Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 50 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 3

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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -77192.633 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 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 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -77192.633

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 50 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 042128,6136.309,-841.682,24,2.4,43,-9.1 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.237,0.018

_SM_DEPTHo 0.32 KALMAN_X 17364.7,367.9,474.1,-28460.1,-3026.2

_SM_ANGLEo -65.1 KALMAN_Y 127248.9,-1958.3,-684.3,-118569.7,13926.6

GPS2 042639,6136.369,-841.651,11,1.1,11,-9.1 MHEAD_RNG_PITCHd_Wd 283.4,33318,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH -0.6,1.013108 XPDR_PINGS 833

SM_CCo 19209,62.78,0.802,8,0,1655,300.00 ALTIM_BOTTOM_PING 800.2,81.3

SM_GC 0.10,0.00,0.00,62.78,0.000,0.000,0.802,30,1879,1655,-11.33,-0.59,300.00 _24V_AH 23.2,19.380

IRIDIUM_FIX 6108.28,-841.00,201107,030316 _10V_AH 10.1,7.971

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47452,924

HUMID 2037 CFSIZE 260165632,255598592

INTERNAL_PRESSURE 9.23864 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,19,8,0

TCM_TEMP 16.80 GPS 201107,095037,6139.431,-849.269,37,1.0,37,-9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 144 87.06 SBE_CT 680 24 378.79

Roll_motor 130 78 236.23 SBE_O2 625 19 275.54

VBD_pump_during_apogee 323 1442 10827.95 WL_BB2F 509 105 1240.48

VBD_pump_during_surface 62 801 1167.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.05 nil 0 0 0.00

Iridium_during_connect 27 160 102.43 nil 0 0 0.00

Iridium_during_xfer 159 223 825.07

Transponder_ping 215 420 2097.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.60

TT8 1703 19 340.71

LPSleep 14844 2 328.35

TT8_Active 591 19 118.28

TT8_Sampling 2142 39 861.40

TT8_CF8 348 45 161.37

TT8_Kalman 33 81 27.56

Analog_circuits 1629 12 197.48

GPS_charging 0 0 0.00

Compass 2099 8 169.63

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

18 -1.23 -146.6 0.0 0.0 0 102 0.00 0.00 -81.93 0.000 2 0.000 0.000 31 1879 3472

104 -1.23 -146.6 4.7 -6.5 4 126 11.68 2.62 0.00 0.000 4 0.144 0.067 2221 499 3473

197 -1.23 -146.6 25.6 -11.9 8 202 0.00 2.50 0.00 0.000 6 0.000 0.042 2221 1898 3474

525 -1.23 -146.6 60.7 -11.2 24 526 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1901 3474

834 -1.23 -146.6 94.2 -10.8 39 835 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3474

1143 -1.23 -146.6 126.2 -10.1 54 1144 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3474

1452 -1.23 -146.6 156.6 -9.4 69 1456 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3301 3473

1506 -1.23 -146.6 161.7 -9.1 71 1514 0.00 2.55 0.00 0.000 6 0.000 0.044 2221 1904 3474

1822 -1.23 -146.6 190.6 -9.4 87 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1904 3474

2131 -1.23 -146.6 218.4 -8.9 102 2132 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1904 3474

2440 -1.23 -146.6 246.2 -9.2 117 2442 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1904 3474

2751 -1.23 -146.6 275.6 -9.6 132 2755 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3302 3474

2811 -1.23 -146.6 281.5 -9.5 135 2815 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1900 3474

3143 -1.23 -146.6 315.0 -10.3 151 3144 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3474

3452 -1.23 -146.6 348.0 -11.0 166 3453 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3474

3761 -1.23 -146.6 379.7 -10.1 181 3765 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3302 3474

3810 -1.23 -146.6 385.1 -11.1 183 3815 0.00 2.55 0.00 0.000 6 0.000 0.045 2222 1902 3475

4131 -1.23 -146.6 417.8 -10.3 199 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1902 3474

4440 -1.23 -146.6 449.8 -10.2 214 4445 0.00 2.53 0.00 0.000 4 0.000 0.051 2221 3295 3474

4533 -1.23 -146.6 459.6 -11.1 218 4538 0.00 2.53 0.00 0.000 6 0.000 0.046 2221 1908 3474

4860 -1.23 -146.6 493.1 -9.7 234 4861 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1907 3474

5169 -1.23 -146.6 522.3 -8.7 249 5170 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1907 3474

5480 -1.23 -146.6 550.2 -9.0 264 5481 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1908 3474

5788 -1.23 -146.6 579.8 -9.0 279 5789 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1907 3474

6097 -1.23 -146.6 606.6 -8.1 294 6101 0.00 2.55 0.00 0.000 4 0.000 0.056 2222 3301 3474

6159 -1.23 -146.6 611.4 -7.5 297 6163 0.00 2.55 0.00 0.000 6 0.000 0.049 2222 1897 3474

6483 -1.23 -146.6 637.4 -8.1 313 6488 0.00 2.58 0.00 0.000 4 0.000 0.057 2222 3303 3474

6572 -1.23 -146.6 644.0 -6.4 317 6577 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 1902 3474

6899 -1.23 -146.6 666.5 -7.1 333 6903 0.00 2.55 0.00 0.000 4 0.000 0.057 2222 3295 3474

6997 -1.23 -146.6 674.5 -8.6 337 7005 0.00 2.58 0.00 0.000 6 0.000 0.050 2221 1898 3474

7313 -1.23 -146.6 699.7 -8.5 353 7318 0.00 2.58 0.00 0.000 4 0.000 0.059 2222 3299 3474

7440 -1.23 -146.6 710.7 -9.0 358 7447 0.00 2.58 0.00 0.000 6 0.000 0.051 2222 1902 3474

7755 -1.23 -146.6 738.7 -8.2 374 7760 0.00 2.58 0.00 0.000 4 0.000 0.061 2222 3295 3474

7827 -1.23 -146.6 745.1 -9.8 377 7832 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 1904 3473

8148 -1.23 -146.6 773.5 -7.4 393 8149 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1904 3473

8457 -1.23 -146.6 796.6 -7.6 408 8462 0.00 2.60 0.00 0.000 4 0.000 0.068 2222 3294 3473

8563 -1.23 -146.6 811.4 -14.5 413 8567 0.00 2.55 0.00 0.000 6 0.000 0.062 2222 1902 3472

8888 -1.23 -146.6 833.3 -8.8 429 8889 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1902 3470

9198 -1.23 -146.6 858.7 -3.2 444 9199 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3469

9382 end dive: BOTTOM_OBSTACLE_DETECTED

state 9382 begin apogee

9386 -0.36 0.0 871.5 3.1 453 9515 0.95 0.00 124.80 1.443 6 0.095 0.000 2418 2336 2878

9515 end apogee: CONTROL_FINISHED_OK

state 9515 begin climb

9517 1.23 146.6 873.5 0.0 459 9649 1.55 2.78 123.55 1.394 4 0.054 0.078 2763 935 2280

9867 1.24 152.5 855.0 7.8 475 9880 0.00 2.65 5.95 1.325 6 0.000 0.061 2763 2342 2256

10188 1.30 200.5 831.2 6.2 491 10232 0.00 0.00 41.75 1.407 6 0.000 0.000 2763 2348 2060

10537 1.30 200.5 799.9 10.5 508 10538 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2348 2059

10846 1.30 200.5 769.4 10.3 523 10847 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2348 2058

11155 1.30 200.5 742.5 8.8 538 11159 0.00 2.65 0.00 0.000 4 0.000 0.075 2763 3759 2056

11413 1.30 200.5 717.6 13.7 549 11418 0.00 2.60 0.00 0.000 6 0.000 0.057 2763 2348 2056

11727 1.30 200.5 687.6 9.9 564 11732 0.00 2.62 0.00 0.000 4 0.000 0.065 2763 3759 2055

11978 1.30 200.5 663.3 9.2 575 11983 0.00 2.58 0.00 0.000 6 0.000 0.051 2763 2351 2055

12300 1.30 200.5 636.0 8.8 591 12304 0.00 2.60 0.00 0.000 4 0.000 0.061 2763 3761 2055

12488 1.30 200.5 617.5 9.5 599 12496 0.00 2.55 0.00 0.000 6 0.000 0.046 2763 2350 2055

12804 1.30 200.5 590.0 8.6 615 12805 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2350 2055

13113 1.30 200.5 562.0 8.9 630 13114 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2350 2056

13423 1.30 200.5 536.2 8.7 645 13424 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2350 2057

13732 1.32 216.9 511.7 7.4 660 13754 0.00 2.70 14.20 1.196 4 0.000 0.063 2763 930 1993

13859 1.32 217.7 501.4 8.0 665 13867 0.00 2.58 0.00 0.000 6 0.000 0.042 2763 2357 1993

14175 1.32 217.7 476.5 8.2 681 14176 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2358 1994

14484 1.32 217.7 451.2 8.5 696 14488 0.00 2.60 0.00 0.000 4 0.000 0.059 2763 942 1996

14583 1.32 217.7 442.1 9.3 700 14590 0.00 2.50 0.00 0.000 6 0.000 0.041 2763 2343 1996

14898 1.32 217.7 414.6 8.6 716 14903 0.00 2.58 0.00 0.000 4 0.000 0.060 2763 942 1996

14975 1.32 217.7 407.9 8.1 719 14982 0.00 2.55 0.00 0.000 6 0.000 0.041 2763 2351 1997

15291 1.32 217.7 383.1 8.1 735 15295 0.00 2.58 0.00 0.000 4 0.000 0.058 2763 940 1997

15374 1.33 231.5 376.6 7.5 739 15396 0.10 2.50 13.25 1.085 6 0.057 0.042 2797 2356 1934

15703 1.33 231.5 347.5 9.0 755 15707 0.00 2.58 0.00 0.000 4 0.000 0.057 2797 942 1934

15786 1.33 231.5 339.3 9.3 759 15791 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2356 1934

16112 1.33 231.5 308.4 9.6 775 16116 0.00 2.60 0.00 0.000 4 0.000 0.057 2797 937 1935

16228 1.33 231.5 296.6 10.0 780 16233 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2349 1935

16550 1.33 231.5 265.1 10.5 796 16554 0.00 2.60 0.00 0.000 4 0.000 0.058 2797 939 1936

16643 1.33 231.5 254.9 11.3 800 16648 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2351 1936

16964 1.33 231.5 219.9 10.6 816 16966 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2351 1936

17273 1.33 231.5 187.1 10.3 831 17278 0.00 2.58 0.00 0.000 4 0.000 0.058 2797 942 1936

17361 1.33 231.5 177.5 12.3 835 17366 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2349 1936

17689 1.33 231.5 145.6 9.5 851 17690 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2349 1937

17998 1.33 231.5 115.9 9.6 866 18002 0.00 2.60 0.00 0.000 4 0.000 0.058 2797 940 1937

18068 1.33 231.5 108.5 10.2 869 18073 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2349 1937

18391 1.33 231.5 77.6 9.6 885 18392 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2349 1937

18699 1.33 231.5 46.6 10.1 900 18700 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2350 1938

19009 1.33 231.5 17.2 9.2 915 19013 0.00 2.60 0.00 0.000 4 0.000 0.058 2797 939 1938

19092 1.33 231.5 8.7 9.3 919 19096 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2353 1938

19168 end climb: SURFACE_DEPTH_REACHED

state 19168 begin surface coast

19190 end surface coast: CONTROL_FINISHED_OK

state 19190 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	50	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	3
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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-77192.633	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	042128,6136.309,-841.682,24,2.4,43,-9.1	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.237,0.018
_SM_DEPTHo	0.32	KALMAN_X	17364.7,367.9,474.1,-28460.1,-3026.2
_SM_ANGLEo	-65.1	KALMAN_Y	127248.9,-1958.3,-684.3,-118569.7,13926.6
GPS2	042639,6136.369,-841.651,11,1.1,11,-9.1	MHEAD_RNG_PITCHd_Wd	283.4,33318,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	-0.6,1.013108	XPDR_PINGS	833
SM_CCo	19209,62.78,0.802,8,0,1655,300.00	ALTIM_BOTTOM_PING	800.2,81.3
SM_GC	0.10,0.00,0.00,62.78,0.000,0.000,0.802,30,1879,1655,-11.33,-0.59,300.00	_24V_AH	23.2,19.380
IRIDIUM_FIX	6108.28,-841.00,201107,030316	_10V_AH	10.1,7.971
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47452,924
HUMID	2037	CFSIZE	260165632,255598592
INTERNAL_PRESSURE	9.23864	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,19,8,0
TCM_TEMP	16.80	GPS	201107,095037,6139.431,-849.269,37,1.0,37,-9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	144	87.06	SBE_CT	680	24	378.79
Roll_motor	130	78	236.23	SBE_O2	625	19	275.54
VBD_pump_during_apogee	323	1442	10827.95	WL_BB2F	509	105	1240.48
VBD_pump_during_surface	62	801	1167.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.05	nil	0	0	0.00
Iridium_during_connect	27	160	102.43	nil	0	0	0.00
Iridium_during_xfer	159	223	825.07
Transponder_ping	215	420	2097.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.60
TT8	1703	19	340.71
LPSleep	14844	2	328.35
TT8_Active	591	19	118.28
TT8_Sampling	2142	39	861.40
TT8_CF8	348	45	161.37
TT8_Kalman	33	81	27.56
Analog_circuits	1629	12	197.48
GPS_charging	0	0	0.00
Compass	2099	8	169.63
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
18	-1.23	-146.6	0.0	0.0	0	102	0.00	0.00	-81.93	0.000	2	0.000	0.000	31	1879	3472
104	-1.23	-146.6	4.7	-6.5	4	126	11.68	2.62	0.00	0.000	4	0.144	0.067	2221	499	3473
197	-1.23	-146.6	25.6	-11.9	8	202	0.00	2.50	0.00	0.000	6	0.000	0.042	2221	1898	3474
525	-1.23	-146.6	60.7	-11.2	24	526	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1901	3474
834	-1.23	-146.6	94.2	-10.8	39	835	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3474
1143	-1.23	-146.6	126.2	-10.1	54	1144	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3474
1452	-1.23	-146.6	156.6	-9.4	69	1456	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3301	3473
1506	-1.23	-146.6	161.7	-9.1	71	1514	0.00	2.55	0.00	0.000	6	0.000	0.044	2221	1904	3474
1822	-1.23	-146.6	190.6	-9.4	87	1823	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1904	3474
2131	-1.23	-146.6	218.4	-8.9	102	2132	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1904	3474
2440	-1.23	-146.6	246.2	-9.2	117	2442	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1904	3474
2751	-1.23	-146.6	275.6	-9.6	132	2755	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3302	3474
2811	-1.23	-146.6	281.5	-9.5	135	2815	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1900	3474
3143	-1.23	-146.6	315.0	-10.3	151	3144	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3474
3452	-1.23	-146.6	348.0	-11.0	166	3453	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3474
3761	-1.23	-146.6	379.7	-10.1	181	3765	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3302	3474
3810	-1.23	-146.6	385.1	-11.1	183	3815	0.00	2.55	0.00	0.000	6	0.000	0.045	2222	1902	3475
4131	-1.23	-146.6	417.8	-10.3	199	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1902	3474
4440	-1.23	-146.6	449.8	-10.2	214	4445	0.00	2.53	0.00	0.000	4	0.000	0.051	2221	3295	3474
4533	-1.23	-146.6	459.6	-11.1	218	4538	0.00	2.53	0.00	0.000	6	0.000	0.046	2221	1908	3474
4860	-1.23	-146.6	493.1	-9.7	234	4861	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1907	3474
5169	-1.23	-146.6	522.3	-8.7	249	5170	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1907	3474
5480	-1.23	-146.6	550.2	-9.0	264	5481	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1908	3474
5788	-1.23	-146.6	579.8	-9.0	279	5789	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1907	3474
6097	-1.23	-146.6	606.6	-8.1	294	6101	0.00	2.55	0.00	0.000	4	0.000	0.056	2222	3301	3474
6159	-1.23	-146.6	611.4	-7.5	297	6163	0.00	2.55	0.00	0.000	6	0.000	0.049	2222	1897	3474
6483	-1.23	-146.6	637.4	-8.1	313	6488	0.00	2.58	0.00	0.000	4	0.000	0.057	2222	3303	3474
6572	-1.23	-146.6	644.0	-6.4	317	6577	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	1902	3474
6899	-1.23	-146.6	666.5	-7.1	333	6903	0.00	2.55	0.00	0.000	4	0.000	0.057	2222	3295	3474
6997	-1.23	-146.6	674.5	-8.6	337	7005	0.00	2.58	0.00	0.000	6	0.000	0.050	2221	1898	3474
7313	-1.23	-146.6	699.7	-8.5	353	7318	0.00	2.58	0.00	0.000	4	0.000	0.059	2222	3299	3474
7440	-1.23	-146.6	710.7	-9.0	358	7447	0.00	2.58	0.00	0.000	6	0.000	0.051	2222	1902	3474
7755	-1.23	-146.6	738.7	-8.2	374	7760	0.00	2.58	0.00	0.000	4	0.000	0.061	2222	3295	3474
7827	-1.23	-146.6	745.1	-9.8	377	7832	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	1904	3473
8148	-1.23	-146.6	773.5	-7.4	393	8149	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1904	3473
8457	-1.23	-146.6	796.6	-7.6	408	8462	0.00	2.60	0.00	0.000	4	0.000	0.068	2222	3294	3473
8563	-1.23	-146.6	811.4	-14.5	413	8567	0.00	2.55	0.00	0.000	6	0.000	0.062	2222	1902	3472
8888	-1.23	-146.6	833.3	-8.8	429	8889	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1902	3470
9198	-1.23	-146.6	858.7	-3.2	444	9199	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3469
9382	end dive: BOTTOM_OBSTACLE_DETECTED
state	9382	begin apogee
9386	-0.36	0.0	871.5	3.1	453	9515	0.95	0.00	124.80	1.443	6	0.095	0.000	2418	2336	2878
9515	end apogee: CONTROL_FINISHED_OK
state	9515	begin climb
9517	1.23	146.6	873.5	0.0	459	9649	1.55	2.78	123.55	1.394	4	0.054	0.078	2763	935	2280
9867	1.24	152.5	855.0	7.8	475	9880	0.00	2.65	5.95	1.325	6	0.000	0.061	2763	2342	2256
10188	1.30	200.5	831.2	6.2	491	10232	0.00	0.00	41.75	1.407	6	0.000	0.000	2763	2348	2060
10537	1.30	200.5	799.9	10.5	508	10538	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2348	2059
10846	1.30	200.5	769.4	10.3	523	10847	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2348	2058
11155	1.30	200.5	742.5	8.8	538	11159	0.00	2.65	0.00	0.000	4	0.000	0.075	2763	3759	2056
11413	1.30	200.5	717.6	13.7	549	11418	0.00	2.60	0.00	0.000	6	0.000	0.057	2763	2348	2056
11727	1.30	200.5	687.6	9.9	564	11732	0.00	2.62	0.00	0.000	4	0.000	0.065	2763	3759	2055
11978	1.30	200.5	663.3	9.2	575	11983	0.00	2.58	0.00	0.000	6	0.000	0.051	2763	2351	2055
12300	1.30	200.5	636.0	8.8	591	12304	0.00	2.60	0.00	0.000	4	0.000	0.061	2763	3761	2055
12488	1.30	200.5	617.5	9.5	599	12496	0.00	2.55	0.00	0.000	6	0.000	0.046	2763	2350	2055
12804	1.30	200.5	590.0	8.6	615	12805	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2350	2055
13113	1.30	200.5	562.0	8.9	630	13114	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2350	2056
13423	1.30	200.5	536.2	8.7	645	13424	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2350	2057
13732	1.32	216.9	511.7	7.4	660	13754	0.00	2.70	14.20	1.196	4	0.000	0.063	2763	930	1993
13859	1.32	217.7	501.4	8.0	665	13867	0.00	2.58	0.00	0.000	6	0.000	0.042	2763	2357	1993
14175	1.32	217.7	476.5	8.2	681	14176	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2358	1994
14484	1.32	217.7	451.2	8.5	696	14488	0.00	2.60	0.00	0.000	4	0.000	0.059	2763	942	1996
14583	1.32	217.7	442.1	9.3	700	14590	0.00	2.50	0.00	0.000	6	0.000	0.041	2763	2343	1996
14898	1.32	217.7	414.6	8.6	716	14903	0.00	2.58	0.00	0.000	4	0.000	0.060	2763	942	1996
14975	1.32	217.7	407.9	8.1	719	14982	0.00	2.55	0.00	0.000	6	0.000	0.041	2763	2351	1997
15291	1.32	217.7	383.1	8.1	735	15295	0.00	2.58	0.00	0.000	4	0.000	0.058	2763	940	1997
15374	1.33	231.5	376.6	7.5	739	15396	0.10	2.50	13.25	1.085	6	0.057	0.042	2797	2356	1934
15703	1.33	231.5	347.5	9.0	755	15707	0.00	2.58	0.00	0.000	4	0.000	0.057	2797	942	1934
15786	1.33	231.5	339.3	9.3	759	15791	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2356	1934
16112	1.33	231.5	308.4	9.6	775	16116	0.00	2.60	0.00	0.000	4	0.000	0.057	2797	937	1935
16228	1.33	231.5	296.6	10.0	780	16233	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2349	1935
16550	1.33	231.5	265.1	10.5	796	16554	0.00	2.60	0.00	0.000	4	0.000	0.058	2797	939	1936
16643	1.33	231.5	254.9	11.3	800	16648	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2351	1936
16964	1.33	231.5	219.9	10.6	816	16966	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2351	1936
17273	1.33	231.5	187.1	10.3	831	17278	0.00	2.58	0.00	0.000	4	0.000	0.058	2797	942	1936
17361	1.33	231.5	177.5	12.3	835	17366	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2349	1936
17689	1.33	231.5	145.6	9.5	851	17690	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2349	1937
17998	1.33	231.5	115.9	9.6	866	18002	0.00	2.60	0.00	0.000	4	0.000	0.058	2797	940	1937
18068	1.33	231.5	108.5	10.2	869	18073	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2349	1937
18391	1.33	231.5	77.6	9.6	885	18392	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2349	1937
18699	1.33	231.5	46.6	10.1	900	18700	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2350	1938
19009	1.33	231.5	17.2	9.2	915	19013	0.00	2.60	0.00	0.000	4	0.000	0.058	2797	939	1938
19092	1.33	231.5	8.7	9.3	919	19096	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2353	1938
19168	end climb: SURFACE_DEPTH_REACHED
state	19168	begin surface coast
19190	end surface coast: CONTROL_FINISHED_OK
state	19190	begin surface