Glider dive log

Faroes 14Feb08 * SG014 * Dive index * Mission links * Dive 49 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 14 HD_B 0.0099099996 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.4896e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 49 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 202 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3893 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2120 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 250 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 450 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 187 DEVICE4 -1

T_TURN 240 CALL_WAIT 60 VBD_MAX 3559 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2540 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 0.00159 COMPASS_DEVICE 17

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -132448.64 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 VBD_BLEED_AD_RATE 8 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 42 AH0_24V 95.400002 SEABIRD_T_G 0.0042855334

SPEED_FACTOR 1 PITCH_MAX 3363 AH0_10V 61.200001 SEABIRD_T_H 0.00062604493

RHO 1.023 C_PITCH 2340 PRESSURE_YINT -15.807375 SEABIRD_T_I 2.1829796e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0724553e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.9956274

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -0.69999999 SEABIRD_C_H 1.1210338

KALMAN_USE 1 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0.5 SEABIRD_C_I -0.0011134691

HD_A 0.00312 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00016706332

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 95.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15.5 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3363 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 42 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00159 TCM_PITCH_OFFSET -0.69999999

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0.5

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -15.807375 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.00312 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099099996 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.4896e-05 RHO 1.023 T_GPS_CHARGE -132448.64

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 450

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 57

COMPASS_DEVICE 17 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 240

COURSE_BIAS 0 ID 14 ROLL_MAX 3893 T_TURN_SAMPINT 5

C_PITCH 2340 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2120 INT_PRESSURE_YINT 0 ROLL_MIN 202 UNCOM_BLEED 20

C_ROLL_DIVE 2320 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2540 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -9.9956274 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.1210338 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011134691 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016706332 VBD_MAX 3559

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0042855334 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062604493 VBD_MIN 187

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1829796e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 49 PHONE_DEVICE 16 SEABIRD_T_J 2.0724553e-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 21

Pre-dive calculations and measurements:

GPS1 172737,6133.918,-419.950,30,1.1,30,-6.7 TGT_NAME ESEC_NW

_CALLS 3 TGT_LATLONG 6140.000,-445.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.166,0.166

_SM_DEPTHo 0.80 KALMAN_X 129502.5,81.8,-630.1,-191784.5,600.1

_SM_ANGLEo -55.0 KALMAN_Y -43299.0,142.1,-710.9,43614.8,-2257.0

GPS2 174133,6133.822,-420.176,14,1.1,14,-6.7 MHEAD_RNG_PITCHd_Wd 321.5,24638,-14.4,-8.000

SPEED_LIMITS 0.139,0.235 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.1,1.027504 ALTIM_BOTTOM_PING 751.0,73.1

SM_CCo 19233,6.07,0.611,0,0,1520,250.21 _24V_AH 23.6,10.880

SM_GC 2.68,0.00,0.00,6.07,0.000,0.000,0.611,38,2334,1520,-10.59,0.40,250.21 _10V_AH 10.1,5.593

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47488,925

TT8_MAMPS 0.024544 CFSIZE 254472192,249315328

HUMID 1745 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 1.50 GPS 250208,230440,6133.380,-426.285,53,1.5,53,-6.8

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 179 107.27 SBE_CT 902 24 511.36

Roll_motor 111 115 303.01 SBE_O2 874 19 392.21

VBD_pump_during_apogee 322 1347 10268.65 WL_BB2F 535 105 1327.04

VBD_pump_during_surface 6 610 87.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 97 103 237.30 nil 0 0 0.00

Iridium_during_connect 185 160 698.94 nil 0 0 0.00

Iridium_during_xfer 298 223 1571.80

Transponder_ping 7 420 69.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.87

TT8 1673 19 334.62

LPSleep 15501 2 342.87

TT8_Active 515 19 103.04

TT8_Sampling 1433 39 576.36

TT8_CF8 956 45 442.67

TT8_Kalman 33 81 27.57

Analog_circuits 1422 12 172.39

GPS_charging 0 0 0.00

Compass 1020 26 268.01

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -1.16 -146.6 0.0 0.0 0 113 0.00 0.00 -80.25 0.000 2 0.000 0.000 37 2328 2568

118 -1.16 -146.6 3.2 -3.1 4 152 11.48 2.67 -15.77 0.000 4 0.179 0.115 2080 3713 3140

422 -1.16 -146.6 31.8 -8.6 17 428 0.00 2.42 0.00 0.000 6 0.000 0.061 2080 2314 3141

740 -1.16 -146.6 65.0 -9.7 33 744 0.00 2.65 0.00 0.000 4 0.000 0.100 2080 3714 3142

812 -1.16 -146.6 70.8 -6.2 36 816 0.00 2.42 0.00 0.000 6 0.000 0.063 2080 2314 3142

1129 -1.16 -146.6 97.4 -8.1 51 1130 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2314 3142

1438 -1.16 -146.6 125.6 -9.1 66 1439 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2314 3142

1748 -1.16 -146.6 151.8 -8.4 81 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 2079 2313 3142

2056 -1.16 -146.6 178.1 -8.7 96 2058 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2314 3142

2366 -1.16 -146.6 204.6 -8.5 111 2370 0.00 2.70 0.00 0.000 4 0.000 0.109 2080 3714 3143

2405 -1.16 -146.6 208.0 -8.8 113 2410 0.00 2.40 0.00 0.000 6 0.000 0.064 2080 2320 3143

2733 -1.16 -146.6 234.4 -7.9 129 2734 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2319 3143

3042 -1.16 -146.6 258.0 -7.1 144 3043 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3143

3352 -1.16 -146.6 281.1 -7.5 159 3353 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2320 3143

3660 -1.16 -146.6 305.4 -7.9 174 3665 0.00 2.67 0.00 0.000 4 0.000 0.110 2080 3712 3144

3694 -1.16 -146.6 308.0 -7.6 175 3700 0.00 2.42 0.00 0.000 6 0.000 0.064 2080 2320 3143

4012 -1.16 -146.6 330.7 -7.7 191 4016 0.00 2.67 0.00 0.000 4 0.000 0.109 2080 3716 3144

4051 -1.16 -146.6 334.0 -8.3 193 4055 0.00 2.42 0.00 0.000 6 0.000 0.065 2080 2313 3144

4378 -1.16 -146.6 362.5 -9.0 209 4379 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2313 3144

4687 -1.16 -146.6 390.8 -9.2 224 4691 0.00 2.67 0.00 0.000 4 0.000 0.110 2080 3712 3144

4736 -1.16 -146.6 395.5 -9.4 226 4741 0.00 2.42 0.00 0.000 6 0.000 0.066 2080 2322 3144

5053 -1.16 -146.6 424.3 -9.2 241 5054 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2322 3144

5364 -1.16 -146.6 450.2 -8.7 256 5369 0.00 2.67 0.00 0.000 4 0.000 0.112 2080 3712 3143

5431 -1.16 -146.6 456.4 -8.9 259 5436 0.00 2.45 0.00 0.000 6 0.000 0.067 2080 2315 3144

5753 -1.16 -146.6 484.1 -8.8 275 5754 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2315 3144

6062 -1.16 -146.6 511.0 -8.7 290 6066 0.00 2.67 0.00 0.000 4 0.000 0.108 2080 3712 3142

6101 -1.16 -146.6 514.5 -9.1 292 6106 0.00 2.42 0.00 0.000 6 0.000 0.065 2080 2315 3142

6429 -1.16 -146.6 544.0 -9.0 308 6430 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2315 3142

6738 -1.16 -146.6 572.0 -8.8 323 6742 0.00 2.70 0.00 0.000 4 0.000 0.114 2080 3712 3141

6793 -1.16 -146.6 577.4 -9.6 325 6799 0.00 2.45 0.00 0.000 6 0.000 0.066 2080 2319 3141

7110 -1.16 -146.6 603.8 -8.0 341 7111 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2319 3141

7419 -1.16 -146.6 628.2 -8.1 356 7420 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2319 3140

7728 -1.16 -146.6 655.1 -8.6 371 7730 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2319 3140

8038 -1.16 -146.6 680.7 -8.2 386 8039 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2318 3140

8347 -1.16 -146.6 705.7 -8.0 401 8348 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2317 3138

8656 -1.16 -146.6 730.3 -7.7 416 8657 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2316 3137

8965 -1.16 -146.6 754.5 -8.1 431 8966 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2315 3136

9275 -1.16 -146.6 778.2 -7.7 446 9276 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2314 3135

9584 -1.16 -146.6 802.5 -8.3 461 9585 0.00 0.00 0.00 0.000 6 0.000 0.000 2080 2315 3134

9744 end dive: BOTTOM_OBSTACLE_DETECTED

state 9744 begin apogee

9753 -0.32 0.0 815.1 7.9 469 9878 0.90 0.00 121.82 1.269 6 0.103 0.000 2264 2113 2540

9879 end apogee: CONTROL_FINISHED_OK

state 9879 begin climb

9883 1.16 146.6 818.2 0.0 475 10010 1.50 2.70 118.80 1.230 4 0.079 0.100 2594 719 1941

10283 1.21 178.1 799.3 6.8 493 10316 0.00 2.42 27.20 1.348 6 0.000 0.058 2594 2124 1813

10649 1.27 210.3 774.1 6.8 511 10683 0.00 2.75 26.95 1.226 4 0.000 0.098 2594 3515 1681

10718 1.27 210.3 768.3 9.6 514 10723 0.00 2.47 0.00 0.000 6 0.000 0.061 2594 2116 1680

11040 1.27 214.4 742.4 7.8 530 11048 0.10 0.00 4.82 0.966 6 0.079 0.000 2620 2116 1666

11349 1.27 214.4 714.3 9.2 545 11350 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2116 1665

11658 1.27 214.4 685.1 9.3 560 11663 0.00 2.58 0.00 0.000 4 0.000 0.091 2620 719 1664

11703 1.27 214.4 680.4 10.7 562 11707 0.00 2.40 0.00 0.000 6 0.000 0.056 2620 2121 1664

12024 1.27 214.4 649.7 9.6 578 12025 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2122 1664

12333 1.27 214.4 618.5 9.9 593 12334 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2123 1663

12642 1.27 214.4 589.9 9.0 608 12644 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2124 1663

12951 1.27 214.4 562.8 8.5 623 12953 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2124 1662

13261 1.27 214.4 536.2 8.5 638 13265 0.00 2.55 0.00 0.000 4 0.000 0.080 2620 717 1662

13324 1.27 214.4 530.4 9.7 641 13328 0.00 2.40 0.00 0.000 6 0.000 0.056 2620 2124 1662

13651 1.27 214.4 501.5 8.9 657 13652 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2124 1661

13960 1.28 219.6 476.0 7.8 672 13971 0.00 2.62 5.60 0.913 4 0.000 0.098 2620 3512 1644

14010 1.28 219.6 471.9 8.2 674 14015 0.00 2.42 0.00 0.000 6 0.000 0.060 2620 2117 1644

14326 1.28 219.6 445.6 8.6 689 14327 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2118 1643

14635 1.28 219.6 418.2 8.7 704 14639 0.00 2.60 0.00 0.000 4 0.000 0.093 2620 3515 1643

14737 1.28 219.6 408.7 10.2 708 14742 0.00 2.42 0.00 0.000 6 0.000 0.061 2620 2122 1643

15053 1.28 219.6 379.1 9.2 724 15054 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2122 1643

15362 1.28 219.6 351.0 9.3 739 15366 0.00 2.58 0.00 0.000 4 0.000 0.089 2621 3512 1643

15491 1.28 219.6 338.6 9.3 745 15496 0.00 2.40 0.00 0.000 6 0.000 0.062 2620 2123 1643

15819 1.28 219.6 309.1 9.0 761 15823 0.00 2.58 0.00 0.000 4 0.000 0.088 2620 712 1643

15875 1.28 219.6 303.6 9.6 763 15881 0.00 2.38 0.00 0.000 6 0.000 0.055 2620 2123 1643

16191 1.28 219.6 275.8 8.7 779 16195 0.00 2.55 0.00 0.000 4 0.000 0.092 2620 3509 1644

16257 1.28 219.6 269.8 9.0 782 16262 0.00 2.40 0.00 0.000 6 0.000 0.061 2620 2116 1644

16579 1.28 219.6 243.4 8.3 798 16583 0.00 2.58 0.00 0.000 4 0.000 0.087 2620 3513 1644

16623 1.28 219.6 239.4 9.8 800 16627 0.00 2.40 0.00 0.000 6 0.000 0.061 2621 2121 1644

16945 1.28 219.6 211.2 9.0 816 16949 0.00 2.53 0.00 0.000 4 0.000 0.084 2620 718 1645

17017 1.28 219.6 204.2 10.2 819 17022 0.00 2.38 0.00 0.000 6 0.000 0.055 2620 2131 1645

17333 1.28 219.6 175.1 9.1 834 17337 0.00 2.53 0.00 0.000 4 0.000 0.092 2620 3506 1645

17388 1.28 219.6 169.7 9.9 836 17394 0.00 2.40 0.00 0.000 6 0.000 0.061 2620 2116 1646

17706 1.28 219.6 140.3 9.1 852 17708 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2116 1646

18014 1.28 219.6 111.3 9.2 867 18015 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2116 1647

18323 1.28 219.6 85.4 9.5 882 18325 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2115 1648

18633 1.31 239.1 57.1 7.3 897 18653 0.00 0.00 17.67 0.745 6 0.000 0.000 2620 2116 1565

18963 1.31 239.1 28.3 11.5 913 18968 0.00 2.55 0.00 0.000 4 0.000 0.085 2620 3507 1564

18997 1.31 239.1 23.7 12.0 914 19003 0.00 2.40 0.00 0.000 6 0.000 0.061 2620 2121 1564

19187 end climb: SURFACE_DEPTH_REACHED

state 19187 begin surface coast

19208 end surface coast: CONTROL_FINISHED_OK

state 19208 begin surface

ID	14	HD_B	0.0099099996	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.4896e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	49	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	202	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3893	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2120	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	250	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	450	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	187	DEVICE4	-1
T_TURN	240	CALL_WAIT	60	VBD_MAX	3559	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2540	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	0.00159	COMPASS_DEVICE	17
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-132448.64	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	VBD_BLEED_AD_RATE	8	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	42	AH0_24V	95.400002	SEABIRD_T_G	0.0042855334
SPEED_FACTOR	1	PITCH_MAX	3363	AH0_10V	61.200001	SEABIRD_T_H	0.00062604493
RHO	1.023	C_PITCH	2340	PRESSURE_YINT	-15.807375	SEABIRD_T_I	2.1829796e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0724553e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9956274
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-0.69999999	SEABIRD_C_H	1.1210338
KALMAN_USE	1	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0.5	SEABIRD_C_I	-0.0011134691
HD_A	0.00312	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00016706332

GPS1	172737,6133.918,-419.950,30,1.1,30,-6.7	TGT_NAME	ESEC_NW
_CALLS	3	TGT_LATLONG	6140.000,-445.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.166,0.166
_SM_DEPTHo	0.80	KALMAN_X	129502.5,81.8,-630.1,-191784.5,600.1
_SM_ANGLEo	-55.0	KALMAN_Y	-43299.0,142.1,-710.9,43614.8,-2257.0
GPS2	174133,6133.822,-420.176,14,1.1,14,-6.7	MHEAD_RNG_PITCHd_Wd	321.5,24638,-14.4,-8.000
SPEED_LIMITS	0.139,0.235	D_GRID	990

FINISH	1.1,1.027504	ALTIM_BOTTOM_PING	751.0,73.1
SM_CCo	19233,6.07,0.611,0,0,1520,250.21	_24V_AH	23.6,10.880
SM_GC	2.68,0.00,0.00,6.07,0.000,0.000,0.611,38,2334,1520,-10.59,0.40,250.21	_10V_AH	10.1,5.593
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47488,925
TT8_MAMPS	0.024544	CFSIZE	254472192,249315328
HUMID	1745	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	1.50	GPS	250208,230440,6133.380,-426.285,53,1.5,53,-6.8
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	179	107.27	SBE_CT	902	24	511.36
Roll_motor	111	115	303.01	SBE_O2	874	19	392.21
VBD_pump_during_apogee	322	1347	10268.65	WL_BB2F	535	105	1327.04
VBD_pump_during_surface	6	610	87.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	97	103	237.30	nil	0	0	0.00
Iridium_during_connect	185	160	698.94	nil	0	0	0.00
Iridium_during_xfer	298	223	1571.80
Transponder_ping	7	420	69.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.87
TT8	1673	19	334.62
LPSleep	15501	2	342.87
TT8_Active	515	19	103.04
TT8_Sampling	1433	39	576.36
TT8_CF8	956	45	442.67
TT8_Kalman	33	81	27.57
Analog_circuits	1422	12	172.39
GPS_charging	0	0	0.00
Compass	1020	26	268.01
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-1.16	-146.6	0.0	0.0	0	113	0.00	0.00	-80.25	0.000	2	0.000	0.000	37	2328	2568
118	-1.16	-146.6	3.2	-3.1	4	152	11.48	2.67	-15.77	0.000	4	0.179	0.115	2080	3713	3140
422	-1.16	-146.6	31.8	-8.6	17	428	0.00	2.42	0.00	0.000	6	0.000	0.061	2080	2314	3141
740	-1.16	-146.6	65.0	-9.7	33	744	0.00	2.65	0.00	0.000	4	0.000	0.100	2080	3714	3142
812	-1.16	-146.6	70.8	-6.2	36	816	0.00	2.42	0.00	0.000	6	0.000	0.063	2080	2314	3142
1129	-1.16	-146.6	97.4	-8.1	51	1130	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2314	3142
1438	-1.16	-146.6	125.6	-9.1	66	1439	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2314	3142
1748	-1.16	-146.6	151.8	-8.4	81	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	2079	2313	3142
2056	-1.16	-146.6	178.1	-8.7	96	2058	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2314	3142
2366	-1.16	-146.6	204.6	-8.5	111	2370	0.00	2.70	0.00	0.000	4	0.000	0.109	2080	3714	3143
2405	-1.16	-146.6	208.0	-8.8	113	2410	0.00	2.40	0.00	0.000	6	0.000	0.064	2080	2320	3143
2733	-1.16	-146.6	234.4	-7.9	129	2734	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2319	3143
3042	-1.16	-146.6	258.0	-7.1	144	3043	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3143
3352	-1.16	-146.6	281.1	-7.5	159	3353	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2320	3143
3660	-1.16	-146.6	305.4	-7.9	174	3665	0.00	2.67	0.00	0.000	4	0.000	0.110	2080	3712	3144
3694	-1.16	-146.6	308.0	-7.6	175	3700	0.00	2.42	0.00	0.000	6	0.000	0.064	2080	2320	3143
4012	-1.16	-146.6	330.7	-7.7	191	4016	0.00	2.67	0.00	0.000	4	0.000	0.109	2080	3716	3144
4051	-1.16	-146.6	334.0	-8.3	193	4055	0.00	2.42	0.00	0.000	6	0.000	0.065	2080	2313	3144
4378	-1.16	-146.6	362.5	-9.0	209	4379	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2313	3144
4687	-1.16	-146.6	390.8	-9.2	224	4691	0.00	2.67	0.00	0.000	4	0.000	0.110	2080	3712	3144
4736	-1.16	-146.6	395.5	-9.4	226	4741	0.00	2.42	0.00	0.000	6	0.000	0.066	2080	2322	3144
5053	-1.16	-146.6	424.3	-9.2	241	5054	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2322	3144
5364	-1.16	-146.6	450.2	-8.7	256	5369	0.00	2.67	0.00	0.000	4	0.000	0.112	2080	3712	3143
5431	-1.16	-146.6	456.4	-8.9	259	5436	0.00	2.45	0.00	0.000	6	0.000	0.067	2080	2315	3144
5753	-1.16	-146.6	484.1	-8.8	275	5754	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2315	3144
6062	-1.16	-146.6	511.0	-8.7	290	6066	0.00	2.67	0.00	0.000	4	0.000	0.108	2080	3712	3142
6101	-1.16	-146.6	514.5	-9.1	292	6106	0.00	2.42	0.00	0.000	6	0.000	0.065	2080	2315	3142
6429	-1.16	-146.6	544.0	-9.0	308	6430	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2315	3142
6738	-1.16	-146.6	572.0	-8.8	323	6742	0.00	2.70	0.00	0.000	4	0.000	0.114	2080	3712	3141
6793	-1.16	-146.6	577.4	-9.6	325	6799	0.00	2.45	0.00	0.000	6	0.000	0.066	2080	2319	3141
7110	-1.16	-146.6	603.8	-8.0	341	7111	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2319	3141
7419	-1.16	-146.6	628.2	-8.1	356	7420	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2319	3140
7728	-1.16	-146.6	655.1	-8.6	371	7730	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2319	3140
8038	-1.16	-146.6	680.7	-8.2	386	8039	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2318	3140
8347	-1.16	-146.6	705.7	-8.0	401	8348	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2317	3138
8656	-1.16	-146.6	730.3	-7.7	416	8657	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2316	3137
8965	-1.16	-146.6	754.5	-8.1	431	8966	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2315	3136
9275	-1.16	-146.6	778.2	-7.7	446	9276	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2314	3135
9584	-1.16	-146.6	802.5	-8.3	461	9585	0.00	0.00	0.00	0.000	6	0.000	0.000	2080	2315	3134
9744	end dive: BOTTOM_OBSTACLE_DETECTED
state	9744	begin apogee
9753	-0.32	0.0	815.1	7.9	469	9878	0.90	0.00	121.82	1.269	6	0.103	0.000	2264	2113	2540
9879	end apogee: CONTROL_FINISHED_OK
state	9879	begin climb
9883	1.16	146.6	818.2	0.0	475	10010	1.50	2.70	118.80	1.230	4	0.079	0.100	2594	719	1941
10283	1.21	178.1	799.3	6.8	493	10316	0.00	2.42	27.20	1.348	6	0.000	0.058	2594	2124	1813
10649	1.27	210.3	774.1	6.8	511	10683	0.00	2.75	26.95	1.226	4	0.000	0.098	2594	3515	1681
10718	1.27	210.3	768.3	9.6	514	10723	0.00	2.47	0.00	0.000	6	0.000	0.061	2594	2116	1680
11040	1.27	214.4	742.4	7.8	530	11048	0.10	0.00	4.82	0.966	6	0.079	0.000	2620	2116	1666
11349	1.27	214.4	714.3	9.2	545	11350	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2116	1665
11658	1.27	214.4	685.1	9.3	560	11663	0.00	2.58	0.00	0.000	4	0.000	0.091	2620	719	1664
11703	1.27	214.4	680.4	10.7	562	11707	0.00	2.40	0.00	0.000	6	0.000	0.056	2620	2121	1664
12024	1.27	214.4	649.7	9.6	578	12025	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2122	1664
12333	1.27	214.4	618.5	9.9	593	12334	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2123	1663
12642	1.27	214.4	589.9	9.0	608	12644	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2124	1663
12951	1.27	214.4	562.8	8.5	623	12953	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2124	1662
13261	1.27	214.4	536.2	8.5	638	13265	0.00	2.55	0.00	0.000	4	0.000	0.080	2620	717	1662
13324	1.27	214.4	530.4	9.7	641	13328	0.00	2.40	0.00	0.000	6	0.000	0.056	2620	2124	1662
13651	1.27	214.4	501.5	8.9	657	13652	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2124	1661
13960	1.28	219.6	476.0	7.8	672	13971	0.00	2.62	5.60	0.913	4	0.000	0.098	2620	3512	1644
14010	1.28	219.6	471.9	8.2	674	14015	0.00	2.42	0.00	0.000	6	0.000	0.060	2620	2117	1644
14326	1.28	219.6	445.6	8.6	689	14327	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2118	1643
14635	1.28	219.6	418.2	8.7	704	14639	0.00	2.60	0.00	0.000	4	0.000	0.093	2620	3515	1643
14737	1.28	219.6	408.7	10.2	708	14742	0.00	2.42	0.00	0.000	6	0.000	0.061	2620	2122	1643
15053	1.28	219.6	379.1	9.2	724	15054	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2122	1643
15362	1.28	219.6	351.0	9.3	739	15366	0.00	2.58	0.00	0.000	4	0.000	0.089	2621	3512	1643
15491	1.28	219.6	338.6	9.3	745	15496	0.00	2.40	0.00	0.000	6	0.000	0.062	2620	2123	1643
15819	1.28	219.6	309.1	9.0	761	15823	0.00	2.58	0.00	0.000	4	0.000	0.088	2620	712	1643
15875	1.28	219.6	303.6	9.6	763	15881	0.00	2.38	0.00	0.000	6	0.000	0.055	2620	2123	1643
16191	1.28	219.6	275.8	8.7	779	16195	0.00	2.55	0.00	0.000	4	0.000	0.092	2620	3509	1644
16257	1.28	219.6	269.8	9.0	782	16262	0.00	2.40	0.00	0.000	6	0.000	0.061	2620	2116	1644
16579	1.28	219.6	243.4	8.3	798	16583	0.00	2.58	0.00	0.000	4	0.000	0.087	2620	3513	1644
16623	1.28	219.6	239.4	9.8	800	16627	0.00	2.40	0.00	0.000	6	0.000	0.061	2621	2121	1644
16945	1.28	219.6	211.2	9.0	816	16949	0.00	2.53	0.00	0.000	4	0.000	0.084	2620	718	1645
17017	1.28	219.6	204.2	10.2	819	17022	0.00	2.38	0.00	0.000	6	0.000	0.055	2620	2131	1645
17333	1.28	219.6	175.1	9.1	834	17337	0.00	2.53	0.00	0.000	4	0.000	0.092	2620	3506	1645
17388	1.28	219.6	169.7	9.9	836	17394	0.00	2.40	0.00	0.000	6	0.000	0.061	2620	2116	1646
17706	1.28	219.6	140.3	9.1	852	17708	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2116	1646
18014	1.28	219.6	111.3	9.2	867	18015	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2116	1647
18323	1.28	219.6	85.4	9.5	882	18325	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2115	1648
18633	1.31	239.1	57.1	7.3	897	18653	0.00	0.00	17.67	0.745	6	0.000	0.000	2620	2116	1565
18963	1.31	239.1	28.3	11.5	913	18968	0.00	2.55	0.00	0.000	4	0.000	0.085	2620	3507	1564
18997	1.31	239.1	23.7	12.0	914	19003	0.00	2.40	0.00	0.000	6	0.000	0.061	2620	2121	1564
19187	end climb: SURFACE_DEPTH_REACHED
state	19187	begin surface coast
19208	end surface coast: CONTROL_FINISHED_OK
state	19208	begin surface