Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 83 * 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 83 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -77835.094 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 -77835.094

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 83 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 084508,6142.859,-849.044,31,1.3,31,-9.2 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.207,-0.026

_SM_DEPTHo 1.95 KALMAN_X 93904.0,26.1,-4749.5,-105789.7,21319.2

_SM_ANGLEo -58.4 KALMAN_Y 151253.4,-249.5,807.0,-133686.1,9321.9

GPS2 085015,6142.934,-848.933,14,1.3,14,-9.2 MHEAD_RNG_PITCHd_Wd 272.2,23168,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.018923 XPDR_PINGS 0

SM_CCo 21574,0.00,0.000,0,0,1643,302.95 ALTIM_BOTTOM_PING 725.4,66.1

SM_GC 1.98,11.80,0.00,0.00,0.035,0.000,0.000,28,1917,1643,-11.28,0.48,302.95 _24V_AH 23.2,24.245

IRIDIUM_FIX 6112.75,-900.24,261107,060652 _10V_AH 10.1,10.386

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53646,1038

HUMID 2077 CFSIZE 260165632,253804544

INTERNAL_PRESSURE 9.23864 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,33,0,0

TCM_TEMP 18.80 GPS 261107,145156,6145.322,-857.366,40,1.0,40,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 83.02 SBE_CT 762 24 424.37

Roll_motor 158 84 310.10 SBE_O2 702 19 309.50

VBD_pump_during_apogee 377 1418 12441.15 WL_BB2F 595 105 1449.68

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 37 103 89.76 nil 0 0 0.00

Iridium_during_connect 27 160 100.33 nil 0 0 0.00

Iridium_during_xfer 147 223 761.92

Transponder_ping 6 420 60.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.99

TT8 1908 19 381.71

LPSleep 16695 2 369.29

TT8_Active 521 19 104.32

TT8_Sampling 2393 39 962.04

TT8_CF8 361 45 167.24

TT8_Kalman 33 81 27.56

Analog_circuits 1696 12 205.56

GPS_charging 0 0 0.00

Compass 2344 8 189.46

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 82 0.00 0.00 -61.78 0.000 2 0.000 0.000 31 1913 2907

84 -0.95 -146.6 3.5 -3.4 3 119 11.88 2.65 -17.58 0.000 4 0.139 0.075 2286 489 3477

253 -0.95 -146.6 18.5 -8.2 10 260 0.00 2.50 0.00 0.000 6 0.000 0.038 2287 1904 3477

570 -0.95 -146.6 42.5 -7.0 26 571 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1904 3477

878 -0.95 -146.6 65.4 -7.3 41 879 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1904 3476

1188 -0.95 -146.6 87.0 -6.6 56 1189 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

1497 -0.95 -146.6 107.7 -6.6 71 1501 0.00 2.47 0.00 0.000 4 0.000 0.045 2287 3292 3477

1550 -0.95 -146.6 111.6 -7.3 73 1558 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1891 3476

1868 -0.95 -146.6 132.8 -6.7 89 1872 0.00 2.50 0.00 0.000 4 0.000 0.045 2287 3292 3477

1933 -0.95 -146.6 137.2 -6.3 92 1938 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1902 3476

2260 -0.95 -146.6 158.0 -6.2 108 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3477

2570 -0.95 -146.6 176.0 -5.8 123 2574 0.00 2.50 0.00 0.000 4 0.000 0.044 2287 3301 3476

2632 -0.95 -146.6 179.9 -6.1 126 2636 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1898 3477

2957 -0.95 -146.6 199.0 -6.1 142 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

3266 -0.95 -146.6 218.8 -6.7 157 3267 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3476

3575 -0.95 -146.6 240.6 -7.4 172 3576 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

3885 -0.95 -146.6 260.4 -6.1 187 3886 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

4194 -0.95 -146.6 280.2 -6.7 202 4195 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

4503 -0.95 -146.6 303.6 -7.3 217 4504 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

4812 -0.95 -146.6 324.4 -6.3 232 4814 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

5122 -0.95 -146.6 342.5 -5.6 247 5127 0.00 2.50 0.00 0.000 4 0.000 0.045 2287 3295 3477

5188 -0.95 -146.6 346.4 -6.0 250 5192 0.00 2.53 0.00 0.000 6 0.000 0.042 2286 1898 3476

5515 -0.95 -146.6 364.4 -5.7 266 5516 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

5824 -0.95 -146.6 383.2 -6.3 281 5826 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3477

6134 -0.95 -146.6 404.5 -7.1 296 6138 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3292 3476

6204 -0.95 -146.6 410.1 -8.5 299 6209 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1907 3476

6526 -0.95 -146.6 433.4 -6.8 315 6527 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3477

6835 -0.95 -146.6 452.8 -5.8 330 6836 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

7145 -0.95 -146.6 469.2 -5.6 345 7146 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

7454 -0.95 -146.6 483.8 -4.0 360 7455 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

7763 -0.95 -146.6 497.9 -4.5 375 7764 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

8072 -0.95 -146.6 509.4 -3.2 390 8074 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

8381 -0.95 -146.6 526.6 -5.6 405 8386 0.00 2.50 0.00 0.000 4 0.000 0.051 2287 3293 3477

8537 -0.95 -146.6 539.1 -6.5 412 8542 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1903 3476

8864 -0.95 -146.6 563.7 -7.4 428 8865 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3477

9173 -0.95 -146.6 572.3 -15.3 443 9177 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3298 3477

9215 -0.95 -146.6 579.9 -18.9 445 9220 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1903 3476

9544 -0.95 -146.6 601.9 -7.8 461 9545 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3476

9852 -0.95 -146.6 603.5 -1.2 476 9853 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

10161 -0.95 -146.6 630.7 -7.1 491 10166 0.00 2.53 0.00 0.000 4 0.000 0.057 2286 3293 3476

10278 -0.95 -146.6 635.1 -3.1 496 10282 0.00 2.50 0.00 0.000 6 0.000 0.050 2287 1902 3476

10599 -0.95 -146.6 646.8 -4.9 512 10603 0.00 2.55 0.00 0.000 4 0.000 0.059 2287 3292 3476

10647 -0.95 -146.6 649.9 -6.8 514 10656 0.00 2.55 0.00 0.000 6 0.000 0.050 2287 1900 3475

10970 -0.95 -146.6 667.1 -6.7 530 10971 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

11279 -0.95 -146.6 685.0 -6.4 545 11280 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

11589 -0.95 -146.6 698.1 -2.9 560 11590 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

11898 -0.95 -146.6 712.4 -3.5 575 11902 0.00 2.58 0.00 0.000 4 0.000 0.067 2287 3290 3471

11936 -0.95 -146.6 712.7 0.7 577 11941 0.00 2.55 0.00 0.000 6 0.000 0.055 2287 1899 3471

12262 -0.95 -146.6 720.1 -2.0 593 12263 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3469

12571 -0.95 -146.6 733.5 -5.2 608 12576 0.00 2.67 0.00 0.000 4 0.000 0.083 2287 488 3467

12614 -0.95 -146.6 737.0 -8.5 610 12619 0.00 2.53 0.00 0.000 6 0.000 0.055 2287 1885 3466

12942 -0.95 -146.6 751.0 -4.0 626 12943 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1887 3465

13251 -0.95 -146.6 772.7 -3.5 641 13256 0.00 2.67 0.00 0.000 4 0.000 0.084 2287 488 3464

13317 -0.95 -146.6 775.6 -2.5 644 13322 0.00 2.55 0.00 0.000 6 0.000 0.057 2287 1905 3464

13498 end dive: NO_VERTICAL_VELOCITY

state 13498 begin apogee

13503 -0.36 0.0 776.3 0.0 653 13629 0.60 0.00 123.00 1.419 6 0.073 0.000 2419 2349 2878

13630 end apogee: CONTROL_FINISHED_OK

state 13630 begin climb

13631 0.95 146.6 775.0 0.0 659 13762 1.27 2.75 123.12 1.349 4 0.059 0.072 2697 933 2280

14015 0.95 146.6 747.6 8.8 676 14022 0.00 2.60 0.00 0.000 6 0.000 0.054 2696 2348 2280

14330 0.95 146.6 714.6 6.8 692 14334 0.00 2.65 0.00 0.000 4 0.000 0.071 2696 941 2278

14486 1.14 304.7 715.1 1.3 699 14626 0.22 2.58 131.80 1.343 6 0.040 0.053 2759 2353 1635

14932 1.14 304.7 663.1 9.4 721 14937 0.00 2.70 0.00 0.000 4 0.000 0.076 2759 942 1635

14992 1.14 304.7 657.3 9.3 724 14997 0.00 2.58 0.00 0.000 6 0.000 0.052 2759 2352 1635

15318 1.14 304.7 633.0 6.4 740 15323 0.00 2.67 0.00 0.000 4 0.000 0.074 2759 942 1634

15384 1.14 304.7 628.7 6.5 743 15389 0.00 2.60 0.00 0.000 6 0.000 0.052 2759 2350 1634

15711 1.14 304.7 592.3 13.1 759 15712 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2352 1633

16020 1.14 304.7 555.2 10.8 774 16024 0.00 2.55 0.00 0.000 4 0.000 0.061 2759 3756 1633

16187 1.14 304.7 536.5 10.7 781 16193 0.00 2.55 0.00 0.000 6 0.000 0.046 2759 2348 1633

16502 1.14 304.7 499.1 12.4 797 16506 0.00 2.62 0.00 0.000 4 0.000 0.065 2759 932 1634

16572 1.14 304.7 489.9 12.6 800 16577 0.00 2.55 0.00 0.000 6 0.000 0.041 2759 2356 1633

16894 1.14 304.7 449.0 12.0 816 16898 0.00 2.62 0.00 0.000 4 0.000 0.061 2759 931 1634

16987 1.14 304.7 437.8 12.0 820 16992 0.00 2.55 0.00 0.000 6 0.000 0.040 2759 2352 1635

17309 1.14 304.7 404.8 9.6 836 17313 0.00 2.62 0.00 0.000 4 0.000 0.060 2759 936 1636

17391 1.14 304.7 397.0 9.0 840 17396 0.00 2.50 0.00 0.000 6 0.000 0.039 2759 2356 1637

17717 1.14 304.7 368.1 9.3 856 17722 0.00 2.60 0.00 0.000 4 0.000 0.057 2759 939 1638

17794 1.14 304.7 360.4 8.7 859 17801 0.00 2.50 0.00 0.000 6 0.000 0.038 2759 2351 1638

18110 1.14 304.7 331.4 8.8 875 18114 0.00 2.60 0.00 0.000 4 0.000 0.058 2759 932 1639

18175 1.14 304.7 325.6 8.3 878 18180 0.00 2.53 0.00 0.000 6 0.000 0.038 2759 2346 1640

18502 1.14 304.7 297.7 9.1 894 18506 0.00 2.58 0.00 0.000 4 0.000 0.058 2759 940 1640

18600 1.14 304.7 288.0 9.4 898 18607 0.00 2.50 0.00 0.000 6 0.000 0.038 2759 2353 1640

18916 1.14 304.7 257.6 10.1 914 18920 0.00 2.60 0.00 0.000 4 0.000 0.056 2759 931 1640

19021 1.14 304.7 246.1 11.2 919 19026 0.00 2.50 0.00 0.000 6 0.000 0.038 2759 2352 1640

19353 1.14 304.7 210.5 10.6 935 19357 0.00 2.58 0.00 0.000 4 0.000 0.056 2760 939 1641

19451 1.14 304.7 200.3 10.5 939 19458 0.00 2.47 0.00 0.000 6 0.000 0.036 2759 2342 1642

19767 1.14 304.7 170.1 9.8 955 19771 0.00 2.55 0.00 0.000 4 0.000 0.056 2759 938 1642

19860 1.14 304.7 160.2 9.8 959 19865 0.00 2.47 0.00 0.000 6 0.000 0.036 2759 2346 1642

20182 1.14 304.7 128.6 9.6 975 20186 0.00 2.60 0.00 0.000 4 0.000 0.056 2760 932 1642

20269 1.14 304.7 119.2 9.7 979 20274 0.00 2.50 0.00 0.000 6 0.000 0.037 2759 2351 1642

20598 1.14 304.7 87.9 9.8 995 20602 0.00 2.60 0.00 0.000 4 0.000 0.056 2760 936 1643

20681 1.14 304.7 79.9 9.1 999 20685 0.00 2.47 0.00 0.000 6 0.000 0.038 2758 2351 1643

21006 1.14 304.7 47.3 9.8 1015 21011 0.00 2.60 0.00 0.000 4 0.000 0.057 2759 938 1644

21128 1.14 304.7 35.0 10.4 1020 21135 0.00 2.47 0.00 0.000 6 0.000 0.037 2759 2342 1644

21445 1.14 304.7 3.9 8.6 1036 21450 0.00 2.58 0.00 0.000 4 0.000 0.054 2759 931 1644

21472 end climb: SURFACE_DEPTH_REACHED

state 21472 begin surface coast

21494 end surface coast: CONTROL_FINISHED_OK

state 21494 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	83	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-77835.094	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	084508,6142.859,-849.044,31,1.3,31,-9.2	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.207,-0.026
_SM_DEPTHo	1.95	KALMAN_X	93904.0,26.1,-4749.5,-105789.7,21319.2
_SM_ANGLEo	-58.4	KALMAN_Y	151253.4,-249.5,807.0,-133686.1,9321.9
GPS2	085015,6142.934,-848.933,14,1.3,14,-9.2	MHEAD_RNG_PITCHd_Wd	272.2,23168,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.2,1.018923	XPDR_PINGS	0
SM_CCo	21574,0.00,0.000,0,0,1643,302.95	ALTIM_BOTTOM_PING	725.4,66.1
SM_GC	1.98,11.80,0.00,0.00,0.035,0.000,0.000,28,1917,1643,-11.28,0.48,302.95	_24V_AH	23.2,24.245
IRIDIUM_FIX	6112.75,-900.24,261107,060652	_10V_AH	10.1,10.386
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53646,1038
HUMID	2077	CFSIZE	260165632,253804544
INTERNAL_PRESSURE	9.23864	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,33,0,0
TCM_TEMP	18.80	GPS	261107,145156,6145.322,-857.366,40,1.0,40,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	83.02	SBE_CT	762	24	424.37
Roll_motor	158	84	310.10	SBE_O2	702	19	309.50
VBD_pump_during_apogee	377	1418	12441.15	WL_BB2F	595	105	1449.68
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	37	103	89.76	nil	0	0	0.00
Iridium_during_connect	27	160	100.33	nil	0	0	0.00
Iridium_during_xfer	147	223	761.92
Transponder_ping	6	420	60.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.99
TT8	1908	19	381.71
LPSleep	16695	2	369.29
TT8_Active	521	19	104.32
TT8_Sampling	2393	39	962.04
TT8_CF8	361	45	167.24
TT8_Kalman	33	81	27.56
Analog_circuits	1696	12	205.56
GPS_charging	0	0	0.00
Compass	2344	8	189.46
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	82	0.00	0.00	-61.78	0.000	2	0.000	0.000	31	1913	2907
84	-0.95	-146.6	3.5	-3.4	3	119	11.88	2.65	-17.58	0.000	4	0.139	0.075	2286	489	3477
253	-0.95	-146.6	18.5	-8.2	10	260	0.00	2.50	0.00	0.000	6	0.000	0.038	2287	1904	3477
570	-0.95	-146.6	42.5	-7.0	26	571	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1904	3477
878	-0.95	-146.6	65.4	-7.3	41	879	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1904	3476
1188	-0.95	-146.6	87.0	-6.6	56	1189	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
1497	-0.95	-146.6	107.7	-6.6	71	1501	0.00	2.47	0.00	0.000	4	0.000	0.045	2287	3292	3477
1550	-0.95	-146.6	111.6	-7.3	73	1558	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1891	3476
1868	-0.95	-146.6	132.8	-6.7	89	1872	0.00	2.50	0.00	0.000	4	0.000	0.045	2287	3292	3477
1933	-0.95	-146.6	137.2	-6.3	92	1938	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1902	3476
2260	-0.95	-146.6	158.0	-6.2	108	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3477
2570	-0.95	-146.6	176.0	-5.8	123	2574	0.00	2.50	0.00	0.000	4	0.000	0.044	2287	3301	3476
2632	-0.95	-146.6	179.9	-6.1	126	2636	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1898	3477
2957	-0.95	-146.6	199.0	-6.1	142	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
3266	-0.95	-146.6	218.8	-6.7	157	3267	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3476
3575	-0.95	-146.6	240.6	-7.4	172	3576	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
3885	-0.95	-146.6	260.4	-6.1	187	3886	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
4194	-0.95	-146.6	280.2	-6.7	202	4195	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
4503	-0.95	-146.6	303.6	-7.3	217	4504	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
4812	-0.95	-146.6	324.4	-6.3	232	4814	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
5122	-0.95	-146.6	342.5	-5.6	247	5127	0.00	2.50	0.00	0.000	4	0.000	0.045	2287	3295	3477
5188	-0.95	-146.6	346.4	-6.0	250	5192	0.00	2.53	0.00	0.000	6	0.000	0.042	2286	1898	3476
5515	-0.95	-146.6	364.4	-5.7	266	5516	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
5824	-0.95	-146.6	383.2	-6.3	281	5826	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3477
6134	-0.95	-146.6	404.5	-7.1	296	6138	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3292	3476
6204	-0.95	-146.6	410.1	-8.5	299	6209	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1907	3476
6526	-0.95	-146.6	433.4	-6.8	315	6527	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3477
6835	-0.95	-146.6	452.8	-5.8	330	6836	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
7145	-0.95	-146.6	469.2	-5.6	345	7146	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
7454	-0.95	-146.6	483.8	-4.0	360	7455	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
7763	-0.95	-146.6	497.9	-4.5	375	7764	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
8072	-0.95	-146.6	509.4	-3.2	390	8074	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
8381	-0.95	-146.6	526.6	-5.6	405	8386	0.00	2.50	0.00	0.000	4	0.000	0.051	2287	3293	3477
8537	-0.95	-146.6	539.1	-6.5	412	8542	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1903	3476
8864	-0.95	-146.6	563.7	-7.4	428	8865	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3477
9173	-0.95	-146.6	572.3	-15.3	443	9177	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3298	3477
9215	-0.95	-146.6	579.9	-18.9	445	9220	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1903	3476
9544	-0.95	-146.6	601.9	-7.8	461	9545	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3476
9852	-0.95	-146.6	603.5	-1.2	476	9853	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
10161	-0.95	-146.6	630.7	-7.1	491	10166	0.00	2.53	0.00	0.000	4	0.000	0.057	2286	3293	3476
10278	-0.95	-146.6	635.1	-3.1	496	10282	0.00	2.50	0.00	0.000	6	0.000	0.050	2287	1902	3476
10599	-0.95	-146.6	646.8	-4.9	512	10603	0.00	2.55	0.00	0.000	4	0.000	0.059	2287	3292	3476
10647	-0.95	-146.6	649.9	-6.8	514	10656	0.00	2.55	0.00	0.000	6	0.000	0.050	2287	1900	3475
10970	-0.95	-146.6	667.1	-6.7	530	10971	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
11279	-0.95	-146.6	685.0	-6.4	545	11280	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
11589	-0.95	-146.6	698.1	-2.9	560	11590	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
11898	-0.95	-146.6	712.4	-3.5	575	11902	0.00	2.58	0.00	0.000	4	0.000	0.067	2287	3290	3471
11936	-0.95	-146.6	712.7	0.7	577	11941	0.00	2.55	0.00	0.000	6	0.000	0.055	2287	1899	3471
12262	-0.95	-146.6	720.1	-2.0	593	12263	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3469
12571	-0.95	-146.6	733.5	-5.2	608	12576	0.00	2.67	0.00	0.000	4	0.000	0.083	2287	488	3467
12614	-0.95	-146.6	737.0	-8.5	610	12619	0.00	2.53	0.00	0.000	6	0.000	0.055	2287	1885	3466
12942	-0.95	-146.6	751.0	-4.0	626	12943	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1887	3465
13251	-0.95	-146.6	772.7	-3.5	641	13256	0.00	2.67	0.00	0.000	4	0.000	0.084	2287	488	3464
13317	-0.95	-146.6	775.6	-2.5	644	13322	0.00	2.55	0.00	0.000	6	0.000	0.057	2287	1905	3464
13498	end dive: NO_VERTICAL_VELOCITY
state	13498	begin apogee
13503	-0.36	0.0	776.3	0.0	653	13629	0.60	0.00	123.00	1.419	6	0.073	0.000	2419	2349	2878
13630	end apogee: CONTROL_FINISHED_OK
state	13630	begin climb
13631	0.95	146.6	775.0	0.0	659	13762	1.27	2.75	123.12	1.349	4	0.059	0.072	2697	933	2280
14015	0.95	146.6	747.6	8.8	676	14022	0.00	2.60	0.00	0.000	6	0.000	0.054	2696	2348	2280
14330	0.95	146.6	714.6	6.8	692	14334	0.00	2.65	0.00	0.000	4	0.000	0.071	2696	941	2278
14486	1.14	304.7	715.1	1.3	699	14626	0.22	2.58	131.80	1.343	6	0.040	0.053	2759	2353	1635
14932	1.14	304.7	663.1	9.4	721	14937	0.00	2.70	0.00	0.000	4	0.000	0.076	2759	942	1635
14992	1.14	304.7	657.3	9.3	724	14997	0.00	2.58	0.00	0.000	6	0.000	0.052	2759	2352	1635
15318	1.14	304.7	633.0	6.4	740	15323	0.00	2.67	0.00	0.000	4	0.000	0.074	2759	942	1634
15384	1.14	304.7	628.7	6.5	743	15389	0.00	2.60	0.00	0.000	6	0.000	0.052	2759	2350	1634
15711	1.14	304.7	592.3	13.1	759	15712	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2352	1633
16020	1.14	304.7	555.2	10.8	774	16024	0.00	2.55	0.00	0.000	4	0.000	0.061	2759	3756	1633
16187	1.14	304.7	536.5	10.7	781	16193	0.00	2.55	0.00	0.000	6	0.000	0.046	2759	2348	1633
16502	1.14	304.7	499.1	12.4	797	16506	0.00	2.62	0.00	0.000	4	0.000	0.065	2759	932	1634
16572	1.14	304.7	489.9	12.6	800	16577	0.00	2.55	0.00	0.000	6	0.000	0.041	2759	2356	1633
16894	1.14	304.7	449.0	12.0	816	16898	0.00	2.62	0.00	0.000	4	0.000	0.061	2759	931	1634
16987	1.14	304.7	437.8	12.0	820	16992	0.00	2.55	0.00	0.000	6	0.000	0.040	2759	2352	1635
17309	1.14	304.7	404.8	9.6	836	17313	0.00	2.62	0.00	0.000	4	0.000	0.060	2759	936	1636
17391	1.14	304.7	397.0	9.0	840	17396	0.00	2.50	0.00	0.000	6	0.000	0.039	2759	2356	1637
17717	1.14	304.7	368.1	9.3	856	17722	0.00	2.60	0.00	0.000	4	0.000	0.057	2759	939	1638
17794	1.14	304.7	360.4	8.7	859	17801	0.00	2.50	0.00	0.000	6	0.000	0.038	2759	2351	1638
18110	1.14	304.7	331.4	8.8	875	18114	0.00	2.60	0.00	0.000	4	0.000	0.058	2759	932	1639
18175	1.14	304.7	325.6	8.3	878	18180	0.00	2.53	0.00	0.000	6	0.000	0.038	2759	2346	1640
18502	1.14	304.7	297.7	9.1	894	18506	0.00	2.58	0.00	0.000	4	0.000	0.058	2759	940	1640
18600	1.14	304.7	288.0	9.4	898	18607	0.00	2.50	0.00	0.000	6	0.000	0.038	2759	2353	1640
18916	1.14	304.7	257.6	10.1	914	18920	0.00	2.60	0.00	0.000	4	0.000	0.056	2759	931	1640
19021	1.14	304.7	246.1	11.2	919	19026	0.00	2.50	0.00	0.000	6	0.000	0.038	2759	2352	1640
19353	1.14	304.7	210.5	10.6	935	19357	0.00	2.58	0.00	0.000	4	0.000	0.056	2760	939	1641
19451	1.14	304.7	200.3	10.5	939	19458	0.00	2.47	0.00	0.000	6	0.000	0.036	2759	2342	1642
19767	1.14	304.7	170.1	9.8	955	19771	0.00	2.55	0.00	0.000	4	0.000	0.056	2759	938	1642
19860	1.14	304.7	160.2	9.8	959	19865	0.00	2.47	0.00	0.000	6	0.000	0.036	2759	2346	1642
20182	1.14	304.7	128.6	9.6	975	20186	0.00	2.60	0.00	0.000	4	0.000	0.056	2760	932	1642
20269	1.14	304.7	119.2	9.7	979	20274	0.00	2.50	0.00	0.000	6	0.000	0.037	2759	2351	1642
20598	1.14	304.7	87.9	9.8	995	20602	0.00	2.60	0.00	0.000	4	0.000	0.056	2760	936	1643
20681	1.14	304.7	79.9	9.1	999	20685	0.00	2.47	0.00	0.000	6	0.000	0.038	2758	2351	1643
21006	1.14	304.7	47.3	9.8	1015	21011	0.00	2.60	0.00	0.000	4	0.000	0.057	2759	938	1644
21128	1.14	304.7	35.0	10.4	1020	21135	0.00	2.47	0.00	0.000	6	0.000	0.037	2759	2342	1644
21445	1.14	304.7	3.9	8.6	1036	21450	0.00	2.58	0.00	0.000	4	0.000	0.054	2759	931	1644
21472	end climb: SURFACE_DEPTH_REACHED
state	21472	begin surface coast
21494	end surface coast: CONTROL_FINISHED_OK
state	21494	begin surface