0.000	0.063	2223	2399	3412
11337	end dive: BOTTOM_OBSTACLE_DETECTED
state	11338	begin apogee
11342	-0.31	0.0	964.5	6.5	552	11469	0.60	0.00	123.72	1.355	6	0.117	0.000	2341	2195	2817
11470	end apogee: CONTROL_FINISHED_OK
state	11470	begin climb
11471	0.85	146.6	970.2	0.0	558	11603	1.25	2.80	122.43	1.326	4	0.113	0.077	2585	792	2219
11856	0.90	197.0	951.0	4.6	575	11904	0.00	2.60	42.30	1.284	6	0.000	0.058	2585	2202	2015
12212	0.90	197.0	930.6	7.3	593	12217	0.00	2.72	0.00	0.000	4	0.000	0.078	2585	785	2012
12417	0.90	197.0	913.2	8.1	602	12422	0.00	2.65	0.00	0.000	6	0.000	0.057	2585	2195	2011
12739	1.07	352.2	903.2	1.8	618	12870	0.25	0.00	127.32	1.319	6	0.061	0.000	2650	2195	1381
13170	1.11	390.0	877.8	5.0	639	13212	0.00	2.78	32.42	1.254	4	0.000	0.077	2650	794	1225
13250	1.11	390.0	870.9	9.1	642	13257	0.00	2.62	0.00	0.000	6	0.000	0.055	2650	2201	1224
13565	1.11	390.0	848.3	8.0	658	13570	0.00	2.70	0.00	0.000	4	0.000	0.076	2650	786	1222
13637	1.11	390.0	841.6	10.2	661	13641	0.00	2.60	0.00	0.000	6	0.000	0.053	2650	2202	1222
13957	1.11	390.0	807.1	10.4	677	13962	0.00	2.70	0.00	0.000	4	0.000	0.073	2650	782	1221
14028	1.11	390.0	798.9	10.3	680	14033	0.00	2.60	0.00	0.000	6	0.000	0.049	2650	2192	1221
14350	1.11	390.0	759.3	12.0	696	14354	0.00	2.67	0.00	0.000	4	0.000	0.071	2650	779	1222
14437	1.11	390.0	747.7	15.0	700	14442	0.00	2.60	0.00	0.000	6	0.000	0.048	2650	2193	1222
14765	1.11	390.0	704.2	13.2	716	14769	0.00	2.65	0.00	0.000	4	0.000	0.069	2651	783	1223
14848	1.11	390.0	691.8	14.6	720	14852	0.00	2.58	0.00	0.000	6	0.000	0.046	2650	2205	1224
15173	1.11	390.0	644.2	13.8	736	15177	0.00	2.67	0.00	0.000	4	0.000	0.070	2650	783	1225
15260	1.11	390.0	629.5	17.3	740	15265	0.00	2.58	0.00	0.000	6	0.000	0.046	2650	2195	1225
15588	1.11	390.0	569.5	21.0	756	15589	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2195	1226
15897	1.11	390.0	510.1	17.6	771	15901	0.00	2.65	0.00	0.000	4	0.000	0.068	2650	779	1227
15980	1.11	390.0	496.8	15.4	775	15984	0.00	2.58	0.00	0.000	6	0.000	0.045	2650	2207	1228
16305	1.11	390.0	448.8	15.2	791	16309	0.00	2.67	0.00	0.000	4	0.000	0.070	2650	782	1228
16365	1.11	390.0	439.6	15.7	794	16370	0.00	2.55	0.00	0.000	6	0.000	0.045	2650	2199	1228
16691	1.11	390.0	389.8	14.7	810	16696	0.00	2.65	0.00	0.000	4	0.000	0.070	2650	786	1229
16768	1.11	390.0	377.7	16.2	813	16775	0.00	2.58	0.00	0.000	6	0.000	0.046	2650	2199	1229
17084	1.11	390.0	323.6	18.6	829	17088	0.00	2.65	0.00	0.000	4	0.000	0.068	2650	781	1229
17144	1.11	390.0	312.2	19.0	832	17149	0.00	2.55	0.00	0.000	6	0.000	0.046	2650	2199	1229
17470	1.11	390.0	264.5	13.6	848	17474	0.00	2.65	0.00	0.000	4	0.000	0.067	2650	781	1230
17531	1.11	390.0	255.7	14.0	851	17535	0.00	2.55	0.00	0.000	6	0.000	0.046	2650	2199	1230
17856	1.11	390.0	211.7	12.9	867	17860	0.00	2.65	0.00	0.000	4	0.000	0.068	2650	779	1230
17904	1.11	390.0	205.4	12.3	869	17909	0.00	2.58	0.00	0.000	6	0.000	0.046	2650	2193	1230
18225	1.11	390.0	164.4	11.8	885	18229	0.00	2.62	0.00	0.000	4	0.000	0.067	2650	786	1231
18286	1.11	390.0	157.3	10.6	888	18291	0.00	2.55	0.00	0.000	6	0.000	0.045	2650	2204	1231
18612	1.11	390.0	112.9	14.2	904	18617	0.00	2.65	0.00	0.000	4	0.000	0.067	2650	780	1231
18666	1.11	390.0	105.3	13.1	906	18674	0.00	2.58	0.00	0.000	6	0.000	0.044	2650	2201	1231
18983	1.11	390.0	64.3	10.9	922	18987	0.00	2.62	0.00	0.000	4	0.000	0.067	2650	786	1231
19044	1.11	390.0	57.0	12.3	925	19048	0.00	2.55	0.00	0.000	6	0.000	0.045	2650	2204	1232
19370	1.11	390.0	13.6	11.7	941	19374	0.00	2.65	0.00	0.000	4	0.000	0.067	2650	779	1232
19432	1.11	390.0	6.1	12.1	944	19437	0.00	2.55	0.00	0.000	6	0.000	0.045	2650	2201	1232
19468	end climb: SURFACE_DEPTH_REACHED
state	19468	begin surface coast
19490	end surface coast: CONTROL_FINISHED_OK
state	19490	begin surface