Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 81 * 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 81 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 33 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 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 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 -77785.297 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 550

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 -77785.297

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 33 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 81 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 201408,6138.360,-842.149,29,1.1,29,-9.1 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161,-0.133

_SM_DEPTHo 1.88 KALMAN_X 91006.0,-1616.6,-3435.8,-96374.4,34712.4

_SM_ANGLEo -62.1 KALMAN_Y 137143.8,613.3,1836.8,-129949.6,-8013.6

GPS2 201915,6138.375,-842.007,14,1.2,14,-9.1 MHEAD_RNG_PITCHd_Wd 239.7,31416,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.014598 XPDR_PINGS 0

SM_CCo 21699,0.00,0.000,0,0,1564,322.32 ALTIM_BOTTOM_PING 750.9,104.0

SM_GC 2.02,11.75,0.00,0.00,0.032,0.000,0.000,30,1907,1564,-11.27,0.20,322.32 _24V_AH 23.2,23.912

IRIDIUM_FIX 6112.75,-842.36,251107,171744 _10V_AH 10.1,10.190

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53621,1045

HUMID 2050 CFSIZE 260165632,253943808

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,0,0

TCM_TEMP 18.70 GPS 261107,022302,6138.564,-843.892,41,1.2,41,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 85.34 SBE_CT 770 24 429.07

Roll_motor 153 83 297.34 SBE_O2 706 19 311.38

VBD_pump_during_apogee 397 1454 13395.75 WL_BB2F 576 105 1403.52

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 93.45 nil 0 0 0.00

Iridium_during_connect 25 160 93.74 nil 0 0 0.00

Iridium_during_xfer 146 223 755.94

Transponder_ping 6 420 63.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.28

TT8 1913 19 382.65

LPSleep 16774 2 371.03

TT8_Active 543 19 108.68

TT8_Sampling 2414 39 970.61

TT8_CF8 359 45 166.22

TT8_Kalman 33 81 27.56

Analog_circuits 1714 12 207.78

GPS_charging 0 0 0.00

Compass 2368 8 191.37

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

19 -0.95 -146.6 0.0 0.0 0 83 0.00 0.00 -62.40 0.000 2 0.000 0.000 27 1876 2977

85 -0.95 -146.6 4.0 -5.0 3 117 12.00 2.55 -13.73 0.000 4 0.142 0.056 2285 3304 3475

370 -0.95 -146.6 27.0 -8.0 16 375 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1907 3476

696 -0.95 -146.6 53.0 -8.5 32 700 0.00 2.53 0.00 0.000 4 0.000 0.046 2286 3311 3476

834 -0.95 -146.6 63.8 -7.1 38 839 0.00 2.55 0.00 0.000 6 0.000 0.041 2285 1900 3476

1155 -0.95 -146.6 93.4 -9.5 54 1156 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

1465 -0.95 -146.6 114.5 -7.7 69 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

1774 -0.95 -146.6 140.1 -9.4 84 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

2083 -0.95 -146.6 160.2 -7.4 99 2084 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

2392 -0.95 -146.6 195.3 -10.0 114 2396 0.00 2.50 0.00 0.000 4 0.000 0.044 2285 3306 3476

2435 -0.95 -146.6 198.9 -8.6 116 2440 0.00 2.53 0.00 0.000 6 0.000 0.041 2285 1905 3476

2762 -0.95 -146.6 224.7 -7.5 132 2763 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

3071 -0.95 -146.6 249.3 -8.0 147 3072 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3381 -0.95 -146.6 270.5 -6.2 162 3382 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3475

3690 -0.95 -146.6 292.7 -6.7 177 3691 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

4000 -0.95 -146.6 311.8 -5.9 192 4001 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4309 -0.95 -146.6 324.2 -3.5 207 4310 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4618 -0.95 -146.6 339.1 -5.5 222 4622 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3310 3476

4683 -0.95 -146.6 343.1 -5.9 225 4688 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1901 3476

5010 -0.95 -146.6 363.2 -6.6 241 5011 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5319 -0.95 -146.6 384.3 -7.2 256 5320 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

5629 -0.95 -146.6 407.2 -7.8 271 5630 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5939 -0.95 -146.6 427.9 -5.9 286 5943 0.00 2.53 0.00 0.000 4 0.000 0.047 2285 3311 3476

5993 -0.95 -146.6 432.1 -8.1 288 6000 0.00 2.53 0.00 0.000 6 0.000 0.042 2286 1906 3476

6308 -0.95 -146.6 454.4 -7.2 304 6310 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3475

6618 -0.95 -146.6 471.1 -4.7 319 6619 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

6927 -0.95 -146.6 486.5 -5.3 334 6928 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

7237 -0.95 -146.6 504.6 -5.8 349 7241 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3304 3476

7319 -0.95 -146.6 509.6 -6.6 353 7324 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1902 3476

7646 -0.95 -146.6 529.2 -5.9 369 7647 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

7957 -0.95 -146.6 550.5 -7.4 384 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

8264 -0.95 -146.6 574.9 -8.3 399 8265 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

8573 -0.95 -146.6 593.7 -5.3 414 8578 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3307 3476

8622 -0.95 -146.6 596.6 -6.7 416 8627 0.00 2.55 0.00 0.000 6 0.000 0.046 2286 1904 3476

8943 -0.95 -146.6 617.5 -6.5 432 8947 0.00 2.55 0.00 0.000 4 0.000 0.054 2286 3310 3476

9043 -0.95 -146.6 624.5 -7.7 436 9050 0.00 2.55 0.00 0.000 6 0.000 0.045 2285 1902 3476

9358 -0.95 -146.6 646.0 -7.9 452 9359 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

9667 -0.95 -146.6 669.2 -6.3 467 9672 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3302 3476

9896 -0.95 -146.6 683.0 -5.5 477 9901 0.00 2.55 0.00 0.000 6 0.000 0.049 2285 1907 3476

10217 -0.95 -146.6 703.0 -7.6 493 10221 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3304 3475

10356 -0.95 -146.6 713.7 -8.7 499 10360 0.00 2.58 0.00 0.000 6 0.000 0.051 2286 1901 3475

10677 -0.95 -146.6 733.7 -5.1 515 10678 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

10987 -0.95 -146.6 748.6 -4.9 530 10988 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3475

11296 -0.95 -146.6 763.8 -5.2 545 11300 0.00 2.58 0.00 0.000 4 0.000 0.064 2286 3301 3474

11356 -0.95 -146.6 765.9 -4.1 548 11361 0.00 2.55 0.00 0.000 6 0.000 0.055 2286 1904 3474

11682 -0.95 -146.6 785.7 -5.8 564 11683 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3472

11991 -0.95 -146.6 802.4 -8.3 579 11992 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3471

12300 -0.95 -146.6 815.2 -2.7 594 12305 0.00 2.67 0.00 0.000 4 0.000 0.084 2286 493 3468

12354 -0.95 -146.6 816.7 -3.3 596 12361 0.00 2.53 0.00 0.000 6 0.000 0.058 2286 1904 3468

12669 -0.95 -146.6 838.0 -7.6 612 12670 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3466

12771 end dive: BOTTOM_OBSTACLE_DETECTED

state 12771 begin apogee

12776 -0.36 0.0 846.2 6.3 617 12904 0.62 0.00 124.12 1.454 6 0.096 0.000 2415 2346 2879

12904 end apogee: CONTROL_FINISHED_OK

state 12904 begin climb

12906 0.95 146.6 853.7 0.0 623 13038 1.35 2.75 124.12 1.403 4 0.064 0.074 2704 3744 2280

13055 1.16 323.4 856.6 0.7 631 13213 0.20 2.58 148.80 1.376 6 0.041 0.052 2758 2348 1558

13527 1.16 323.4 805.6 9.6 654 13531 0.00 2.72 0.00 0.000 4 0.000 0.081 2758 939 1558

13784 1.16 323.4 775.2 14.3 665 13791 0.00 2.60 0.00 0.000 6 0.000 0.054 2758 2340 1558

14100 1.16 323.4 743.9 8.7 681 14104 0.00 2.70 0.00 0.000 4 0.000 0.077 2758 937 1557

14340 1.16 323.4 719.7 7.7 692 14344 0.00 2.58 0.00 0.000 6 0.000 0.052 2758 2350 1556

14665 1.16 323.4 689.0 10.9 708 14666 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2350 1555

14974 1.16 323.4 655.4 10.8 723 14975 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2355 1554

15283 1.16 323.4 623.9 10.7 738 15288 0.00 2.62 0.00 0.000 4 0.000 0.065 2758 937 1555

15349 1.16 323.4 616.3 10.7 741 15354 0.00 2.55 0.00 0.000 6 0.000 0.044 2758 2352 1554

15676 1.16 323.4 583.2 9.4 757 15680 0.00 2.60 0.00 0.000 4 0.000 0.062 2758 941 1555

15718 1.16 323.4 579.2 8.3 759 15723 0.00 2.53 0.00 0.000 6 0.000 0.041 2758 2348 1555

16045 1.16 323.4 547.9 8.9 775 16046 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2349 1556

16355 1.16 323.4 516.6 9.9 790 16359 0.00 2.60 0.00 0.000 4 0.000 0.061 2758 938 1557

16464 1.16 323.4 505.2 10.8 795 16469 0.00 2.53 0.00 0.000 6 0.000 0.041 2758 2351 1557

16792 1.16 323.4 474.1 9.6 811 16796 0.00 2.60 0.00 0.000 4 0.000 0.060 2758 940 1558

16840 1.16 323.4 469.1 9.1 813 16845 0.00 2.50 0.00 0.000 6 0.000 0.039 2758 2348 1558

17161 1.16 323.4 440.8 8.2 829 17165 0.00 2.58 0.00 0.000 4 0.000 0.059 2758 938 1560

17254 1.16 323.4 433.0 8.4 833 17259 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2341 1559

17575 1.16 323.4 407.5 8.9 849 17579 0.00 2.58 0.00 0.000 4 0.000 0.058 2758 940 1560

17652 1.16 323.4 400.5 8.6 852 17659 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2350 1560

17968 1.16 323.4 369.7 10.6 868 17969 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2350 1561

18277 1.16 323.4 339.6 9.7 883 18281 0.00 2.58 0.00 0.000 4 0.000 0.058 2758 941 1562

18376 1.16 323.4 328.7 11.2 887 18383 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2352 1562

18691 1.16 323.4 296.8 9.6 903 18696 0.00 2.58 0.00 0.000 4 0.000 0.058 2758 941 1563

18775 1.16 323.4 288.7 10.5 907 18779 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2354 1563

19100 1.16 323.4 255.7 11.5 923 19104 0.00 2.58 0.00 0.000 4 0.000 0.055 2758 941 1563

19210 1.16 323.4 244.5 9.7 928 19215 0.00 2.50 0.00 0.000 6 0.000 0.037 2758 2353 1563

19537 1.16 323.4 211.7 9.8 944 19541 0.00 2.58 0.00 0.000 4 0.000 0.055 2758 937 1564

19602 1.16 323.4 204.5 11.4 947 19607 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2352 1563

19928 1.16 323.4 175.2 8.8 963 19933 0.00 2.58 0.00 0.000 4 0.000 0.057 2758 941 1564

20012 1.16 323.4 168.0 8.3 967 20016 0.00 2.47 0.00 0.000 6 0.000 0.038 2758 2358 1563

20338 1.16 323.4 140.4 7.9 983 20343 0.00 2.60 0.00 0.000 4 0.000 0.054 2758 939 1564

20445 1.16 323.4 131.6 7.4 988 20449 0.00 2.47 0.00 0.000 6 0.000 0.038 2758 2350 1564

20770 1.16 323.4 104.9 11.0 1004 20774 0.00 2.60 0.00 0.000 4 0.000 0.057 2758 938 1565

20831 1.16 323.4 98.1 11.5 1007 20835 0.00 2.47 0.00 0.000 6 0.000 0.038 2758 2351 1564

21156 1.16 323.4 58.4 13.6 1023 21160 0.00 2.60 0.00 0.000 4 0.000 0.056 2758 937 1565

21249 1.16 323.4 45.9 13.1 1027 21254 0.00 2.50 0.00 0.000 6 0.000 0.038 2758 2350 1565

21571 1.16 323.4 4.8 11.8 1043 21575 0.00 2.60 0.00 0.000 4 0.000 0.056 2758 936 1565

21595 end climb: SURFACE_DEPTH_REACHED

state 21595 begin surface coast

21619 end surface coast: CONTROL_FINISHED_OK

state 21619 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	81	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	33	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	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	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	-77785.297	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	201408,6138.360,-842.149,29,1.1,29,-9.1	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161,-0.133
_SM_DEPTHo	1.88	KALMAN_X	91006.0,-1616.6,-3435.8,-96374.4,34712.4
_SM_ANGLEo	-62.1	KALMAN_Y	137143.8,613.3,1836.8,-129949.6,-8013.6
GPS2	201915,6138.375,-842.007,14,1.2,14,-9.1	MHEAD_RNG_PITCHd_Wd	239.7,31416,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.2,1.014598	XPDR_PINGS	0
SM_CCo	21699,0.00,0.000,0,0,1564,322.32	ALTIM_BOTTOM_PING	750.9,104.0
SM_GC	2.02,11.75,0.00,0.00,0.032,0.000,0.000,30,1907,1564,-11.27,0.20,322.32	_24V_AH	23.2,23.912
IRIDIUM_FIX	6112.75,-842.36,251107,171744	_10V_AH	10.1,10.190
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53621,1045
HUMID	2050	CFSIZE	260165632,253943808
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
TCM_TEMP	18.70	GPS	261107,022302,6138.564,-843.892,41,1.2,41,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	85.34	SBE_CT	770	24	429.07
Roll_motor	153	83	297.34	SBE_O2	706	19	311.38
VBD_pump_during_apogee	397	1454	13395.75	WL_BB2F	576	105	1403.52
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	93.45	nil	0	0	0.00
Iridium_during_connect	25	160	93.74	nil	0	0	0.00
Iridium_during_xfer	146	223	755.94
Transponder_ping	6	420	63.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.28
TT8	1913	19	382.65
LPSleep	16774	2	371.03
TT8_Active	543	19	108.68
TT8_Sampling	2414	39	970.61
TT8_CF8	359	45	166.22
TT8_Kalman	33	81	27.56
Analog_circuits	1714	12	207.78
GPS_charging	0	0	0.00
Compass	2368	8	191.37
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
19	-0.95	-146.6	0.0	0.0	0	83	0.00	0.00	-62.40	0.000	2	0.000	0.000	27	1876	2977
85	-0.95	-146.6	4.0	-5.0	3	117	12.00	2.55	-13.73	0.000	4	0.142	0.056	2285	3304	3475
370	-0.95	-146.6	27.0	-8.0	16	375	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1907	3476
696	-0.95	-146.6	53.0	-8.5	32	700	0.00	2.53	0.00	0.000	4	0.000	0.046	2286	3311	3476
834	-0.95	-146.6	63.8	-7.1	38	839	0.00	2.55	0.00	0.000	6	0.000	0.041	2285	1900	3476
1155	-0.95	-146.6	93.4	-9.5	54	1156	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
1465	-0.95	-146.6	114.5	-7.7	69	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
1774	-0.95	-146.6	140.1	-9.4	84	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
2083	-0.95	-146.6	160.2	-7.4	99	2084	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
2392	-0.95	-146.6	195.3	-10.0	114	2396	0.00	2.50	0.00	0.000	4	0.000	0.044	2285	3306	3476
2435	-0.95	-146.6	198.9	-8.6	116	2440	0.00	2.53	0.00	0.000	6	0.000	0.041	2285	1905	3476
2762	-0.95	-146.6	224.7	-7.5	132	2763	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
3071	-0.95	-146.6	249.3	-8.0	147	3072	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3381	-0.95	-146.6	270.5	-6.2	162	3382	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3475
3690	-0.95	-146.6	292.7	-6.7	177	3691	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
4000	-0.95	-146.6	311.8	-5.9	192	4001	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4309	-0.95	-146.6	324.2	-3.5	207	4310	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4618	-0.95	-146.6	339.1	-5.5	222	4622	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3310	3476
4683	-0.95	-146.6	343.1	-5.9	225	4688	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1901	3476
5010	-0.95	-146.6	363.2	-6.6	241	5011	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5319	-0.95	-146.6	384.3	-7.2	256	5320	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
5629	-0.95	-146.6	407.2	-7.8	271	5630	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5939	-0.95	-146.6	427.9	-5.9	286	5943	0.00	2.53	0.00	0.000	4	0.000	0.047	2285	3311	3476
5993	-0.95	-146.6	432.1	-8.1	288	6000	0.00	2.53	0.00	0.000	6	0.000	0.042	2286	1906	3476
6308	-0.95	-146.6	454.4	-7.2	304	6310	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3475
6618	-0.95	-146.6	471.1	-4.7	319	6619	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
6927	-0.95	-146.6	486.5	-5.3	334	6928	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
7237	-0.95	-146.6	504.6	-5.8	349	7241	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3304	3476
7319	-0.95	-146.6	509.6	-6.6	353	7324	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1902	3476
7646	-0.95	-146.6	529.2	-5.9	369	7647	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
7957	-0.95	-146.6	550.5	-7.4	384	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
8264	-0.95	-146.6	574.9	-8.3	399	8265	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
8573	-0.95	-146.6	593.7	-5.3	414	8578	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3307	3476
8622	-0.95	-146.6	596.6	-6.7	416	8627	0.00	2.55	0.00	0.000	6	0.000	0.046	2286	1904	3476
8943	-0.95	-146.6	617.5	-6.5	432	8947	0.00	2.55	0.00	0.000	4	0.000	0.054	2286	3310	3476
9043	-0.95	-146.6	624.5	-7.7	436	9050	0.00	2.55	0.00	0.000	6	0.000	0.045	2285	1902	3476
9358	-0.95	-146.6	646.0	-7.9	452	9359	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
9667	-0.95	-146.6	669.2	-6.3	467	9672	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3302	3476
9896	-0.95	-146.6	683.0	-5.5	477	9901	0.00	2.55	0.00	0.000	6	0.000	0.049	2285	1907	3476
10217	-0.95	-146.6	703.0	-7.6	493	10221	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3304	3475
10356	-0.95	-146.6	713.7	-8.7	499	10360	0.00	2.58	0.00	0.000	6	0.000	0.051	2286	1901	3475
10677	-0.95	-146.6	733.7	-5.1	515	10678	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
10987	-0.95	-146.6	748.6	-4.9	530	10988	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3475
11296	-0.95	-146.6	763.8	-5.2	545	11300	0.00	2.58	0.00	0.000	4	0.000	0.064	2286	3301	3474
11356	-0.95	-146.6	765.9	-4.1	548	11361	0.00	2.55	0.00	0.000	6	0.000	0.055	2286	1904	3474
11682	-0.95	-146.6	785.7	-5.8	564	11683	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3472
11991	-0.95	-146.6	802.4	-8.3	579	11992	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3471
12300	-0.95	-146.6	815.2	-2.7	594	12305	0.00	2.67	0.00	0.000	4	0.000	0.084	2286	493	3468
12354	-0.95	-146.6	816.7	-3.3	596	12361	0.00	2.53	0.00	0.000	6	0.000	0.058	2286	1904	3468
12669	-0.95	-146.6	838.0	-7.6	612	12670	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3466
12771	end dive: BOTTOM_OBSTACLE_DETECTED
state	12771	begin apogee
12776	-0.36	0.0	846.2	6.3	617	12904	0.62	0.00	124.12	1.454	6	0.096	0.000	2415	2346	2879
12904	end apogee: CONTROL_FINISHED_OK
state	12904	begin climb
12906	0.95	146.6	853.7	0.0	623	13038	1.35	2.75	124.12	1.403	4	0.064	0.074	2704	3744	2280
13055	1.16	323.4	856.6	0.7	631	13213	0.20	2.58	148.80	1.376	6	0.041	0.052	2758	2348	1558
13527	1.16	323.4	805.6	9.6	654	13531	0.00	2.72	0.00	0.000	4	0.000	0.081	2758	939	1558
13784	1.16	323.4	775.2	14.3	665	13791	0.00	2.60	0.00	0.000	6	0.000	0.054	2758	2340	1558
14100	1.16	323.4	743.9	8.7	681	14104	0.00	2.70	0.00	0.000	4	0.000	0.077	2758	937	1557
14340	1.16	323.4	719.7	7.7	692	14344	0.00	2.58	0.00	0.000	6	0.000	0.052	2758	2350	1556
14665	1.16	323.4	689.0	10.9	708	14666	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2350	1555
14974	1.16	323.4	655.4	10.8	723	14975	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2355	1554
15283	1.16	323.4	623.9	10.7	738	15288	0.00	2.62	0.00	0.000	4	0.000	0.065	2758	937	1555
15349	1.16	323.4	616.3	10.7	741	15354	0.00	2.55	0.00	0.000	6	0.000	0.044	2758	2352	1554
15676	1.16	323.4	583.2	9.4	757	15680	0.00	2.60	0.00	0.000	4	0.000	0.062	2758	941	1555
15718	1.16	323.4	579.2	8.3	759	15723	0.00	2.53	0.00	0.000	6	0.000	0.041	2758	2348	1555
16045	1.16	323.4	547.9	8.9	775	16046	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2349	1556
16355	1.16	323.4	516.6	9.9	790	16359	0.00	2.60	0.00	0.000	4	0.000	0.061	2758	938	1557
16464	1.16	323.4	505.2	10.8	795	16469	0.00	2.53	0.00	0.000	6	0.000	0.041	2758	2351	1557
16792	1.16	323.4	474.1	9.6	811	16796	0.00	2.60	0.00	0.000	4	0.000	0.060	2758	940	1558
16840	1.16	323.4	469.1	9.1	813	16845	0.00	2.50	0.00	0.000	6	0.000	0.039	2758	2348	1558
17161	1.16	323.4	440.8	8.2	829	17165	0.00	2.58	0.00	0.000	4	0.000	0.059	2758	938	1560
17254	1.16	323.4	433.0	8.4	833	17259	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2341	1559
17575	1.16	323.4	407.5	8.9	849	17579	0.00	2.58	0.00	0.000	4	0.000	0.058	2758	940	1560
17652	1.16	323.4	400.5	8.6	852	17659	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2350	1560
17968	1.16	323.4	369.7	10.6	868	17969	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2350	1561
18277	1.16	323.4	339.6	9.7	883	18281	0.00	2.58	0.00	0.000	4	0.000	0.058	2758	941	1562
18376	1.16	323.4	328.7	11.2	887	18383	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2352	1562
18691	1.16	323.4	296.8	9.6	903	18696	0.00	2.58	0.00	0.000	4	0.000	0.058	2758	941	1563
18775	1.16	323.4	288.7	10.5	907	18779	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2354	1563
19100	1.16	323.4	255.7	11.5	923	19104	0.00	2.58	0.00	0.000	4	0.000	0.055	2758	941	1563
19210	1.16	323.4	244.5	9.7	928	19215	0.00	2.50	0.00	0.000	6	0.000	0.037	2758	2353	1563
19537	1.16	323.4	211.7	9.8	944	19541	0.00	2.58	0.00	0.000	4	0.000	0.055	2758	937	1564
19602	1.16	323.4	204.5	11.4	947	19607	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2352	1563
19928	1.16	323.4	175.2	8.8	963	19933	0.00	2.58	0.00	0.000	4	0.000	0.057	2758	941	1564
20012	1.16	323.4	168.0	8.3	967	20016	0.00	2.47	0.00	0.000	6	0.000	0.038	2758	2358	1563
20338	1.16	323.4	140.4	7.9	983	20343	0.00	2.60	0.00	0.000	4	0.000	0.054	2758	939	1564
20445	1.16	323.4	131.6	7.4	988	20449	0.00	2.47	0.00	0.000	6	0.000	0.038	2758	2350	1564
20770	1.16	323.4	104.9	11.0	1004	20774	0.00	2.60	0.00	0.000	4	0.000	0.057	2758	938	1565
20831	1.16	323.4	98.1	11.5	1007	20835	0.00	2.47	0.00	0.000	6	0.000	0.038	2758	2351	1564
21156	1.16	323.4	58.4	13.6	1023	21160	0.00	2.60	0.00	0.000	4	0.000	0.056	2758	937	1565
21249	1.16	323.4	45.9	13.1	1027	21254	0.00	2.50	0.00	0.000	6	0.000	0.038	2758	2350	1565
21571	1.16	323.4	4.8	11.8	1043	21575	0.00	2.60	0.00	0.000	4	0.000	0.056	2758	936	1565
21595	end climb: SURFACE_DEPTH_REACHED
state	21595	begin surface coast
21619	end surface coast: CONTROL_FINISHED_OK
state	21619	begin surface