Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 85 * 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 85 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 29 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 -77887.57 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 -77887.57

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 29 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 85 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 211007,6146.184,-853.031,40,1.1,40,-9.3 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.189,-0.088

_SM_DEPTHo 2.10 KALMAN_X 107280.5,1357.4,-21824.7,-106981.4,266651.5

_SM_ANGLEo -60.7 KALMAN_Y 173666.2,197.1,-9731.1,-139901.9,131189.4

GPS2 211515,6146.219,-852.898,14,1.3,14,-9.2 MHEAD_RNG_PITCHd_Wd 254.2,19506,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.3,1.027219 XPDR_PINGS 1

SM_CCo 19831,65.12,0.781,8,0,1655,300.00 ALTIM_BOTTOM_PING 651.4,67.1

SM_GC 1.91,0.00,0.00,65.12,0.000,0.000,0.781,35,1884,1655,-11.32,-0.48,300.00 _24V_AH 23.3,24.533

IRIDIUM_FIX 6121.73,-758.18,261107,181847 _10V_AH 10.1,10.579

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47458,960

HUMID 2029 CFSIZE 260165632,253673472

INTERNAL_PRESSURE 9.23864 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,29,8,0

TCM_TEMP 16.90 GPS 271107,024938,6144.870,-854.750,37,1.2,37,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 140 83.80 SBE_CT 705 24 394.49

Roll_motor 174 73 299.72 SBE_O2 649 19 287.52

VBD_pump_during_apogee 316 1358 10021.09 WL_BB2F 596 105 1458.68

VBD_pump_during_surface 65 780 1184.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 86.99 nil 0 0 0.00

Iridium_during_connect 27 160 102.45 nil 0 0 0.00

Iridium_during_xfer 145 223 757.42

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.91

TT8 1788 19 357.60

LPSleep 15245 2 337.21

TT8_Active 608 19 121.67

TT8_Sampling 2245 39 902.46

TT8_CF8 356 45 165.05

TT8_Kalman 33 81 27.58

Analog_circuits 1704 12 206.54

GPS_charging 0 0 0.00

Compass 2198 8 177.63

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

19 -0.95 -146.6 0.0 0.0 0 83 0.00 0.00 -62.35 0.000 2 0.000 0.000 31 1879 2956

86 -0.95 -146.6 4.0 -4.5 3 116 11.95 0.00 -15.27 0.000 6 0.140 0.000 2287 1880 3477

417 -0.95 -146.6 29.7 -7.4 19 418 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1880 3477

725 -0.95 -146.6 52.0 -7.5 34 729 0.00 2.55 0.00 0.000 4 0.000 0.045 2287 3301 3477

812 -0.95 -146.6 59.3 -8.7 38 817 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1906 3477

1139 -0.95 -146.6 85.8 -7.6 54 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3477

1449 -0.95 -146.6 109.5 -7.0 69 1453 0.00 2.50 0.00 0.000 4 0.000 0.044 2287 3304 3478

1503 -0.95 -146.6 114.3 -9.0 71 1510 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1906 3477

1819 -0.95 -146.6 137.6 -6.1 87 1820 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3477

2127 -0.95 -146.6 159.9 -7.6 102 2132 0.00 2.50 0.00 0.000 4 0.000 0.046 2287 3304 3478

2182 -0.95 -146.6 164.0 -7.4 104 2189 0.00 2.53 0.00 0.000 6 0.000 0.041 2287 1906 3478

2498 -0.95 -146.6 184.3 -6.3 120 2499 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3478

2807 -0.95 -146.6 206.5 -7.2 135 2811 0.00 2.50 0.00 0.000 4 0.000 0.045 2286 3304 3477

2867 -0.95 -146.6 211.2 -7.4 138 2872 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1901 3477

3193 -0.95 -146.6 235.9 -7.5 154 3194 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3477

3502 -0.95 -146.6 258.9 -7.2 169 3506 0.00 2.53 0.00 0.000 4 0.000 0.045 2287 3310 3478

3586 -0.95 -146.6 265.1 -7.4 173 3590 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1901 3477

3911 -0.95 -146.6 288.1 -7.3 189 3913 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3478

4220 -0.95 -146.6 310.6 -7.4 204 4224 0.00 2.53 0.00 0.000 4 0.000 0.047 2287 3311 3477

4287 -0.95 -146.6 315.9 -8.0 207 4292 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1901 3477

4607 -0.95 -146.6 340.3 -7.8 223 4608 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3477

4916 -0.95 -146.6 364.2 -7.7 238 4918 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3477

5226 -0.95 -146.6 385.4 -6.5 253 5230 0.00 2.53 0.00 0.000 4 0.000 0.047 2287 3310 3477

5296 -0.95 -146.6 390.5 -8.1 256 5301 0.00 2.55 0.00 0.000 6 0.000 0.043 2287 1901 3478

5618 -0.95 -146.6 412.1 -6.5 272 5619 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

5927 -0.95 -146.6 431.3 -6.6 287 5931 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3307 3477

5988 -0.95 -146.6 435.5 -7.4 290 5992 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1897 3478

6314 -0.95 -146.6 458.5 -7.1 306 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3477

6624 -0.95 -146.6 477.7 -6.1 321 6625 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3478

6933 -0.95 -146.6 498.9 -8.0 336 6934 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3477

7242 -0.95 -146.6 524.0 -7.3 351 7243 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3477

7552 -0.95 -146.6 541.7 -5.6 366 7553 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3477

7861 -0.95 -146.6 561.6 -6.8 381 7865 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3302 3477

8072 -0.95 -146.6 576.0 -6.3 390 8079 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1902 3477

8388 -0.95 -146.6 594.5 -5.8 406 8392 0.00 2.55 0.00 0.000 4 0.000 0.056 2287 3303 3477

8453 -0.95 -146.6 598.6 -6.3 409 8458 0.00 2.58 0.00 0.000 6 0.000 0.048 2287 1900 3477

8780 -0.95 -146.6 617.9 -5.2 425 8781 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3477

9089 -0.95 -146.6 636.4 -6.5 440 9093 0.00 2.62 0.00 0.000 4 0.000 0.074 2287 493 3476

9194 -0.95 -146.6 644.5 -8.1 445 9199 0.00 2.50 0.00 0.000 6 0.000 0.051 2287 1905 3476

9521 -0.95 -146.6 669.8 -6.0 461 9525 0.00 2.58 0.00 0.000 4 0.000 0.064 2286 3304 3476

9574 -0.95 -146.6 673.5 -6.8 463 9582 0.00 2.58 0.00 0.000 6 0.000 0.056 2287 1901 3475

9890 -0.95 -146.6 693.6 -6.0 479 9891 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3474

10157 end dive: BOTTOM_OBSTACLE_DETECTED

state 10157 begin apogee

10162 -0.36 0.0 708.6 6.4 492 10288 0.62 0.00 123.25 1.312 6 0.092 0.000 2418 2341 2878

10289 end apogee: CONTROL_FINISHED_OK

state 10289 begin climb

10290 0.95 146.6 714.1 0.0 498 10417 1.27 0.00 121.72 1.278 6 0.060 0.000 2696 2341 2280

10721 0.95 146.6 699.9 6.1 519 10725 0.00 2.65 0.00 0.000 4 0.000 0.069 2697 3759 2279

10792 0.95 146.6 694.7 7.6 522 10796 0.00 2.58 0.00 0.000 6 0.000 0.048 2697 2350 2278

11113 0.95 146.6 671.7 7.0 538 11117 0.00 2.67 0.00 0.000 4 0.000 0.073 2697 941 2278

11183 0.95 146.6 667.2 7.1 541 11189 0.00 2.60 0.00 0.000 6 0.000 0.051 2697 2351 2278

11505 0.96 159.4 648.4 5.6 557 11518 0.00 0.00 10.98 1.358 6 0.000 0.000 2696 2351 2228

11814 0.96 159.4 628.7 6.1 572 11819 0.00 2.67 0.00 0.000 4 0.000 0.069 2697 930 2227

11930 0.98 174.7 622.0 5.5 577 11950 0.00 2.60 13.95 1.343 6 0.000 0.051 2697 2363 2165

12271 0.98 174.7 596.5 9.6 594 12275 0.00 2.67 0.00 0.000 4 0.000 0.067 2697 939 2163

12354 1.05 227.4 589.8 4.4 598 12404 0.12 2.58 43.83 1.301 6 0.057 0.049 2733 2359 1950

12725 1.05 227.4 568.2 6.3 616 12729 0.00 2.58 0.00 0.000 4 0.000 0.061 2733 3756 1949

12830 1.05 227.4 560.1 8.4 621 12835 0.00 2.55 0.00 0.000 6 0.000 0.046 2733 2348 1949

13155 1.05 227.4 537.4 9.8 637 13160 0.00 2.58 0.00 0.000 4 0.000 0.058 2733 3751 1949

13261 1.05 227.4 527.5 7.7 642 13266 0.00 2.50 0.00 0.000 6 0.000 0.044 2733 2348 1948

13586 1.05 227.4 499.4 10.8 658 13591 0.00 2.60 0.00 0.000 4 0.000 0.064 2733 938 1949

13641 1.05 227.4 493.3 10.4 660 13648 0.00 2.53 0.00 0.000 6 0.000 0.042 2733 2343 1948

13957 1.05 227.4 462.6 9.1 676 13961 0.00 2.60 0.00 0.000 4 0.000 0.060 2733 942 1949

14022 1.05 227.4 456.5 9.2 679 14027 0.00 2.53 0.00 0.000 6 0.000 0.041 2733 2352 1949

14349 1.05 227.4 428.0 8.5 695 14353 0.00 2.58 0.00 0.000 4 0.000 0.058 2733 942 1950

14419 1.05 227.4 421.8 8.2 698 14424 0.00 2.50 0.00 0.000 6 0.000 0.040 2733 2340 1950

14740 1.05 227.4 395.4 8.1 714 14745 0.00 2.55 0.00 0.000 4 0.000 0.057 2733 942 1951

14806 1.05 227.4 389.9 8.1 717 14811 0.00 2.50 0.00 0.000 6 0.000 0.039 2733 2346 1952

15133 1.05 227.4 364.7 7.7 733 15137 0.00 2.58 0.00 0.000 4 0.000 0.057 2733 939 1953

15209 1.05 227.4 358.8 7.3 736 15216 0.00 2.50 0.00 0.000 6 0.000 0.038 2733 2344 1953

15525 1.05 227.4 334.6 7.9 752 15529 0.00 2.58 0.00 0.000 4 0.000 0.056 2732 942 1953

15595 1.05 227.4 328.2 8.9 755 15600 0.00 2.50 0.00 0.000 6 0.000 0.038 2733 2352 1953

15917 1.05 227.4 300.4 8.7 771 15921 0.00 2.60 0.00 0.000 4 0.000 0.055 2733 934 1954

15993 1.05 227.4 293.2 9.2 774 16000 0.00 2.53 0.00 0.000 6 0.000 0.038 2733 2351 1955

16309 1.05 227.4 266.1 8.3 790 16313 0.00 2.58 0.00 0.000 4 0.000 0.054 2732 935 1955

16407 1.05 227.4 257.6 8.9 794 16414 0.00 2.53 0.00 0.000 6 0.000 0.037 2733 2352 1955

16723 1.05 227.4 231.7 8.0 810 16727 0.00 2.55 0.00 0.000 4 0.000 0.054 2733 939 1955

16816 1.05 227.4 224.0 8.0 814 16821 0.00 2.47 0.00 0.000 6 0.000 0.037 2733 2342 1955

17137 1.05 227.4 199.7 7.6 830 17142 0.00 2.55 0.00 0.000 4 0.000 0.054 2733 941 1956

17225 1.05 227.4 192.7 7.6 834 17230 0.00 2.47 0.00 0.000 6 0.000 0.037 2733 2342 1956

17552 1.05 227.4 167.9 7.6 850 17556 0.00 2.55 0.00 0.000 4 0.000 0.054 2733 941 1956

17635 1.05 227.4 160.8 8.8 854 17639 0.00 2.45 0.00 0.000 6 0.000 0.037 2733 2351 1956

17960 1.05 227.4 135.0 8.1 870 17965 0.00 2.58 0.00 0.000 4 0.000 0.054 2733 940 1957

18037 1.05 227.4 128.4 7.8 873 18045 0.00 2.47 0.00 0.000 6 0.000 0.037 2732 2342 1958

18354 1.05 227.4 104.7 7.2 889 18359 0.00 2.55 0.00 0.000 4 0.000 0.054 2733 941 1958

18416 1.05 227.4 100.3 7.0 892 18420 0.00 2.45 0.00 0.000 6 0.000 0.038 2733 2353 1958

18741 1.05 227.4 76.7 7.9 908 18746 0.00 2.58 0.00 0.000 4 0.000 0.054 2733 940 1958

18852 1.05 227.4 68.0 7.1 913 18856 0.00 2.50 0.00 0.000 6 0.000 0.037 2733 2348 1958

19179 1.05 227.4 45.4 7.7 929 19183 0.00 2.58 0.00 0.000 4 0.000 0.054 2733 939 1958

19240 1.05 227.4 40.6 8.2 932 19244 0.00 2.47 0.00 0.000 6 0.000 0.038 2733 2353 1958

19565 1.05 227.4 16.5 6.9 948 19570 0.00 2.58 0.00 0.000 4 0.000 0.054 2733 941 1959

19614 1.05 227.4 13.2 6.8 950 19626 0.00 2.47 2.90 0.849 6 0.000 0.038 2733 2343 1950

19788 end climb: SURFACE_DEPTH_REACHED

state 19788 begin surface coast

19812 end surface coast: CONTROL_FINISHED_OK

state 19812 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	85	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	29	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	-77887.57	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	211007,6146.184,-853.031,40,1.1,40,-9.3	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.189,-0.088
_SM_DEPTHo	2.10	KALMAN_X	107280.5,1357.4,-21824.7,-106981.4,266651.5
_SM_ANGLEo	-60.7	KALMAN_Y	173666.2,197.1,-9731.1,-139901.9,131189.4
GPS2	211515,6146.219,-852.898,14,1.3,14,-9.2	MHEAD_RNG_PITCHd_Wd	254.2,19506,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.3,1.027219	XPDR_PINGS	1
SM_CCo	19831,65.12,0.781,8,0,1655,300.00	ALTIM_BOTTOM_PING	651.4,67.1
SM_GC	1.91,0.00,0.00,65.12,0.000,0.000,0.781,35,1884,1655,-11.32,-0.48,300.00	_24V_AH	23.3,24.533
IRIDIUM_FIX	6121.73,-758.18,261107,181847	_10V_AH	10.1,10.579
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47458,960
HUMID	2029	CFSIZE	260165632,253673472
INTERNAL_PRESSURE	9.23864	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,29,8,0
TCM_TEMP	16.90	GPS	271107,024938,6144.870,-854.750,37,1.2,37,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	140	83.80	SBE_CT	705	24	394.49
Roll_motor	174	73	299.72	SBE_O2	649	19	287.52
VBD_pump_during_apogee	316	1358	10021.09	WL_BB2F	596	105	1458.68
VBD_pump_during_surface	65	780	1184.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	86.99	nil	0	0	0.00
Iridium_during_connect	27	160	102.45	nil	0	0	0.00
Iridium_during_xfer	145	223	757.42
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.91
TT8	1788	19	357.60
LPSleep	15245	2	337.21
TT8_Active	608	19	121.67
TT8_Sampling	2245	39	902.46
TT8_CF8	356	45	165.05
TT8_Kalman	33	81	27.58
Analog_circuits	1704	12	206.54
GPS_charging	0	0	0.00
Compass	2198	8	177.63
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
19	-0.95	-146.6	0.0	0.0	0	83	0.00	0.00	-62.35	0.000	2	0.000	0.000	31	1879	2956
86	-0.95	-146.6	4.0	-4.5	3	116	11.95	0.00	-15.27	0.000	6	0.140	0.000	2287	1880	3477
417	-0.95	-146.6	29.7	-7.4	19	418	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1880	3477
725	-0.95	-146.6	52.0	-7.5	34	729	0.00	2.55	0.00	0.000	4	0.000	0.045	2287	3301	3477
812	-0.95	-146.6	59.3	-8.7	38	817	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1906	3477
1139	-0.95	-146.6	85.8	-7.6	54	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3477
1449	-0.95	-146.6	109.5	-7.0	69	1453	0.00	2.50	0.00	0.000	4	0.000	0.044	2287	3304	3478
1503	-0.95	-146.6	114.3	-9.0	71	1510	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1906	3477
1819	-0.95	-146.6	137.6	-6.1	87	1820	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3477
2127	-0.95	-146.6	159.9	-7.6	102	2132	0.00	2.50	0.00	0.000	4	0.000	0.046	2287	3304	3478
2182	-0.95	-146.6	164.0	-7.4	104	2189	0.00	2.53	0.00	0.000	6	0.000	0.041	2287	1906	3478
2498	-0.95	-146.6	184.3	-6.3	120	2499	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3478
2807	-0.95	-146.6	206.5	-7.2	135	2811	0.00	2.50	0.00	0.000	4	0.000	0.045	2286	3304	3477
2867	-0.95	-146.6	211.2	-7.4	138	2872	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1901	3477
3193	-0.95	-146.6	235.9	-7.5	154	3194	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3477
3502	-0.95	-146.6	258.9	-7.2	169	3506	0.00	2.53	0.00	0.000	4	0.000	0.045	2287	3310	3478
3586	-0.95	-146.6	265.1	-7.4	173	3590	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1901	3477
3911	-0.95	-146.6	288.1	-7.3	189	3913	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3478
4220	-0.95	-146.6	310.6	-7.4	204	4224	0.00	2.53	0.00	0.000	4	0.000	0.047	2287	3311	3477
4287	-0.95	-146.6	315.9	-8.0	207	4292	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1901	3477
4607	-0.95	-146.6	340.3	-7.8	223	4608	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3477
4916	-0.95	-146.6	364.2	-7.7	238	4918	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3477
5226	-0.95	-146.6	385.4	-6.5	253	5230	0.00	2.53	0.00	0.000	4	0.000	0.047	2287	3310	3477
5296	-0.95	-146.6	390.5	-8.1	256	5301	0.00	2.55	0.00	0.000	6	0.000	0.043	2287	1901	3478
5618	-0.95	-146.6	412.1	-6.5	272	5619	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
5927	-0.95	-146.6	431.3	-6.6	287	5931	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3307	3477
5988	-0.95	-146.6	435.5	-7.4	290	5992	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1897	3478
6314	-0.95	-146.6	458.5	-7.1	306	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3477
6624	-0.95	-146.6	477.7	-6.1	321	6625	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3478
6933	-0.95	-146.6	498.9	-8.0	336	6934	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3477
7242	-0.95	-146.6	524.0	-7.3	351	7243	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3477
7552	-0.95	-146.6	541.7	-5.6	366	7553	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3477
7861	-0.95	-146.6	561.6	-6.8	381	7865	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3302	3477
8072	-0.95	-146.6	576.0	-6.3	390	8079	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1902	3477
8388	-0.95	-146.6	594.5	-5.8	406	8392	0.00	2.55	0.00	0.000	4	0.000	0.056	2287	3303	3477
8453	-0.95	-146.6	598.6	-6.3	409	8458	0.00	2.58	0.00	0.000	6	0.000	0.048	2287	1900	3477
8780	-0.95	-146.6	617.9	-5.2	425	8781	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3477
9089	-0.95	-146.6	636.4	-6.5	440	9093	0.00	2.62	0.00	0.000	4	0.000	0.074	2287	493	3476
9194	-0.95	-146.6	644.5	-8.1	445	9199	0.00	2.50	0.00	0.000	6	0.000	0.051	2287	1905	3476
9521	-0.95	-146.6	669.8	-6.0	461	9525	0.00	2.58	0.00	0.000	4	0.000	0.064	2286	3304	3476
9574	-0.95	-146.6	673.5	-6.8	463	9582	0.00	2.58	0.00	0.000	6	0.000	0.056	2287	1901	3475
9890	-0.95	-146.6	693.6	-6.0	479	9891	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3474
10157	end dive: BOTTOM_OBSTACLE_DETECTED
state	10157	begin apogee
10162	-0.36	0.0	708.6	6.4	492	10288	0.62	0.00	123.25	1.312	6	0.092	0.000	2418	2341	2878
10289	end apogee: CONTROL_FINISHED_OK
state	10289	begin climb
10290	0.95	146.6	714.1	0.0	498	10417	1.27	0.00	121.72	1.278	6	0.060	0.000	2696	2341	2280
10721	0.95	146.6	699.9	6.1	519	10725	0.00	2.65	0.00	0.000	4	0.000	0.069	2697	3759	2279
10792	0.95	146.6	694.7	7.6	522	10796	0.00	2.58	0.00	0.000	6	0.000	0.048	2697	2350	2278
11113	0.95	146.6	671.7	7.0	538	11117	0.00	2.67	0.00	0.000	4	0.000	0.073	2697	941	2278
11183	0.95	146.6	667.2	7.1	541	11189	0.00	2.60	0.00	0.000	6	0.000	0.051	2697	2351	2278
11505	0.96	159.4	648.4	5.6	557	11518	0.00	0.00	10.98	1.358	6	0.000	0.000	2696	2351	2228
11814	0.96	159.4	628.7	6.1	572	11819	0.00	2.67	0.00	0.000	4	0.000	0.069	2697	930	2227
11930	0.98	174.7	622.0	5.5	577	11950	0.00	2.60	13.95	1.343	6	0.000	0.051	2697	2363	2165
12271	0.98	174.7	596.5	9.6	594	12275	0.00	2.67	0.00	0.000	4	0.000	0.067	2697	939	2163
12354	1.05	227.4	589.8	4.4	598	12404	0.12	2.58	43.83	1.301	6	0.057	0.049	2733	2359	1950
12725	1.05	227.4	568.2	6.3	616	12729	0.00	2.58	0.00	0.000	4	0.000	0.061	2733	3756	1949
12830	1.05	227.4	560.1	8.4	621	12835	0.00	2.55	0.00	0.000	6	0.000	0.046	2733	2348	1949
13155	1.05	227.4	537.4	9.8	637	13160	0.00	2.58	0.00	0.000	4	0.000	0.058	2733	3751	1949
13261	1.05	227.4	527.5	7.7	642	13266	0.00	2.50	0.00	0.000	6	0.000	0.044	2733	2348	1948
13586	1.05	227.4	499.4	10.8	658	13591	0.00	2.60	0.00	0.000	4	0.000	0.064	2733	938	1949
13641	1.05	227.4	493.3	10.4	660	13648	0.00	2.53	0.00	0.000	6	0.000	0.042	2733	2343	1948
13957	1.05	227.4	462.6	9.1	676	13961	0.00	2.60	0.00	0.000	4	0.000	0.060	2733	942	1949
14022	1.05	227.4	456.5	9.2	679	14027	0.00	2.53	0.00	0.000	6	0.000	0.041	2733	2352	1949
14349	1.05	227.4	428.0	8.5	695	14353	0.00	2.58	0.00	0.000	4	0.000	0.058	2733	942	1950
14419	1.05	227.4	421.8	8.2	698	14424	0.00	2.50	0.00	0.000	6	0.000	0.040	2733	2340	1950
14740	1.05	227.4	395.4	8.1	714	14745	0.00	2.55	0.00	0.000	4	0.000	0.057	2733	942	1951
14806	1.05	227.4	389.9	8.1	717	14811	0.00	2.50	0.00	0.000	6	0.000	0.039	2733	2346	1952
15133	1.05	227.4	364.7	7.7	733	15137	0.00	2.58	0.00	0.000	4	0.000	0.057	2733	939	1953
15209	1.05	227.4	358.8	7.3	736	15216	0.00	2.50	0.00	0.000	6	0.000	0.038	2733	2344	1953
15525	1.05	227.4	334.6	7.9	752	15529	0.00	2.58	0.00	0.000	4	0.000	0.056	2732	942	1953
15595	1.05	227.4	328.2	8.9	755	15600	0.00	2.50	0.00	0.000	6	0.000	0.038	2733	2352	1953
15917	1.05	227.4	300.4	8.7	771	15921	0.00	2.60	0.00	0.000	4	0.000	0.055	2733	934	1954
15993	1.05	227.4	293.2	9.2	774	16000	0.00	2.53	0.00	0.000	6	0.000	0.038	2733	2351	1955
16309	1.05	227.4	266.1	8.3	790	16313	0.00	2.58	0.00	0.000	4	0.000	0.054	2732	935	1955
16407	1.05	227.4	257.6	8.9	794	16414	0.00	2.53	0.00	0.000	6	0.000	0.037	2733	2352	1955
16723	1.05	227.4	231.7	8.0	810	16727	0.00	2.55	0.00	0.000	4	0.000	0.054	2733	939	1955
16816	1.05	227.4	224.0	8.0	814	16821	0.00	2.47	0.00	0.000	6	0.000	0.037	2733	2342	1955
17137	1.05	227.4	199.7	7.6	830	17142	0.00	2.55	0.00	0.000	4	0.000	0.054	2733	941	1956
17225	1.05	227.4	192.7	7.6	834	17230	0.00	2.47	0.00	0.000	6	0.000	0.037	2733	2342	1956
17552	1.05	227.4	167.9	7.6	850	17556	0.00	2.55	0.00	0.000	4	0.000	0.054	2733	941	1956
17635	1.05	227.4	160.8	8.8	854	17639	0.00	2.45	0.00	0.000	6	0.000	0.037	2733	2351	1956
17960	1.05	227.4	135.0	8.1	870	17965	0.00	2.58	0.00	0.000	4	0.000	0.054	2733	940	1957
18037	1.05	227.4	128.4	7.8	873	18045	0.00	2.47	0.00	0.000	6	0.000	0.037	2732	2342	1958
18354	1.05	227.4	104.7	7.2	889	18359	0.00	2.55	0.00	0.000	4	0.000	0.054	2733	941	1958
18416	1.05	227.4	100.3	7.0	892	18420	0.00	2.45	0.00	0.000	6	0.000	0.038	2733	2353	1958
18741	1.05	227.4	76.7	7.9	908	18746	0.00	2.58	0.00	0.000	4	0.000	0.054	2733	940	1958
18852	1.05	227.4	68.0	7.1	913	18856	0.00	2.50	0.00	0.000	6	0.000	0.037	2733	2348	1958
19179	1.05	227.4	45.4	7.7	929	19183	0.00	2.58	0.00	0.000	4	0.000	0.054	2733	939	1958
19240	1.05	227.4	40.6	8.2	932	19244	0.00	2.47	0.00	0.000	6	0.000	0.038	2733	2353	1958
19565	1.05	227.4	16.5	6.9	948	19570	0.00	2.58	0.00	0.000	4	0.000	0.054	2733	941	1959
19614	1.05	227.4	13.2	6.8	950	19626	0.00	2.47	2.90	0.849	6	0.000	0.038	2733	2343	1950
19788	end climb: SURFACE_DEPTH_REACHED
state	19788	begin surface coast
19812	end surface coast: CONTROL_FINISHED_OK
state	19812	begin surface