Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 64 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 64 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 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 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2076433.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2076433.8

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 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

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

DIVE 64 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 005537,6139.152,-920.556,42,1.2,47,-9.5 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.081,-0.232

_SM_DEPTHo 1.70 KALMAN_X 1723.0,-435.4,-350.0,-14058.8,-1895.2

_SM_ANGLEo -60.1 KALMAN_Y 88914.4,194.5,-606.7,-86743.9,5527.3

GPS2 005957,6139.139,-920.554,16,1.2,16,-9.5 MHEAD_RNG_PITCHd_Wd 170.3,39873,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027173 ALTIM_BOTTOM_PING 775.9,106.6

SM_CCo 18762,15.98,0.534,2,0,1594,300.25 _24V_AH 23.5,15.514

SM_GC 1.62,0.00,0.00,15.98,0.000,0.000,0.534,72,2399,1594,-10.75,0.00,300.25 _10V_AH 10.2,6.629

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47374,907

TT8_MAMPS 0.023777 CFSIZE 260165632,255299584

HUMID 2093 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

TCM_TEMP 17.40 GPS 231107,061508,6138.051,-920.838,42,1.9,42,-9.5

XPDR_PINGS 16

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 99.81 SBE_CT 638 24 360.03

Roll_motor 115 91 247.26 SBE_O2 646 19 288.87

VBD_pump_during_apogee 360 1260 10675.03 WL_BB2F 493 105 1218.20

VBD_pump_during_surface 15 533 200.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.88 nil 0 0 0.00

Iridium_during_connect 30 160 116.51 nil 0 0 0.00

Iridium_during_xfer 114 223 598.36

Transponder_ping 10 420 106.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.23

TT8 1620 19 327.22

LPSleep 14724 2 328.92

TT8_Active 504 19 101.93

TT8_Sampling 1917 39 778.50

TT8_CF8 285 45 133.36

TT8_Kalman 33 81 27.83

Analog_circuits 1442 12 176.59

GPS_charging 0 0 0.00

Compass 1872 8 152.81

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.08 -146.6 0.0 0.0 0 82 0.00 0.00 -62.20 0.000 2 0.000 0.000 70 2402 3260

84 -1.08 -146.6 4.9 -7.4 3 107 11.65 2.55 -3.20 0.000 4 0.167 0.081 2170 3766 3419

358 -1.08 -146.6 45.8 -12.5 15 363 0.00 2.47 0.00 0.000 6 0.000 0.047 2170 2405 3419

685 -1.08 -146.6 81.4 -10.4 31 689 0.00 2.55 0.00 0.000 4 0.000 0.070 2170 3769 3419

739 -1.08 -146.6 87.5 -11.1 33 746 0.00 2.50 0.00 0.000 6 0.000 0.048 2170 2398 3419

1055 -1.08 -146.6 115.0 -7.4 49 1059 0.00 2.60 0.00 0.000 4 0.000 0.064 2169 985 3419

1116 -1.08 -146.6 119.8 -8.1 52 1120 0.00 2.58 0.00 0.000 6 0.000 0.051 2169 2398 3419

1441 -1.08 -146.6 144.5 -7.8 68 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2398 3419

1750 -1.08 -146.6 170.0 -8.4 83 1754 0.00 2.60 0.00 0.000 4 0.000 0.064 2170 985 3419

1821 -1.08 -146.6 175.8 -7.4 86 1825 0.00 2.55 0.00 0.000 6 0.000 0.052 2170 2400 3419

2142 -1.08 -146.6 199.1 -7.1 102 2143 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

2451 -1.08 -146.6 221.4 -7.7 117 2455 0.00 2.60 0.00 0.000 4 0.000 0.064 2168 985 3419

2512 -1.08 -146.6 225.8 -7.5 120 2516 0.00 2.55 0.00 0.000 6 0.000 0.052 2169 2400 3419

2837 -1.08 -146.6 252.7 -8.4 136 2838 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

3147 -1.08 -146.6 278.2 -7.9 151 3148 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

3456 -1.08 -146.6 301.7 -7.8 166 3460 0.00 2.60 0.00 0.000 4 0.000 0.063 2170 985 3419

3517 -1.08 -146.6 306.8 -7.9 169 3521 0.00 2.58 0.00 0.000 6 0.000 0.053 2170 2400 3419

3842 -1.08 -146.6 335.7 -9.3 185 3843 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

4151 -1.08 -146.6 366.0 -9.9 200 4152 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

4460 -1.08 -146.6 398.5 -10.7 215 4461 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

4770 -1.08 -146.6 433.7 -11.8 230 4771 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3419

5079 -1.08 -146.6 468.0 -10.5 245 5083 0.00 2.60 0.00 0.000 4 0.000 0.061 2170 982 3419

5127 -1.08 -146.6 472.9 -9.3 247 5132 0.00 2.58 0.00 0.000 6 0.000 0.051 2170 2391 3419

5448 -1.08 -146.6 505.2 -10.8 263 5449 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2391 3419

5758 -1.08 -146.6 537.8 -10.7 278 5759 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3419

6067 -1.08 -146.6 566.5 -8.7 293 6068 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3419

6376 -1.08 -146.6 595.1 -9.7 308 6377 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2392 3419

6685 -1.08 -146.6 624.5 -8.0 323 6687 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2392 3419

6995 -1.08 -146.6 652.3 -8.1 338 6999 0.00 2.60 0.00 0.000 4 0.000 0.062 2170 978 3418

7078 -1.08 -146.6 659.5 -8.3 342 7083 0.00 2.58 0.00 0.000 6 0.000 0.049 2170 2405 3418

7404 -1.08 -146.6 690.5 -11.8 358 7405 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2405 3418

7713 -1.08 -146.6 721.5 -8.8 373 7717 0.00 2.60 0.00 0.000 4 0.000 0.061 2170 980 3418

7795 -1.08 -146.6 728.6 -8.3 376 7802 0.00 2.60 0.00 0.000 6 0.000 0.051 2169 2400 3418

8111 -1.08 -146.6 755.9 -9.6 392 8112 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3418

8420 -1.08 -146.6 785.4 -9.2 407 8424 0.00 2.58 0.00 0.000 4 0.000 0.061 2170 983 3418

8525 -1.08 -146.6 794.4 -8.5 411 8532 0.00 2.60 0.00 0.000 6 0.000 0.052 2170 2398 3418

8840 -1.08 -146.6 823.0 -10.9 427 8845 0.00 2.60 0.00 0.000 4 0.000 0.062 2170 981 3418

8906 -1.08 -146.6 828.8 -9.4 430 8911 0.00 2.60 0.00 0.000 6 0.000 0.053 2170 2392 3418

9234 -1.08 -146.6 852.7 -6.6 446 9238 0.00 2.62 0.00 0.000 4 0.000 0.087 2170 3768 3418

9361 -1.08 -146.6 864.6 -11.6 452 9366 0.00 2.53 0.00 0.000 6 0.000 0.061 2170 2397 3418

9500 end dive: BOTTOM_OBSTACLE_DETECTED

state 9500 begin apogee

9505 -0.31 0.0 875.1 8.0 459 9632 0.82 0.00 123.53 1.261 6 0.101 0.000 2338 2189 2817

9632 end apogee: CONTROL_FINISHED_OK

state 9632 begin climb

9634 1.08 146.6 882.2 0.0 465 9766 1.50 2.85 121.32 1.242 4 0.091 0.087 2642 3617 2219

9843 1.08 146.6 869.7 23.5 475 9848 0.00 2.72 0.00 0.000 6 0.000 0.072 2642 2213 2219

10164 1.08 146.6 840.5 8.2 491 10169 0.00 2.72 0.00 0.000 4 0.000 0.091 2642 3611 2217

10399 1.19 240.6 821.7 4.6 501 10482 0.12 2.70 76.60 1.237 6 0.058 0.074 2676 2196 1835

10789 1.19 240.6 792.0 8.1 520 10790 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2196 1830

11099 1.19 240.6 764.4 8.4 535 11103 0.00 2.67 0.00 0.000 4 0.000 0.074 2676 779 1828

11137 1.19 240.6 761.1 8.7 537 11141 0.00 2.60 0.00 0.000 6 0.000 0.050 2677 2201 1828

11462 1.19 240.6 728.7 10.3 553 11466 0.00 2.65 0.00 0.000 4 0.000 0.074 2677 3614 1828

11487 1.19 240.6 725.7 11.5 554 11492 0.00 2.65 0.00 0.000 6 0.000 0.057 2677 2197 1828

11809 1.19 240.6 689.2 12.1 570 11810 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2197 1827

12118 1.19 240.6 653.9 10.7 585 12122 0.00 2.62 0.00 0.000 4 0.000 0.068 2676 786 1828

12160 1.19 240.6 649.1 10.8 587 12165 0.00 2.60 0.00 0.000 6 0.000 0.047 2677 2204 1828

12487 1.19 240.6 609.6 11.5 603 12488 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1828

12796 1.19 240.6 578.3 8.8 618 12798 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1829

13106 1.19 240.6 552.7 9.0 633 13107 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1829

13415 1.19 240.6 524.4 8.9 648 13416 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2204 1830

13724 1.19 240.6 496.6 9.9 663 13725 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1830

14033 1.19 240.6 466.8 9.6 678 14035 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2204 1831

14343 1.19 240.6 438.2 9.5 693 14347 0.00 2.62 0.00 0.000 4 0.000 0.062 2676 783 1831

14374 1.19 240.6 434.7 9.9 694 14381 0.00 2.58 0.00 0.000 6 0.000 0.044 2677 2204 1831

14690 1.19 240.6 399.1 11.0 710 14691 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1832

14999 1.19 240.6 366.3 10.2 725 15000 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2204 1833

15308 1.19 240.6 335.9 9.6 740 15309 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2204 1833

15618 1.19 244.4 309.6 7.9 755 15627 0.00 2.62 4.32 0.593 4 0.000 0.062 2677 782 1820

15654 1.19 244.4 306.6 8.0 756 15661 0.00 2.58 0.00 0.000 6 0.000 0.044 2676 2196 1820

15970 1.19 247.4 281.7 7.9 772 15976 0.00 0.00 4.30 0.584 6 0.000 0.000 2677 2196 1808

16279 1.20 251.7 256.4 7.8 787 16286 0.00 0.00 5.25 0.632 6 0.000 0.000 2677 2196 1790

16588 1.23 282.0 235.1 6.9 802 16615 0.00 0.00 24.92 0.801 6 0.000 0.000 2676 2198 1667

16917 1.23 282.0 208.5 8.3 818 16918 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2196 1666

17226 1.23 282.0 180.4 10.1 833 17231 0.00 2.60 0.00 0.000 4 0.000 0.061 2676 784 1666

17277 1.23 282.0 175.2 10.7 835 17281 0.00 2.55 0.00 0.000 6 0.000 0.044 2677 2205 1666

17597 1.23 282.0 140.2 11.0 851 17598 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2205 1666

17906 1.23 282.0 104.9 12.0 866 17910 0.00 2.62 0.00 0.000 4 0.000 0.060 2676 779 1666

17932 1.23 282.0 101.4 13.0 867 17936 0.00 2.58 0.00 0.000 6 0.000 0.043 2677 2203 1666

18253 1.23 282.0 61.5 13.5 883 18254 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2203 1666

18562 1.23 282.0 20.8 12.3 898 18566 0.00 2.60 0.00 0.000 4 0.000 0.058 2676 783 1666

18582 1.23 282.0 18.9 9.7 899 18587 0.00 2.55 0.00 0.000 6 0.000 0.042 2677 2197 1666

18722 end climb: SURFACE_DEPTH_REACHED

state 18723 begin surface coast

18744 end surface coast: CONTROL_FINISHED_OK

state 18744 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	64	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	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	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2076433.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	005537,6139.152,-920.556,42,1.2,47,-9.5	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.081,-0.232
_SM_DEPTHo	1.70	KALMAN_X	1723.0,-435.4,-350.0,-14058.8,-1895.2
_SM_ANGLEo	-60.1	KALMAN_Y	88914.4,194.5,-606.7,-86743.9,5527.3
GPS2	005957,6139.139,-920.554,16,1.2,16,-9.5	MHEAD_RNG_PITCHd_Wd	170.3,39873,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.8,1.027173	ALTIM_BOTTOM_PING	775.9,106.6
SM_CCo	18762,15.98,0.534,2,0,1594,300.25	_24V_AH	23.5,15.514
SM_GC	1.62,0.00,0.00,15.98,0.000,0.000,0.534,72,2399,1594,-10.75,0.00,300.25	_10V_AH	10.2,6.629
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47374,907
TT8_MAMPS	0.023777	CFSIZE	260165632,255299584
HUMID	2093	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
TCM_TEMP	17.40	GPS	231107,061508,6138.051,-920.838,42,1.9,42,-9.5
XPDR_PINGS	16

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	99.81	SBE_CT	638	24	360.03
Roll_motor	115	91	247.26	SBE_O2	646	19	288.87
VBD_pump_during_apogee	360	1260	10675.03	WL_BB2F	493	105	1218.20
VBD_pump_during_surface	15	533	200.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.88	nil	0	0	0.00
Iridium_during_connect	30	160	116.51	nil	0	0	0.00
Iridium_during_xfer	114	223	598.36
Transponder_ping	10	420	106.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.23
TT8	1620	19	327.22
LPSleep	14724	2	328.92
TT8_Active	504	19	101.93
TT8_Sampling	1917	39	778.50
TT8_CF8	285	45	133.36
TT8_Kalman	33	81	27.83
Analog_circuits	1442	12	176.59
GPS_charging	0	0	0.00
Compass	1872	8	152.81
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.08	-146.6	0.0	0.0	0	82	0.00	0.00	-62.20	0.000	2	0.000	0.000	70	2402	3260
84	-1.08	-146.6	4.9	-7.4	3	107	11.65	2.55	-3.20	0.000	4	0.167	0.081	2170	3766	3419
358	-1.08	-146.6	45.8	-12.5	15	363	0.00	2.47	0.00	0.000	6	0.000	0.047	2170	2405	3419
685	-1.08	-146.6	81.4	-10.4	31	689	0.00	2.55	0.00	0.000	4	0.000	0.070	2170	3769	3419
739	-1.08	-146.6	87.5	-11.1	33	746	0.00	2.50	0.00	0.000	6	0.000	0.048	2170	2398	3419
1055	-1.08	-146.6	115.0	-7.4	49	1059	0.00	2.60	0.00	0.000	4	0.000	0.064	2169	985	3419
1116	-1.08	-146.6	119.8	-8.1	52	1120	0.00	2.58	0.00	0.000	6	0.000	0.051	2169	2398	3419
1441	-1.08	-146.6	144.5	-7.8	68	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2398	3419
1750	-1.08	-146.6	170.0	-8.4	83	1754	0.00	2.60	0.00	0.000	4	0.000	0.064	2170	985	3419
1821	-1.08	-146.6	175.8	-7.4	86	1825	0.00	2.55	0.00	0.000	6	0.000	0.052	2170	2400	3419
2142	-1.08	-146.6	199.1	-7.1	102	2143	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
2451	-1.08	-146.6	221.4	-7.7	117	2455	0.00	2.60	0.00	0.000	4	0.000	0.064	2168	985	3419
2512	-1.08	-146.6	225.8	-7.5	120	2516	0.00	2.55	0.00	0.000	6	0.000	0.052	2169	2400	3419
2837	-1.08	-146.6	252.7	-8.4	136	2838	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
3147	-1.08	-146.6	278.2	-7.9	151	3148	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
3456	-1.08	-146.6	301.7	-7.8	166	3460	0.00	2.60	0.00	0.000	4	0.000	0.063	2170	985	3419
3517	-1.08	-146.6	306.8	-7.9	169	3521	0.00	2.58	0.00	0.000	6	0.000	0.053	2170	2400	3419
3842	-1.08	-146.6	335.7	-9.3	185	3843	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
4151	-1.08	-146.6	366.0	-9.9	200	4152	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
4460	-1.08	-146.6	398.5	-10.7	215	4461	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
4770	-1.08	-146.6	433.7	-11.8	230	4771	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3419
5079	-1.08	-146.6	468.0	-10.5	245	5083	0.00	2.60	0.00	0.000	4	0.000	0.061	2170	982	3419
5127	-1.08	-146.6	472.9	-9.3	247	5132	0.00	2.58	0.00	0.000	6	0.000	0.051	2170	2391	3419
5448	-1.08	-146.6	505.2	-10.8	263	5449	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2391	3419
5758	-1.08	-146.6	537.8	-10.7	278	5759	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3419
6067	-1.08	-146.6	566.5	-8.7	293	6068	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3419
6376	-1.08	-146.6	595.1	-9.7	308	6377	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2392	3419
6685	-1.08	-146.6	624.5	-8.0	323	6687	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2392	3419
6995	-1.08	-146.6	652.3	-8.1	338	6999	0.00	2.60	0.00	0.000	4	0.000	0.062	2170	978	3418
7078	-1.08	-146.6	659.5	-8.3	342	7083	0.00	2.58	0.00	0.000	6	0.000	0.049	2170	2405	3418
7404	-1.08	-146.6	690.5	-11.8	358	7405	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2405	3418
7713	-1.08	-146.6	721.5	-8.8	373	7717	0.00	2.60	0.00	0.000	4	0.000	0.061	2170	980	3418
7795	-1.08	-146.6	728.6	-8.3	376	7802	0.00	2.60	0.00	0.000	6	0.000	0.051	2169	2400	3418
8111	-1.08	-146.6	755.9	-9.6	392	8112	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3418
8420	-1.08	-146.6	785.4	-9.2	407	8424	0.00	2.58	0.00	0.000	4	0.000	0.061	2170	983	3418
8525	-1.08	-146.6	794.4	-8.5	411	8532	0.00	2.60	0.00	0.000	6	0.000	0.052	2170	2398	3418
8840	-1.08	-146.6	823.0	-10.9	427	8845	0.00	2.60	0.00	0.000	4	0.000	0.062	2170	981	3418
8906	-1.08	-146.6	828.8	-9.4	430	8911	0.00	2.60	0.00	0.000	6	0.000	0.053	2170	2392	3418
9234	-1.08	-146.6	852.7	-6.6	446	9238	0.00	2.62	0.00	0.000	4	0.000	0.087	2170	3768	3418
9361	-1.08	-146.6	864.6	-11.6	452	9366	0.00	2.53	0.00	0.000	6	0.000	0.061	2170	2397	3418
9500	end dive: BOTTOM_OBSTACLE_DETECTED
state	9500	begin apogee
9505	-0.31	0.0	875.1	8.0	459	9632	0.82	0.00	123.53	1.261	6	0.101	0.000	2338	2189	2817
9632	end apogee: CONTROL_FINISHED_OK
state	9632	begin climb
9634	1.08	146.6	882.2	0.0	465	9766	1.50	2.85	121.32	1.242	4	0.091	0.087	2642	3617	2219
9843	1.08	146.6	869.7	23.5	475	9848	0.00	2.72	0.00	0.000	6	0.000	0.072	2642	2213	2219
10164	1.08	146.6	840.5	8.2	491	10169	0.00	2.72	0.00	0.000	4	0.000	0.091	2642	3611	2217
10399	1.19	240.6	821.7	4.6	501	10482	0.12	2.70	76.60	1.237	6	0.058	0.074	2676	2196	1835
10789	1.19	240.6	792.0	8.1	520	10790	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2196	1830
11099	1.19	240.6	764.4	8.4	535	11103	0.00	2.67	0.00	0.000	4	0.000	0.074	2676	779	1828
11137	1.19	240.6	761.1	8.7	537	11141	0.00	2.60	0.00	0.000	6	0.000	0.050	2677	2201	1828
11462	1.19	240.6	728.7	10.3	553	11466	0.00	2.65	0.00	0.000	4	0.000	0.074	2677	3614	1828
11487	1.19	240.6	725.7	11.5	554	11492	0.00	2.65	0.00	0.000	6	0.000	0.057	2677	2197	1828
11809	1.19	240.6	689.2	12.1	570	11810	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2197	1827
12118	1.19	240.6	653.9	10.7	585	12122	0.00	2.62	0.00	0.000	4	0.000	0.068	2676	786	1828
12160	1.19	240.6	649.1	10.8	587	12165	0.00	2.60	0.00	0.000	6	0.000	0.047	2677	2204	1828
12487	1.19	240.6	609.6	11.5	603	12488	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1828
12796	1.19	240.6	578.3	8.8	618	12798	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1829
13106	1.19	240.6	552.7	9.0	633	13107	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1829
13415	1.19	240.6	524.4	8.9	648	13416	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2204	1830
13724	1.19	240.6	496.6	9.9	663	13725	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1830
14033	1.19	240.6	466.8	9.6	678	14035	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2204	1831
14343	1.19	240.6	438.2	9.5	693	14347	0.00	2.62	0.00	0.000	4	0.000	0.062	2676	783	1831
14374	1.19	240.6	434.7	9.9	694	14381	0.00	2.58	0.00	0.000	6	0.000	0.044	2677	2204	1831
14690	1.19	240.6	399.1	11.0	710	14691	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1832
14999	1.19	240.6	366.3	10.2	725	15000	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2204	1833
15308	1.19	240.6	335.9	9.6	740	15309	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2204	1833
15618	1.19	244.4	309.6	7.9	755	15627	0.00	2.62	4.32	0.593	4	0.000	0.062	2677	782	1820
15654	1.19	244.4	306.6	8.0	756	15661	0.00	2.58	0.00	0.000	6	0.000	0.044	2676	2196	1820
15970	1.19	247.4	281.7	7.9	772	15976	0.00	0.00	4.30	0.584	6	0.000	0.000	2677	2196	1808
16279	1.20	251.7	256.4	7.8	787	16286	0.00	0.00	5.25	0.632	6	0.000	0.000	2677	2196	1790
16588	1.23	282.0	235.1	6.9	802	16615	0.00	0.00	24.92	0.801	6	0.000	0.000	2676	2198	1667
16917	1.23	282.0	208.5	8.3	818	16918	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2196	1666
17226	1.23	282.0	180.4	10.1	833	17231	0.00	2.60	0.00	0.000	4	0.000	0.061	2676	784	1666
17277	1.23	282.0	175.2	10.7	835	17281	0.00	2.55	0.00	0.000	6	0.000	0.044	2677	2205	1666
17597	1.23	282.0	140.2	11.0	851	17598	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2205	1666
17906	1.23	282.0	104.9	12.0	866	17910	0.00	2.62	0.00	0.000	4	0.000	0.060	2676	779	1666
17932	1.23	282.0	101.4	13.0	867	17936	0.00	2.58	0.00	0.000	6	0.000	0.043	2677	2203	1666
18253	1.23	282.0	61.5	13.5	883	18254	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2203	1666
18562	1.23	282.0	20.8	12.3	898	18566	0.00	2.60	0.00	0.000	4	0.000	0.058	2676	783	1666
18582	1.23	282.0	18.9	9.7	899	18587	0.00	2.55	0.00	0.000	6	0.000	0.042	2677	2197	1666
18722	end climb: SURFACE_DEPTH_REACHED
state	18723	begin surface coast
18744	end surface coast: CONTROL_FINISHED_OK
state	18744	begin surface