Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 194 * 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 194 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 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 -1 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 -65916.547 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 -65916.547

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 18 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 13 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 194 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 210126,6302.328,-1252.598,42,1.1,42,-12.0 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.135,0.172

_SM_DEPTHo 0.02 KALMAN_X -218449.3,691.0,718.3,-10602.8,-2302.4

_SM_ANGLEo -55.4 KALMAN_Y -103114.9,-462.3,-130.1,267137.9,-4946.1

GPS2 210702,6302.241,-1252.525,10,1.8,15,-12.0 MHEAD_RNG_PITCHd_Wd 50.1,24438,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 604

Post-dive calculations and measurements:

FINISH 1.0,1.027352 XPDR_PINGS 2

SM_CCo 16413,62.47,0.758,1,0,1678,300.00 ALTIM_BOTTOM_PING 475.7,106.5

SM_GC 0.01,0.00,0.00,62.47,0.000,0.000,0.758,49,2899,1678,-10.86,-0.03,300.00 _24V_AH 23.4,34.491

IRIDIUM_FIX 6239.86,-1304.65,181207,202038 _10V_AH 10.1,17.018

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41077,792

HUMID 2050 CFSIZE 260165632,247185408

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,1,0

TCM_TEMP 17.00 GPS 191207,014402,6302.142,-1250.981,40,1.2,40,-11.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 97.53 SBE_CT 570 24 320.45

Roll_motor 164 98 380.51 SBE_O2 554 19 246.66

VBD_pump_during_apogee 315 1184 8743.64 WL_BB2F 516 105 1269.34

VBD_pump_during_surface 62 757 1107.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.23 nil 0 0 0.00

Iridium_during_connect 34 160 128.57 nil 0 0 0.00

Iridium_during_xfer 153 223 799.63

Transponder_ping 4 420 41.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.88

TT8 1473 19 294.65

LPSleep 12544 2 277.47

TT8_Active 527 19 105.57

TT8_Sampling 1832 39 736.59

TT8_CF8 452 45 209.16

TT8_Kalman 33 81 27.57

Analog_circuits 1456 12 176.54

GPS_charging 0 0 0.00

Compass 1809 8 146.20

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.10 -146.6 0.0 0.0 0 86 0.00 0.00 -62.67 0.000 6 0.000 0.000 39 2901 3501

88 -1.10 -146.6 2.4 -5.1 3 110 12.05 2.62 0.00 0.000 4 0.160 0.055 2166 1482 3503

362 -1.10 -146.6 33.8 -6.9 15 366 0.00 2.70 0.00 0.000 6 0.000 0.080 2166 2898 3504

683 -1.10 -146.6 59.0 -8.3 31 687 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1481 3504

834 -1.10 -146.6 70.5 -7.6 38 839 0.00 2.70 0.00 0.000 6 0.000 0.078 2166 2899 3503

1161 -1.10 -146.6 93.5 -7.0 54 1162 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3504

1470 -1.10 -146.6 118.4 -8.6 69 1474 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1482 3504

1513 -1.10 -146.6 122.2 -8.8 71 1517 0.00 2.67 0.00 0.000 6 0.000 0.077 2166 2903 3504

1840 -1.10 -146.6 146.6 -7.9 87 1844 0.00 2.65 0.00 0.000 4 0.000 0.071 2166 1484 3504

1871 -1.10 -146.6 149.2 -7.7 88 1879 0.00 2.70 0.00 0.000 6 0.000 0.077 2166 2896 3504

2188 -1.10 -146.6 169.7 -5.8 104 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2896 3504

2496 -1.10 -146.6 187.4 -6.0 119 2501 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1490 3504

2552 -1.10 -146.6 190.8 -6.3 121 2558 0.00 2.67 0.00 0.000 6 0.000 0.076 2166 2899 3504

2867 -1.10 -146.6 211.4 -7.2 137 2868 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3504

3176 -1.10 -146.6 232.6 -6.9 152 3181 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1490 3504

3225 -1.10 -146.6 236.2 -6.9 154 3230 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2899 3504

3547 -1.10 -146.6 257.5 -6.5 170 3551 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1482 3504

3578 -1.10 -146.6 259.7 -6.4 171 3585 0.00 2.67 0.00 0.000 6 0.000 0.076 2166 2902 3504

3894 -1.10 -146.6 282.2 -7.0 187 3898 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1483 3504

3932 -1.10 -146.6 284.8 -7.4 189 3937 0.00 2.67 0.00 0.000 6 0.000 0.075 2166 2903 3504

4258 -1.10 -146.6 307.6 -7.1 205 4262 0.00 2.62 0.00 0.000 4 0.000 0.070 2166 1486 3504

4301 -1.10 -146.6 310.7 -6.9 207 4305 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2899 3504

4628 -1.10 -146.6 333.8 -7.9 223 4632 0.00 2.60 0.00 0.000 4 0.000 0.068 2166 1485 3504

4676 -1.10 -146.6 337.5 -8.0 225 4681 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2900 3504

4998 -1.10 -146.6 360.4 -6.8 241 5002 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1484 3504

5036 -1.10 -146.6 363.1 -7.1 243 5041 0.00 2.65 0.00 0.000 6 0.000 0.075 2166 2899 3504

5362 -1.10 -146.6 384.4 -6.3 259 5363 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3504

5672 -1.10 -146.6 404.6 -6.7 274 5676 0.00 2.60 0.00 0.000 4 0.000 0.066 2166 1485 3504

5789 -1.10 -146.6 412.8 -7.2 279 5793 0.00 2.62 0.00 0.000 6 0.000 0.071 2166 2899 3504

6104 -1.10 -146.6 435.0 -7.0 294 6108 0.00 2.60 0.00 0.000 4 0.000 0.064 2166 1480 3504

6143 -1.10 -146.6 437.7 -7.0 296 6147 0.00 2.65 0.00 0.000 6 0.000 0.069 2166 2908 3504

6468 -1.10 -146.6 459.8 -6.7 312 6473 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1485 3504

6507 -1.10 -146.6 462.6 -7.0 314 6512 0.00 2.62 0.00 0.000 6 0.000 0.070 2166 2900 3504

6833 -1.10 -146.6 483.7 -6.5 330 6838 0.00 2.58 0.00 0.000 4 0.000 0.059 2166 1477 3504

6877 -1.10 -146.6 486.3 -6.1 332 6882 0.00 2.62 0.00 0.000 6 0.000 0.067 2166 2901 3504

7198 -1.10 -146.6 505.4 -5.8 348 7203 0.00 2.58 0.00 0.000 4 0.000 0.057 2166 1474 3504

7276 -1.10 -146.6 510.8 -6.7 351 7282 0.00 2.62 0.00 0.000 6 0.000 0.065 2166 2903 3504

7591 -1.10 -146.6 532.4 -7.1 367 7595 0.00 2.55 0.00 0.000 4 0.000 0.055 2166 1476 3504

7685 -1.10 -146.6 539.4 -7.4 371 7689 0.00 2.62 0.00 0.000 6 0.000 0.066 2166 2901 3504

8006 -1.10 -146.6 560.3 -6.5 387 8007 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2901 3504

8190 end dive: BOTTOM_OBSTACLE_DETECTED

state 8190 begin apogee

8196 -0.42 0.0 572.8 7.0 396 8324 0.75 0.00 124.32 1.184 6 0.084 0.000 2319 2091 2901

8325 end apogee: CONTROL_FINISHED_OK

state 8325 begin climb

8327 1.10 146.6 577.3 0.0 402 8457 1.52 2.62 120.38 1.144 4 0.053 0.055 2648 694 2303

8587 1.11 152.5 570.0 5.8 414 8599 0.00 2.47 6.55 0.923 6 0.000 0.037 2648 2114 2279

8908 1.14 173.2 552.3 5.4 429 8932 0.00 2.65 18.83 1.115 4 0.000 0.067 2648 3502 2194

9055 1.14 173.2 542.8 6.8 435 9062 0.00 2.50 0.00 0.000 6 0.000 0.038 2648 2099 2193

9371 1.15 185.7 524.2 5.7 451 9392 0.00 2.65 11.50 1.076 4 0.000 0.058 2649 699 2144

9442 1.16 195.0 519.7 5.7 454 9459 0.00 2.47 9.55 1.042 6 0.000 0.038 2649 2101 2105

9767 1.16 195.0 500.4 6.6 470 9771 0.00 2.58 0.00 0.000 4 0.000 0.058 2649 692 2104

9844 1.16 195.0 495.1 6.9 473 9850 0.00 2.47 0.00 0.000 6 0.000 0.039 2648 2101 2103

10159 1.20 223.5 478.0 5.2 489 10190 0.10 2.70 24.40 1.117 4 0.050 0.072 2679 3503 1989

10228 1.20 223.5 473.2 7.5 492 10233 0.00 2.53 0.00 0.000 6 0.000 0.040 2679 2097 1989

10549 1.20 223.5 450.1 7.1 508 10553 0.00 2.53 0.00 0.000 4 0.000 0.056 2679 698 1988

10610 1.20 223.5 445.5 7.9 511 10615 0.00 2.47 0.00 0.000 6 0.000 0.039 2679 2103 1988

10936 1.20 223.5 422.9 7.0 527 10937 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2103 1987

11246 1.20 223.5 400.5 7.4 542 11247 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2103 1987

11555 1.20 223.5 377.5 7.3 557 11556 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2103 1987

11864 1.20 223.5 355.6 7.2 572 11868 0.00 2.62 0.00 0.000 4 0.000 0.074 2679 3508 1987

11896 1.20 223.5 353.3 6.6 573 11902 0.00 2.47 0.00 0.000 6 0.000 0.042 2679 2095 1987

12211 1.20 223.5 329.7 7.4 589 12215 0.00 2.67 0.00 0.000 4 0.000 0.076 2679 3509 1987

12243 1.20 223.5 326.9 8.5 590 12250 0.00 2.50 0.00 0.000 6 0.000 0.044 2678 2106 1987

12559 1.20 223.5 303.6 7.5 606 12560 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2106 1988

12868 1.20 223.5 280.2 7.9 621 12872 0.00 2.65 0.00 0.000 4 0.000 0.076 2679 3509 1989

12906 1.20 223.5 277.0 8.0 623 12910 0.00 2.47 0.00 0.000 6 0.000 0.044 2679 2093 1989

13238 1.20 223.5 251.1 8.0 639 13239 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2093 1989

13547 1.20 223.5 226.0 8.1 654 13551 0.00 2.67 0.00 0.000 4 0.000 0.076 2679 3513 1989

13595 1.20 223.5 221.7 8.9 656 13600 0.00 2.53 0.00 0.000 6 0.000 0.044 2678 2098 1989

13917 1.20 223.5 196.3 8.0 672 13918 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2098 1989

14226 1.20 223.5 172.3 7.7 687 14230 0.00 2.67 0.00 0.000 4 0.000 0.074 2679 3516 1990

14280 1.20 223.5 167.8 7.8 689 14287 0.00 2.50 0.00 0.000 6 0.000 0.047 2678 2099 1990

14596 1.20 223.5 144.6 7.4 705 14597 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2099 1990

14905 1.20 223.5 121.2 7.7 720 14909 0.00 2.65 0.00 0.000 4 0.000 0.074 2678 3509 1990

14966 1.20 223.5 116.3 7.9 723 14971 0.00 2.47 0.00 0.000 6 0.000 0.045 2679 2100 1990

15293 1.20 223.5 93.9 7.4 739 15294 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2100 1991

15602 1.20 223.5 69.8 8.3 754 15606 0.00 2.65 0.00 0.000 4 0.000 0.075 2679 3510 1991

15651 1.20 223.5 65.5 8.6 756 15655 0.00 2.50 0.00 0.000 6 0.000 0.049 2679 2100 1991

15967 1.20 223.5 39.7 7.3 771 15968 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2100 1991

16275 1.20 223.5 9.2 9.8 786 16280 0.00 2.55 0.00 0.000 4 0.000 0.062 2679 693 1992

16292 1.20 223.5 7.6 9.8 787 16297 0.00 2.50 0.00 0.000 6 0.000 0.049 2679 2099 1992

16370 end climb: SURFACE_DEPTH_REACHED

state 16370 begin surface coast

16391 end surface coast: CONTROL_FINISHED_OK

state 16391 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	194	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	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	-1	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	-65916.547	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	210126,6302.328,-1252.598,42,1.1,42,-12.0	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.135,0.172
_SM_DEPTHo	0.02	KALMAN_X	-218449.3,691.0,718.3,-10602.8,-2302.4
_SM_ANGLEo	-55.4	KALMAN_Y	-103114.9,-462.3,-130.1,267137.9,-4946.1
GPS2	210702,6302.241,-1252.525,10,1.8,15,-12.0	MHEAD_RNG_PITCHd_Wd	50.1,24438,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	604

FINISH	1.0,1.027352	XPDR_PINGS	2
SM_CCo	16413,62.47,0.758,1,0,1678,300.00	ALTIM_BOTTOM_PING	475.7,106.5
SM_GC	0.01,0.00,0.00,62.47,0.000,0.000,0.758,49,2899,1678,-10.86,-0.03,300.00	_24V_AH	23.4,34.491
IRIDIUM_FIX	6239.86,-1304.65,181207,202038	_10V_AH	10.1,17.018
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41077,792
HUMID	2050	CFSIZE	260165632,247185408
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
TCM_TEMP	17.00	GPS	191207,014402,6302.142,-1250.981,40,1.2,40,-11.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	97.53	SBE_CT	570	24	320.45
Roll_motor	164	98	380.51	SBE_O2	554	19	246.66
VBD_pump_during_apogee	315	1184	8743.64	WL_BB2F	516	105	1269.34
VBD_pump_during_surface	62	757	1107.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.23	nil	0	0	0.00
Iridium_during_connect	34	160	128.57	nil	0	0	0.00
Iridium_during_xfer	153	223	799.63
Transponder_ping	4	420	41.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.88
TT8	1473	19	294.65
LPSleep	12544	2	277.47
TT8_Active	527	19	105.57
TT8_Sampling	1832	39	736.59
TT8_CF8	452	45	209.16
TT8_Kalman	33	81	27.57
Analog_circuits	1456	12	176.54
GPS_charging	0	0	0.00
Compass	1809	8	146.20
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.10	-146.6	0.0	0.0	0	86	0.00	0.00	-62.67	0.000	6	0.000	0.000	39	2901	3501
88	-1.10	-146.6	2.4	-5.1	3	110	12.05	2.62	0.00	0.000	4	0.160	0.055	2166	1482	3503
362	-1.10	-146.6	33.8	-6.9	15	366	0.00	2.70	0.00	0.000	6	0.000	0.080	2166	2898	3504
683	-1.10	-146.6	59.0	-8.3	31	687	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1481	3504
834	-1.10	-146.6	70.5	-7.6	38	839	0.00	2.70	0.00	0.000	6	0.000	0.078	2166	2899	3503
1161	-1.10	-146.6	93.5	-7.0	54	1162	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3504
1470	-1.10	-146.6	118.4	-8.6	69	1474	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1482	3504
1513	-1.10	-146.6	122.2	-8.8	71	1517	0.00	2.67	0.00	0.000	6	0.000	0.077	2166	2903	3504
1840	-1.10	-146.6	146.6	-7.9	87	1844	0.00	2.65	0.00	0.000	4	0.000	0.071	2166	1484	3504
1871	-1.10	-146.6	149.2	-7.7	88	1879	0.00	2.70	0.00	0.000	6	0.000	0.077	2166	2896	3504
2188	-1.10	-146.6	169.7	-5.8	104	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2896	3504
2496	-1.10	-146.6	187.4	-6.0	119	2501	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1490	3504
2552	-1.10	-146.6	190.8	-6.3	121	2558	0.00	2.67	0.00	0.000	6	0.000	0.076	2166	2899	3504
2867	-1.10	-146.6	211.4	-7.2	137	2868	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3504
3176	-1.10	-146.6	232.6	-6.9	152	3181	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1490	3504
3225	-1.10	-146.6	236.2	-6.9	154	3230	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2899	3504
3547	-1.10	-146.6	257.5	-6.5	170	3551	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1482	3504
3578	-1.10	-146.6	259.7	-6.4	171	3585	0.00	2.67	0.00	0.000	6	0.000	0.076	2166	2902	3504
3894	-1.10	-146.6	282.2	-7.0	187	3898	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1483	3504
3932	-1.10	-146.6	284.8	-7.4	189	3937	0.00	2.67	0.00	0.000	6	0.000	0.075	2166	2903	3504
4258	-1.10	-146.6	307.6	-7.1	205	4262	0.00	2.62	0.00	0.000	4	0.000	0.070	2166	1486	3504
4301	-1.10	-146.6	310.7	-6.9	207	4305	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2899	3504
4628	-1.10	-146.6	333.8	-7.9	223	4632	0.00	2.60	0.00	0.000	4	0.000	0.068	2166	1485	3504
4676	-1.10	-146.6	337.5	-8.0	225	4681	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2900	3504
4998	-1.10	-146.6	360.4	-6.8	241	5002	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1484	3504
5036	-1.10	-146.6	363.1	-7.1	243	5041	0.00	2.65	0.00	0.000	6	0.000	0.075	2166	2899	3504
5362	-1.10	-146.6	384.4	-6.3	259	5363	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3504
5672	-1.10	-146.6	404.6	-6.7	274	5676	0.00	2.60	0.00	0.000	4	0.000	0.066	2166	1485	3504
5789	-1.10	-146.6	412.8	-7.2	279	5793	0.00	2.62	0.00	0.000	6	0.000	0.071	2166	2899	3504
6104	-1.10	-146.6	435.0	-7.0	294	6108	0.00	2.60	0.00	0.000	4	0.000	0.064	2166	1480	3504
6143	-1.10	-146.6	437.7	-7.0	296	6147	0.00	2.65	0.00	0.000	6	0.000	0.069	2166	2908	3504
6468	-1.10	-146.6	459.8	-6.7	312	6473	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1485	3504
6507	-1.10	-146.6	462.6	-7.0	314	6512	0.00	2.62	0.00	0.000	6	0.000	0.070	2166	2900	3504
6833	-1.10	-146.6	483.7	-6.5	330	6838	0.00	2.58	0.00	0.000	4	0.000	0.059	2166	1477	3504
6877	-1.10	-146.6	486.3	-6.1	332	6882	0.00	2.62	0.00	0.000	6	0.000	0.067	2166	2901	3504
7198	-1.10	-146.6	505.4	-5.8	348	7203	0.00	2.58	0.00	0.000	4	0.000	0.057	2166	1474	3504
7276	-1.10	-146.6	510.8	-6.7	351	7282	0.00	2.62	0.00	0.000	6	0.000	0.065	2166	2903	3504
7591	-1.10	-146.6	532.4	-7.1	367	7595	0.00	2.55	0.00	0.000	4	0.000	0.055	2166	1476	3504
7685	-1.10	-146.6	539.4	-7.4	371	7689	0.00	2.62	0.00	0.000	6	0.000	0.066	2166	2901	3504
8006	-1.10	-146.6	560.3	-6.5	387	8007	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2901	3504
8190	end dive: BOTTOM_OBSTACLE_DETECTED
state	8190	begin apogee
8196	-0.42	0.0	572.8	7.0	396	8324	0.75	0.00	124.32	1.184	6	0.084	0.000	2319	2091	2901
8325	end apogee: CONTROL_FINISHED_OK
state	8325	begin climb
8327	1.10	146.6	577.3	0.0	402	8457	1.52	2.62	120.38	1.144	4	0.053	0.055	2648	694	2303
8587	1.11	152.5	570.0	5.8	414	8599	0.00	2.47	6.55	0.923	6	0.000	0.037	2648	2114	2279
8908	1.14	173.2	552.3	5.4	429	8932	0.00	2.65	18.83	1.115	4	0.000	0.067	2648	3502	2194
9055	1.14	173.2	542.8	6.8	435	9062	0.00	2.50	0.00	0.000	6	0.000	0.038	2648	2099	2193
9371	1.15	185.7	524.2	5.7	451	9392	0.00	2.65	11.50	1.076	4	0.000	0.058	2649	699	2144
9442	1.16	195.0	519.7	5.7	454	9459	0.00	2.47	9.55	1.042	6	0.000	0.038	2649	2101	2105
9767	1.16	195.0	500.4	6.6	470	9771	0.00	2.58	0.00	0.000	4	0.000	0.058	2649	692	2104
9844	1.16	195.0	495.1	6.9	473	9850	0.00	2.47	0.00	0.000	6	0.000	0.039	2648	2101	2103
10159	1.20	223.5	478.0	5.2	489	10190	0.10	2.70	24.40	1.117	4	0.050	0.072	2679	3503	1989
10228	1.20	223.5	473.2	7.5	492	10233	0.00	2.53	0.00	0.000	6	0.000	0.040	2679	2097	1989
10549	1.20	223.5	450.1	7.1	508	10553	0.00	2.53	0.00	0.000	4	0.000	0.056	2679	698	1988
10610	1.20	223.5	445.5	7.9	511	10615	0.00	2.47	0.00	0.000	6	0.000	0.039	2679	2103	1988
10936	1.20	223.5	422.9	7.0	527	10937	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2103	1987
11246	1.20	223.5	400.5	7.4	542	11247	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2103	1987
11555	1.20	223.5	377.5	7.3	557	11556	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2103	1987
11864	1.20	223.5	355.6	7.2	572	11868	0.00	2.62	0.00	0.000	4	0.000	0.074	2679	3508	1987
11896	1.20	223.5	353.3	6.6	573	11902	0.00	2.47	0.00	0.000	6	0.000	0.042	2679	2095	1987
12211	1.20	223.5	329.7	7.4	589	12215	0.00	2.67	0.00	0.000	4	0.000	0.076	2679	3509	1987
12243	1.20	223.5	326.9	8.5	590	12250	0.00	2.50	0.00	0.000	6	0.000	0.044	2678	2106	1987
12559	1.20	223.5	303.6	7.5	606	12560	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2106	1988
12868	1.20	223.5	280.2	7.9	621	12872	0.00	2.65	0.00	0.000	4	0.000	0.076	2679	3509	1989
12906	1.20	223.5	277.0	8.0	623	12910	0.00	2.47	0.00	0.000	6	0.000	0.044	2679	2093	1989
13238	1.20	223.5	251.1	8.0	639	13239	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2093	1989
13547	1.20	223.5	226.0	8.1	654	13551	0.00	2.67	0.00	0.000	4	0.000	0.076	2679	3513	1989
13595	1.20	223.5	221.7	8.9	656	13600	0.00	2.53	0.00	0.000	6	0.000	0.044	2678	2098	1989
13917	1.20	223.5	196.3	8.0	672	13918	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2098	1989
14226	1.20	223.5	172.3	7.7	687	14230	0.00	2.67	0.00	0.000	4	0.000	0.074	2679	3516	1990
14280	1.20	223.5	167.8	7.8	689	14287	0.00	2.50	0.00	0.000	6	0.000	0.047	2678	2099	1990
14596	1.20	223.5	144.6	7.4	705	14597	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2099	1990
14905	1.20	223.5	121.2	7.7	720	14909	0.00	2.65	0.00	0.000	4	0.000	0.074	2678	3509	1990
14966	1.20	223.5	116.3	7.9	723	14971	0.00	2.47	0.00	0.000	6	0.000	0.045	2679	2100	1990
15293	1.20	223.5	93.9	7.4	739	15294	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2100	1991
15602	1.20	223.5	69.8	8.3	754	15606	0.00	2.65	0.00	0.000	4	0.000	0.075	2679	3510	1991
15651	1.20	223.5	65.5	8.6	756	15655	0.00	2.50	0.00	0.000	6	0.000	0.049	2679	2100	1991
15967	1.20	223.5	39.7	7.3	771	15968	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2100	1991
16275	1.20	223.5	9.2	9.8	786	16280	0.00	2.55	0.00	0.000	4	0.000	0.062	2679	693	1992
16292	1.20	223.5	7.6	9.8	787	16297	0.00	2.50	0.00	0.000	6	0.000	0.049	2679	2099	1992
16370	end climb: SURFACE_DEPTH_REACHED
state	16370	begin surface coast
16391	end surface coast: CONTROL_FINISHED_OK
state	16391	begin surface