Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 186 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 186 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -65796.273 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -65796.273

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 186 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 24

Pre-dive calculations and measurements:

GPS1 025625,6300.314,-1247.329,47,1.2,63,-11.9 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6300.000,-1255.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.195,-0.099

_SM_DEPTHo 0.31 KALMAN_X -213068.7,-185.9,684.7,-10376.2,390.4

_SM_ANGLEo -57.7 KALMAN_Y -80790.8,-668.0,658.2,240750.7,1627.4

GPS2 030156,6300.363,-1247.230,14,1.2,31,-11.9 MHEAD_RNG_PITCHd_Wd 255.0,6568,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 598

Post-dive calculations and measurements:

FINISH 0.1,1.027325 XPDR_PINGS 1

SM_CCo 16083,52.10,0.763,0,0,1678,300.00 ALTIM_BOTTOM_PING 475.1,103.1

SM_GC -0.20,0.00,0.00,52.10,0.000,0.000,0.763,28,2885,1678,-10.96,-0.42,300.00 _24V_AH 23.4,33.359

IRIDIUM_FIX 6235.17,-1244.06,171207,020259 _10V_AH 10.1,16.328

TT8_MAMPS 0.029146 DATA_FILE_SIZE 37978,777

HUMID 2071 CFSIZE 260165632,247705600

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,40,0,0

TCM_TEMP 17.20 GPS 171207,073328,6258.621,-1251.480,36,2.3,55,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 159 96.88 SBE_CT 570 24 320.28

Roll_motor 156 91 335.05 SBE_O2 540 19 240.34

VBD_pump_during_apogee 324 1169 8881.69 WL_BB2F 516 105 1269.29

VBD_pump_during_surface 52 763 930.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.05 nil 0 0 0.00

Iridium_during_connect 34 160 130.26 nil 0 0 0.00

Iridium_during_xfer 141 223 738.04

Transponder_ping 4 420 39.31

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.08

TT8 1444 19 288.96

LPSleep 12319 2 272.50

TT8_Active 532 19 106.43

TT8_Sampling 1766 39 709.98

TT8_CF8 422 45 195.44

TT8_Kalman 33 81 27.57

Analog_circuits 1426 12 172.92

GPS_charging 0 0 0.00

Compass 1726 8 139.51

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 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 87 0.00 0.00 -64.95 0.000 6 0.000 0.000 41 2893 3499

89 -1.10 -146.6 3.0 -7.1 3 110 12.00 2.62 0.00 0.000 4 0.160 0.059 2164 1486 3501

178 -1.10 -146.6 17.5 -7.8 7 183 0.00 2.67 0.00 0.000 6 0.000 0.074 2164 2899 3502

504 -1.10 -146.6 40.9 -7.4 23 508 0.00 2.62 0.00 0.000 4 0.000 0.068 2164 1490 3502

535 -1.10 -146.6 43.4 -7.6 24 542 0.00 2.67 0.00 0.000 6 0.000 0.072 2164 2899 3502

853 -1.10 -146.6 68.8 -7.9 40 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

1161 -1.10 -146.6 91.9 -7.9 55 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

1470 -1.10 -146.6 113.6 -7.2 70 1471 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

1779 -1.10 -146.6 135.7 -6.4 85 1783 0.00 2.62 0.00 0.000 4 0.000 0.070 2164 1490 3502

1822 -1.10 -146.6 138.6 -6.7 87 1827 0.00 2.62 0.00 0.000 6 0.000 0.073 2164 2900 3502

2149 -1.10 -146.6 159.7 -6.2 103 2150 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3502

2458 -1.10 -146.6 179.8 -6.5 118 2462 0.00 2.62 0.00 0.000 4 0.000 0.068 2164 1483 3502

2501 -1.10 -146.6 182.9 -7.2 120 2505 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2900 3502

2828 -1.10 -146.6 206.1 -7.3 136 2829 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3502

3137 -1.10 -146.6 228.6 -7.2 151 3142 0.00 2.62 0.00 0.000 4 0.000 0.069 2164 1487 3502

3187 -1.10 -146.6 232.2 -6.9 153 3191 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2900 3502

3507 -1.10 -146.6 253.5 -6.4 169 3509 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3502

3817 -1.10 -146.6 273.9 -6.6 184 3821 0.00 2.62 0.00 0.000 4 0.000 0.069 2164 1486 3502

3848 -1.10 -146.6 276.2 -7.7 185 3855 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2906 3502

4164 -1.10 -146.6 298.2 -7.0 201 4168 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1485 3502

4202 -1.10 -146.6 300.8 -6.7 203 4207 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2902 3502

4528 -1.10 -146.6 323.6 -7.0 219 4530 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3502

4838 -1.10 -146.6 342.8 -5.9 234 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3502

5147 -1.10 -146.6 361.9 -6.1 249 5151 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1487 3502

5208 -1.10 -146.6 365.6 -6.1 252 5212 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2901 3502

5533 -1.10 -146.6 387.5 -6.9 268 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3502

5842 -1.10 -146.6 408.4 -6.9 283 5847 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1482 3502

5927 -1.10 -146.6 415.0 -8.9 287 5931 0.00 2.65 0.00 0.000 6 0.000 0.072 2164 2903 3502

6252 -1.10 -146.6 441.1 -9.2 303 6255 0.00 1.67 0.00 0.000 4 0.000 0.087 2164 3790 3502

6341 -1.10 -146.6 449.2 -8.9 307 6345 0.00 1.52 0.00 0.000 6 0.000 0.035 2164 2900 3502

6673 -1.10 -146.6 478.3 -7.9 323 6677 0.00 2.53 0.00 0.000 4 0.000 0.058 2164 1491 3502

6789 -1.10 -146.6 486.7 -6.7 328 6793 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2902 3502

7110 -1.10 -146.6 510.8 -7.3 344 7115 0.00 2.55 0.00 0.000 4 0.000 0.055 2164 1484 3502

7137 -1.10 -146.6 512.8 -7.8 345 7142 0.00 2.62 0.00 0.000 6 0.000 0.065 2164 2896 3502

7459 -1.10 -146.6 532.1 -6.0 361 7462 0.00 1.65 0.00 0.000 4 0.000 0.085 2164 3785 3502

7536 -1.10 -146.6 537.2 -6.5 364 7540 0.00 1.50 0.00 0.000 6 0.000 0.035 2164 2902 3502

7857 -1.10 -146.6 558.7 -6.3 380 7861 0.00 1.67 0.00 0.000 4 0.000 0.086 2164 3786 3502

7957 -1.10 -146.6 564.8 -6.7 384 7961 0.00 1.52 0.00 0.000 6 0.000 0.037 2164 2897 3502

8029 end dive: BOTTOM_OBSTACLE_DETECTED

state 8029 begin apogee

8036 -0.42 0.0 569.6 6.8 388 8163 0.75 0.00 123.85 1.170 6 0.076 0.000 2321 2104 2901

8163 end apogee: CONTROL_FINISHED_OK

state 8163 begin climb

8165 1.10 146.6 573.1 0.0 394 8294 1.52 2.65 121.18 1.125 4 0.055 0.056 2648 697 2303

8378 1.13 167.1 568.3 5.4 404 8406 0.00 2.47 18.75 1.044 6 0.000 0.036 2648 2115 2219

8714 1.18 211.9 551.2 4.8 421 8758 0.00 2.65 37.88 1.101 4 0.000 0.065 2647 3492 2038

8889 1.18 211.9 539.1 7.4 429 8893 0.00 2.47 0.00 0.000 6 0.000 0.040 2647 2093 2037

9214 1.18 211.9 520.1 6.3 445 9218 0.00 2.62 0.00 0.000 4 0.000 0.067 2648 3499 2036

9313 1.18 211.9 513.2 7.2 449 9320 0.00 2.45 0.00 0.000 6 0.000 0.038 2647 2101 2035

9629 1.18 211.9 490.4 6.9 465 9633 0.00 2.60 0.00 0.000 4 0.000 0.064 2648 3501 2033

9661 1.18 211.9 488.1 7.0 466 9667 0.00 2.47 0.00 0.000 6 0.000 0.038 2648 2104 2033

9976 1.18 211.9 466.1 7.2 482 9981 0.00 2.58 0.00 0.000 4 0.000 0.066 2648 3501 2032

10072 1.18 211.9 459.0 7.1 486 10076 0.00 2.47 0.00 0.000 6 0.000 0.038 2648 2096 2032

10387 1.19 218.8 439.9 5.8 501 10401 0.00 2.65 6.75 0.931 4 0.000 0.066 2648 3501 2008

10446 1.20 222.2 436.2 5.9 503 10457 0.10 2.47 4.62 0.803 6 0.049 0.040 2682 2097 1995

10784 1.20 222.2 413.2 7.2 520 10788 0.00 2.62 0.00 0.000 4 0.000 0.070 2682 3501 1994

10816 1.20 222.2 410.6 7.6 521 10822 0.00 2.47 0.00 0.000 6 0.000 0.041 2682 2091 1995

11131 1.20 222.2 385.2 8.6 537 11136 0.00 2.65 0.00 0.000 4 0.000 0.071 2682 3504 1995

11180 1.20 222.2 380.6 9.8 539 11184 0.00 2.50 0.00 0.000 6 0.000 0.042 2682 2102 1995

11501 1.20 222.2 353.8 8.2 555 11502 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2102 1995

11810 1.20 222.2 328.5 8.2 570 11811 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2102 1995

12120 1.20 222.2 303.0 8.3 585 12124 0.00 2.60 0.00 0.000 4 0.000 0.071 2682 3501 1995

12168 1.20 222.2 298.6 8.7 587 12173 0.00 2.50 0.00 0.000 6 0.000 0.045 2682 2102 1996

12489 1.20 222.2 272.1 8.2 603 12490 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2102 1996

12798 1.20 222.2 248.1 7.3 618 12803 0.00 2.62 0.00 0.000 4 0.000 0.072 2682 3502 1996

12853 1.20 222.2 243.8 7.7 620 12860 0.00 2.50 0.00 0.000 6 0.000 0.044 2682 2100 1996

13169 1.20 222.2 221.6 6.9 636 13174 0.00 2.60 0.00 0.000 4 0.000 0.071 2682 3501 1997

13208 1.20 222.2 218.7 6.9 638 13212 0.00 2.47 0.00 0.000 6 0.000 0.046 2682 2099 1997

13539 1.20 222.2 195.5 6.9 654 13543 0.00 2.62 0.00 0.000 4 0.000 0.074 2682 3502 1997

13571 1.20 222.2 193.3 6.6 655 13578 0.00 2.50 0.00 0.000 6 0.000 0.045 2682 2103 1997

13886 1.20 222.2 172.7 6.6 671 13891 0.00 2.60 0.00 0.000 4 0.000 0.070 2682 3501 1997

13907 1.20 222.2 171.3 6.8 672 13912 0.00 2.50 0.00 0.000 6 0.000 0.044 2682 2085 1998

14234 1.20 222.2 149.2 6.8 688 14239 0.00 2.65 0.00 0.000 4 0.000 0.071 2682 3508 1997

14278 1.20 222.2 145.9 7.3 690 14282 0.00 2.50 0.00 0.000 6 0.000 0.048 2682 2094 1998

14605 1.20 222.2 119.5 10.0 706 14609 0.00 2.62 0.00 0.000 4 0.000 0.069 2682 3504 1998

14644 1.20 222.2 115.5 10.4 708 14648 0.00 2.47 0.00 0.000 6 0.000 0.048 2682 2097 1998

14975 1.20 222.2 85.8 8.7 724 14976 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2097 1998

15284 1.20 222.2 59.8 9.2 739 15289 0.00 2.62 0.00 0.000 4 0.000 0.070 2682 3504 1998

15317 1.20 222.2 56.7 9.1 740 15324 0.00 2.53 0.00 0.000 6 0.000 0.049 2682 2099 1998

15634 1.21 233.3 31.8 5.7 756 15652 0.00 0.00 11.48 0.747 6 0.000 0.000 2682 2099 1948

15963 1.21 233.3 8.0 8.6 772 15967 0.00 2.55 0.00 0.000 4 0.000 0.061 2682 697 1948

15995 1.21 233.3 5.6 7.7 773 16001 0.00 2.40 0.00 0.000 6 0.000 0.036 2682 2101 1948

16040 end climb: SURFACE_DEPTH_REACHED

state 16040 begin surface coast

16062 end surface coast: CONTROL_FINISHED_OK

state 16062 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	186	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-65796.273	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	025625,6300.314,-1247.329,47,1.2,63,-11.9	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6300.000,-1255.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.195,-0.099
_SM_DEPTHo	0.31	KALMAN_X	-213068.7,-185.9,684.7,-10376.2,390.4
_SM_ANGLEo	-57.7	KALMAN_Y	-80790.8,-668.0,658.2,240750.7,1627.4
GPS2	030156,6300.363,-1247.230,14,1.2,31,-11.9	MHEAD_RNG_PITCHd_Wd	255.0,6568,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	598

FINISH	0.1,1.027325	XPDR_PINGS	1
SM_CCo	16083,52.10,0.763,0,0,1678,300.00	ALTIM_BOTTOM_PING	475.1,103.1
SM_GC	-0.20,0.00,0.00,52.10,0.000,0.000,0.763,28,2885,1678,-10.96,-0.42,300.00	_24V_AH	23.4,33.359
IRIDIUM_FIX	6235.17,-1244.06,171207,020259	_10V_AH	10.1,16.328
TT8_MAMPS	0.029146	DATA_FILE_SIZE	37978,777
HUMID	2071	CFSIZE	260165632,247705600
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
TCM_TEMP	17.20	GPS	171207,073328,6258.621,-1251.480,36,2.3,55,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	159	96.88	SBE_CT	570	24	320.28
Roll_motor	156	91	335.05	SBE_O2	540	19	240.34
VBD_pump_during_apogee	324	1169	8881.69	WL_BB2F	516	105	1269.29
VBD_pump_during_surface	52	763	930.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.05	nil	0	0	0.00
Iridium_during_connect	34	160	130.26	nil	0	0	0.00
Iridium_during_xfer	141	223	738.04
Transponder_ping	4	420	39.31
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.08
TT8	1444	19	288.96
LPSleep	12319	2	272.50
TT8_Active	532	19	106.43
TT8_Sampling	1766	39	709.98
TT8_CF8	422	45	195.44
TT8_Kalman	33	81	27.57
Analog_circuits	1426	12	172.92
GPS_charging	0	0	0.00
Compass	1726	8	139.51
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	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	87	0.00	0.00	-64.95	0.000	6	0.000	0.000	41	2893	3499
89	-1.10	-146.6	3.0	-7.1	3	110	12.00	2.62	0.00	0.000	4	0.160	0.059	2164	1486	3501
178	-1.10	-146.6	17.5	-7.8	7	183	0.00	2.67	0.00	0.000	6	0.000	0.074	2164	2899	3502
504	-1.10	-146.6	40.9	-7.4	23	508	0.00	2.62	0.00	0.000	4	0.000	0.068	2164	1490	3502
535	-1.10	-146.6	43.4	-7.6	24	542	0.00	2.67	0.00	0.000	6	0.000	0.072	2164	2899	3502
853	-1.10	-146.6	68.8	-7.9	40	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
1161	-1.10	-146.6	91.9	-7.9	55	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
1470	-1.10	-146.6	113.6	-7.2	70	1471	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
1779	-1.10	-146.6	135.7	-6.4	85	1783	0.00	2.62	0.00	0.000	4	0.000	0.070	2164	1490	3502
1822	-1.10	-146.6	138.6	-6.7	87	1827	0.00	2.62	0.00	0.000	6	0.000	0.073	2164	2900	3502
2149	-1.10	-146.6	159.7	-6.2	103	2150	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3502
2458	-1.10	-146.6	179.8	-6.5	118	2462	0.00	2.62	0.00	0.000	4	0.000	0.068	2164	1483	3502
2501	-1.10	-146.6	182.9	-7.2	120	2505	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2900	3502
2828	-1.10	-146.6	206.1	-7.3	136	2829	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3502
3137	-1.10	-146.6	228.6	-7.2	151	3142	0.00	2.62	0.00	0.000	4	0.000	0.069	2164	1487	3502
3187	-1.10	-146.6	232.2	-6.9	153	3191	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2900	3502
3507	-1.10	-146.6	253.5	-6.4	169	3509	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3502
3817	-1.10	-146.6	273.9	-6.6	184	3821	0.00	2.62	0.00	0.000	4	0.000	0.069	2164	1486	3502
3848	-1.10	-146.6	276.2	-7.7	185	3855	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2906	3502
4164	-1.10	-146.6	298.2	-7.0	201	4168	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1485	3502
4202	-1.10	-146.6	300.8	-6.7	203	4207	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2902	3502
4528	-1.10	-146.6	323.6	-7.0	219	4530	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3502
4838	-1.10	-146.6	342.8	-5.9	234	4839	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3502
5147	-1.10	-146.6	361.9	-6.1	249	5151	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1487	3502
5208	-1.10	-146.6	365.6	-6.1	252	5212	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2901	3502
5533	-1.10	-146.6	387.5	-6.9	268	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3502
5842	-1.10	-146.6	408.4	-6.9	283	5847	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1482	3502
5927	-1.10	-146.6	415.0	-8.9	287	5931	0.00	2.65	0.00	0.000	6	0.000	0.072	2164	2903	3502
6252	-1.10	-146.6	441.1	-9.2	303	6255	0.00	1.67	0.00	0.000	4	0.000	0.087	2164	3790	3502
6341	-1.10	-146.6	449.2	-8.9	307	6345	0.00	1.52	0.00	0.000	6	0.000	0.035	2164	2900	3502
6673	-1.10	-146.6	478.3	-7.9	323	6677	0.00	2.53	0.00	0.000	4	0.000	0.058	2164	1491	3502
6789	-1.10	-146.6	486.7	-6.7	328	6793	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2902	3502
7110	-1.10	-146.6	510.8	-7.3	344	7115	0.00	2.55	0.00	0.000	4	0.000	0.055	2164	1484	3502
7137	-1.10	-146.6	512.8	-7.8	345	7142	0.00	2.62	0.00	0.000	6	0.000	0.065	2164	2896	3502
7459	-1.10	-146.6	532.1	-6.0	361	7462	0.00	1.65	0.00	0.000	4	0.000	0.085	2164	3785	3502
7536	-1.10	-146.6	537.2	-6.5	364	7540	0.00	1.50	0.00	0.000	6	0.000	0.035	2164	2902	3502
7857	-1.10	-146.6	558.7	-6.3	380	7861	0.00	1.67	0.00	0.000	4	0.000	0.086	2164	3786	3502
7957	-1.10	-146.6	564.8	-6.7	384	7961	0.00	1.52	0.00	0.000	6	0.000	0.037	2164	2897	3502
8029	end dive: BOTTOM_OBSTACLE_DETECTED
state	8029	begin apogee
8036	-0.42	0.0	569.6	6.8	388	8163	0.75	0.00	123.85	1.170	6	0.076	0.000	2321	2104	2901
8163	end apogee: CONTROL_FINISHED_OK
state	8163	begin climb
8165	1.10	146.6	573.1	0.0	394	8294	1.52	2.65	121.18	1.125	4	0.055	0.056	2648	697	2303
8378	1.13	167.1	568.3	5.4	404	8406	0.00	2.47	18.75	1.044	6	0.000	0.036	2648	2115	2219
8714	1.18	211.9	551.2	4.8	421	8758	0.00	2.65	37.88	1.101	4	0.000	0.065	2647	3492	2038
8889	1.18	211.9	539.1	7.4	429	8893	0.00	2.47	0.00	0.000	6	0.000	0.040	2647	2093	2037
9214	1.18	211.9	520.1	6.3	445	9218	0.00	2.62	0.00	0.000	4	0.000	0.067	2648	3499	2036
9313	1.18	211.9	513.2	7.2	449	9320	0.00	2.45	0.00	0.000	6	0.000	0.038	2647	2101	2035
9629	1.18	211.9	490.4	6.9	465	9633	0.00	2.60	0.00	0.000	4	0.000	0.064	2648	3501	2033
9661	1.18	211.9	488.1	7.0	466	9667	0.00	2.47	0.00	0.000	6	0.000	0.038	2648	2104	2033
9976	1.18	211.9	466.1	7.2	482	9981	0.00	2.58	0.00	0.000	4	0.000	0.066	2648	3501	2032
10072	1.18	211.9	459.0	7.1	486	10076	0.00	2.47	0.00	0.000	6	0.000	0.038	2648	2096	2032
10387	1.19	218.8	439.9	5.8	501	10401	0.00	2.65	6.75	0.931	4	0.000	0.066	2648	3501	2008
10446	1.20	222.2	436.2	5.9	503	10457	0.10	2.47	4.62	0.803	6	0.049	0.040	2682	2097	1995
10784	1.20	222.2	413.2	7.2	520	10788	0.00	2.62	0.00	0.000	4	0.000	0.070	2682	3501	1994
10816	1.20	222.2	410.6	7.6	521	10822	0.00	2.47	0.00	0.000	6	0.000	0.041	2682	2091	1995
11131	1.20	222.2	385.2	8.6	537	11136	0.00	2.65	0.00	0.000	4	0.000	0.071	2682	3504	1995
11180	1.20	222.2	380.6	9.8	539	11184	0.00	2.50	0.00	0.000	6	0.000	0.042	2682	2102	1995
11501	1.20	222.2	353.8	8.2	555	11502	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2102	1995
11810	1.20	222.2	328.5	8.2	570	11811	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2102	1995
12120	1.20	222.2	303.0	8.3	585	12124	0.00	2.60	0.00	0.000	4	0.000	0.071	2682	3501	1995
12168	1.20	222.2	298.6	8.7	587	12173	0.00	2.50	0.00	0.000	6	0.000	0.045	2682	2102	1996
12489	1.20	222.2	272.1	8.2	603	12490	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2102	1996
12798	1.20	222.2	248.1	7.3	618	12803	0.00	2.62	0.00	0.000	4	0.000	0.072	2682	3502	1996
12853	1.20	222.2	243.8	7.7	620	12860	0.00	2.50	0.00	0.000	6	0.000	0.044	2682	2100	1996
13169	1.20	222.2	221.6	6.9	636	13174	0.00	2.60	0.00	0.000	4	0.000	0.071	2682	3501	1997
13208	1.20	222.2	218.7	6.9	638	13212	0.00	2.47	0.00	0.000	6	0.000	0.046	2682	2099	1997
13539	1.20	222.2	195.5	6.9	654	13543	0.00	2.62	0.00	0.000	4	0.000	0.074	2682	3502	1997
13571	1.20	222.2	193.3	6.6	655	13578	0.00	2.50	0.00	0.000	6	0.000	0.045	2682	2103	1997
13886	1.20	222.2	172.7	6.6	671	13891	0.00	2.60	0.00	0.000	4	0.000	0.070	2682	3501	1997
13907	1.20	222.2	171.3	6.8	672	13912	0.00	2.50	0.00	0.000	6	0.000	0.044	2682	2085	1998
14234	1.20	222.2	149.2	6.8	688	14239	0.00	2.65	0.00	0.000	4	0.000	0.071	2682	3508	1997
14278	1.20	222.2	145.9	7.3	690	14282	0.00	2.50	0.00	0.000	6	0.000	0.048	2682	2094	1998
14605	1.20	222.2	119.5	10.0	706	14609	0.00	2.62	0.00	0.000	4	0.000	0.069	2682	3504	1998
14644	1.20	222.2	115.5	10.4	708	14648	0.00	2.47	0.00	0.000	6	0.000	0.048	2682	2097	1998
14975	1.20	222.2	85.8	8.7	724	14976	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2097	1998
15284	1.20	222.2	59.8	9.2	739	15289	0.00	2.62	0.00	0.000	4	0.000	0.070	2682	3504	1998
15317	1.20	222.2	56.7	9.1	740	15324	0.00	2.53	0.00	0.000	6	0.000	0.049	2682	2099	1998
15634	1.21	233.3	31.8	5.7	756	15652	0.00	0.00	11.48	0.747	6	0.000	0.000	2682	2099	1948
15963	1.21	233.3	8.0	8.6	772	15967	0.00	2.55	0.00	0.000	4	0.000	0.061	2682	697	1948
15995	1.21	233.3	5.6	7.7	773	16001	0.00	2.40	0.00	0.000	6	0.000	0.036	2682	2101	1948
16040	end climb: SURFACE_DEPTH_REACHED
state	16040	begin surface coast
16062	end surface coast: CONTROL_FINISHED_OK
state	16062	begin surface