Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 96 * 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 96 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 11 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 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 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 -2077254 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 550

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 -2077254

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 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 11 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 96 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 054132,6129.655,-915.448,38,2.0,38,-9.4 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.034,0.219

_SM_DEPTHo 1.58 KALMAN_X 15097.6,-678.7,-348.4,-22665.7,7211.3

_SM_ANGLEo -59.6 KALMAN_Y 90457.9,407.2,748.3,-107484.0,-15417.4

GPS2 054551,6129.646,-915.444,13,1.9,13,-9.4 MHEAD_RNG_PITCHd_Wd 0.5,28439,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.015567 ALTIM_BOTTOM_PING 625.1,112.8

SM_CCo 18090,0.00,0.000,0,0,1458,333.12 _24V_AH 23.6,18.933

SM_GC 1.69,11.12,0.00,0.00,0.042,0.000,0.000,73,2402,1458,-10.68,0.08,333.12 _10V_AH 10.2,8.325

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44234,877

TT8_MAMPS 0.02301 CFSIZE 260165632,254038016

HUMID 2093 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 17.40 GPS 271107,104946,6133.800,-915.069,42,2.9,61,-9.4

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 175 104.67 SBE_CT 613 24 347.46

Roll_motor 169 84 338.39 SBE_O2 629 19 282.20

VBD_pump_during_apogee 389 1145 10538.06 WL_BB2F 531 105 1317.09

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 32 103 79.38 nil 0 0 0.00

Iridium_during_connect 24 160 92.58 nil 0 0 0.00

Iridium_during_xfer 115 223 606.34

Transponder_ping 5 420 54.52

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.67

TT8 1572 19 317.57

LPSleep 14117 2 315.35

TT8_Active 527 19 106.49

TT8_Sampling 1834 39 744.61

TT8_CF8 304 45 142.09

TT8_Kalman 33 81 27.84

Analog_circuits 1477 12 180.84

GPS_charging 0 0 0.00

Compass 1793 8 146.36

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 -0.85 -146.6 0.0 0.0 0 82 0.00 0.00 -62.28 0.000 2 0.000 0.000 69 2405 3260

84 -0.85 -146.6 4.4 -6.8 3 107 12.18 2.70 -3.25 0.000 4 0.176 0.084 2219 980 3417

219 -0.85 -146.6 23.4 -8.6 9 224 0.00 2.62 0.00 0.000 6 0.000 0.061 2219 2402 3418

545 -0.85 -146.6 49.5 -7.2 25 549 0.00 2.67 0.00 0.000 4 0.000 0.073 2219 979 3418

571 -0.85 -146.6 51.6 -8.1 26 575 0.00 2.65 0.00 0.000 6 0.000 0.061 2219 2401 3416

892 -0.85 -146.6 76.4 -8.2 42 897 0.00 2.67 0.00 0.000 4 0.000 0.074 2219 980 3418

919 -0.85 -146.6 78.7 -8.6 43 923 0.00 2.65 0.00 0.000 6 0.000 0.061 2220 2406 3418

1240 -0.85 -146.6 106.3 -9.1 59 1244 0.00 2.70 0.00 0.000 4 0.000 0.075 2219 979 3418

1271 -0.85 -146.6 109.3 -9.7 60 1279 0.00 2.62 0.00 0.000 6 0.000 0.062 2219 2393 3418

1589 -0.85 -146.6 140.5 -10.3 76 1593 0.00 2.67 0.00 0.000 4 0.000 0.077 2219 979 3418

1615 -0.85 -146.6 143.6 -11.3 77 1619 0.00 2.62 0.00 0.000 6 0.000 0.063 2219 2404 3418

1935 -0.85 -146.6 178.3 -10.9 93 1940 0.00 2.70 0.00 0.000 4 0.000 0.077 2219 980 3417

1974 -0.85 -146.6 182.7 -11.5 95 1978 0.00 2.62 0.00 0.000 6 0.000 0.064 2219 2403 3417

2299 -0.85 -146.6 218.3 -11.0 111 2303 0.00 2.70 0.00 0.000 4 0.000 0.078 2219 979 3417

2325 -0.85 -146.6 221.3 -11.1 112 2329 0.00 2.65 0.00 0.000 6 0.000 0.063 2219 2400 3418

2646 -0.85 -146.6 254.3 -10.3 128 2650 0.00 2.70 0.00 0.000 4 0.000 0.078 2219 974 3418

2671 -0.85 -146.6 257.3 -11.0 129 2676 0.00 2.67 0.00 0.000 6 0.000 0.063 2219 2397 3418

2993 -0.85 -146.6 290.6 -9.5 145 2997 0.00 2.70 0.00 0.000 4 0.000 0.078 2220 974 3417

3009 -0.85 -146.6 292.0 -9.3 146 3013 0.00 2.65 0.00 0.000 6 0.000 0.063 2219 2400 3418

3334 -0.85 -146.6 319.0 -7.3 162 3338 0.00 2.70 0.00 0.000 4 0.000 0.080 2219 978 3418

3371 -0.85 -146.6 321.7 -7.2 164 3376 0.00 2.65 0.00 0.000 6 0.000 0.064 2219 2404 3417

3697 -0.85 -146.6 341.3 -6.1 180 3702 0.00 2.70 0.00 0.000 4 0.000 0.078 2219 976 3417

3724 -0.85 -146.6 342.8 -6.0 181 3728 0.00 2.65 0.00 0.000 6 0.000 0.063 2219 2404 3418

4044 -0.85 -146.6 363.9 -7.5 197 4049 0.00 2.70 0.00 0.000 4 0.000 0.078 2219 979 3418

4098 -0.85 -146.6 368.2 -8.2 199 4105 0.00 2.67 0.00 0.000 6 0.000 0.063 2219 2401 3418

4414 -0.85 -146.6 397.5 -10.0 215 4418 0.00 2.70 0.00 0.000 4 0.000 0.078 2219 973 3417

4468 -0.85 -146.6 403.0 -10.0 217 4475 0.00 2.67 0.00 0.000 6 0.000 0.062 2219 2401 3418

4783 -0.85 -146.6 434.7 -10.0 233 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3418

5092 -0.85 -146.6 465.3 -9.1 248 5094 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2401 3418

5402 -0.85 -146.6 488.1 -6.4 263 5406 0.00 2.70 0.00 0.000 4 0.000 0.077 2219 972 3418

5433 -0.85 -146.6 490.2 -7.2 264 5440 0.00 2.65 0.00 0.000 6 0.000 0.059 2219 2400 3418

5749 -0.85 -146.6 510.2 -6.6 280 5753 0.00 2.67 0.00 0.000 4 0.000 0.073 2219 969 3418

5787 -0.85 -146.6 513.0 -7.9 282 5791 0.00 2.62 0.00 0.000 6 0.000 0.061 2219 2400 3418

6112 -0.85 -146.6 534.5 -6.7 298 6113 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2400 3418

6421 -0.85 -146.6 559.7 -8.7 313 6425 0.00 2.65 0.00 0.000 4 0.000 0.071 2219 977 3418

6464 -0.85 -146.6 563.7 -9.3 315 6469 0.00 2.62 0.00 0.000 6 0.000 0.058 2219 2391 3418

6792 -0.85 -146.6 594.2 -9.1 331 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2391 3418

7101 -0.85 -146.6 620.5 -8.0 346 7105 0.00 2.62 0.00 0.000 4 0.000 0.071 2219 979 3418

7154 -0.85 -146.6 624.7 -7.6 348 7167 0.00 2.62 0.00 0.000 6 0.000 0.058 2219 2394 3418

7470 -0.85 -146.6 645.7 -5.8 364 7475 0.00 2.65 0.00 0.000 4 0.000 0.071 2219 972 3418

7502 -0.85 -146.6 647.9 -6.2 365 7510 0.00 2.65 0.00 0.000 6 0.000 0.058 2219 2397 3418

7818 -0.85 -146.6 666.2 -6.3 381 7819 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2398 3417

8128 -0.85 -146.6 688.6 -8.2 396 8129 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2398 3417

8437 -0.85 -146.6 715.5 -8.8 411 8438 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2398 3417

8579 end dive: BOTTOM_OBSTACLE_DETECTED

state 8579 begin apogee

8584 -0.31 0.0 729.2 9.2 418 8708 0.60 0.00 121.43 1.146 6 0.107 0.000 2340 2192 2817

8709 end apogee: CONTROL_FINISHED_OK

state 8709 begin climb

8711 0.85 146.6 735.0 0.0 424 8835 1.23 0.00 119.55 1.127 6 0.100 0.000 2586 2192 2219

9141 0.92 216.3 720.7 4.1 445 9205 0.12 2.75 56.80 1.100 4 0.063 0.069 2620 789 1935

9227 0.92 216.3 715.5 6.9 449 9231 0.00 2.62 0.00 0.000 6 0.000 0.049 2620 2209 1934

9552 0.92 216.3 689.7 9.0 465 9553 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2210 1934

9861 0.92 216.3 661.9 8.5 480 9862 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2210 1933

10171 0.92 216.3 637.4 7.1 495 10172 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1933

10480 0.92 216.3 613.1 9.2 510 10481 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1932

10789 0.92 216.3 588.0 7.9 525 10790 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1932

11098 0.92 216.3 564.5 7.2 540 11099 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1932

11407 0.92 216.3 541.8 7.7 555 11409 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1932

11717 0.92 216.3 517.0 8.8 570 11718 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2209 1932

12026 0.92 216.3 487.5 9.9 585 12027 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2208 1932

12335 0.92 216.3 457.0 9.7 600 12340 0.00 2.62 0.00 0.000 4 0.000 0.066 2620 788 1932

12378 0.92 216.3 452.7 10.7 602 12383 0.00 2.58 0.00 0.000 6 0.000 0.048 2619 2199 1932

12705 0.92 216.3 423.6 8.2 618 12710 0.00 2.65 0.00 0.000 4 0.000 0.075 2619 3614 1932

12744 0.92 216.3 420.1 9.1 620 12748 0.00 2.60 0.00 0.000 6 0.000 0.063 2620 2207 1932

13069 0.92 216.3 394.0 7.6 636 13074 0.00 2.62 0.00 0.000 4 0.000 0.066 2620 781 1932

13112 0.92 216.3 390.3 8.3 638 13117 0.00 2.58 0.00 0.000 6 0.000 0.047 2620 2194 1931

13439 0.92 216.3 365.1 8.1 654 13440 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2194 1932

13748 0.92 216.3 341.2 7.9 669 13749 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2194 1932

14057 0.92 216.3 314.7 8.7 684 14062 0.00 2.62 0.00 0.000 4 0.000 0.074 2620 3614 1931

14101 0.92 216.3 310.7 9.2 686 14106 0.00 2.62 0.00 0.000 6 0.000 0.061 2619 2204 1931

14427 0.92 216.3 285.8 6.7 702 14428 0.00 0.00 0.00 0.000 6 0.000 0.000 2620 2205 1932

14737 1.03 312.3 272.9 3.4 717 14819 0.00 2.70 74.80 0.838 4 0.000 0.067 2619 784 1542

14852 1.05 332.5 267.8 5.4 722 14876 0.00 2.60 17.10 0.782 6 0.000 0.048 2620 2207 1461

15191 1.05 332.5 248.3 6.9 739 15196 0.00 2.67 0.00 0.000 4 0.000 0.067 2619 781 1460

15225 1.05 332.5 245.8 7.9 740 15231 0.00 2.58 0.00 0.000 6 0.000 0.048 2619 2204 1460

15539 1.05 332.5 218.1 9.4 756 15544 0.00 2.67 0.00 0.000 4 0.000 0.069 2620 776 1460

15578 1.05 332.5 214.0 10.9 758 15582 0.00 2.58 0.00 0.000 6 0.000 0.048 2619 2201 1459

15903 1.05 332.5 181.2 9.9 774 15907 0.00 2.65 0.00 0.000 4 0.000 0.067 2620 779 1460

15941 1.05 332.5 177.6 9.8 776 15946 0.00 2.58 0.00 0.000 6 0.000 0.047 2620 2203 1460

16267 1.05 332.5 146.8 8.7 792 16271 0.00 2.62 0.00 0.000 4 0.000 0.066 2620 783 1459

16310 1.05 332.5 142.6 10.0 794 16314 0.00 2.58 0.00 0.000 6 0.000 0.047 2620 2196 1460

16637 1.05 332.5 120.6 8.6 810 16641 0.00 2.62 0.00 0.000 4 0.000 0.067 2619 782 1460

16679 1.05 332.5 115.9 11.1 812 16684 0.00 2.58 0.00 0.000 6 0.000 0.046 2620 2196 1460

17007 1.05 332.5 86.3 9.8 828 17011 0.00 2.62 0.00 0.000 4 0.000 0.065 2620 779 1460

17038 1.05 332.5 82.5 11.4 829 17045 0.00 2.58 0.00 0.000 6 0.000 0.046 2620 2195 1460

17355 1.05 332.5 55.5 8.1 845 17360 0.00 2.60 0.00 0.000 4 0.000 0.064 2619 782 1460

17388 1.05 332.5 52.0 9.9 846 17395 0.00 2.58 0.00 0.000 6 0.000 0.047 2620 2196 1460

17703 1.05 332.5 25.8 8.8 862 17707 0.00 2.62 0.00 0.000 4 0.000 0.066 2620 779 1460

17746 1.05 332.5 21.9 10.0 864 17750 0.00 2.58 0.00 0.000 6 0.000 0.046 2619 2197 1459

17989 end climb: SURFACE_DEPTH_REACHED

state 17989 begin surface coast

18011 end surface coast: CONTROL_FINISHED_OK

state 18011 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	96	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	11	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	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	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	-2077254	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	054132,6129.655,-915.448,38,2.0,38,-9.4	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.034,0.219
_SM_DEPTHo	1.58	KALMAN_X	15097.6,-678.7,-348.4,-22665.7,7211.3
_SM_ANGLEo	-59.6	KALMAN_Y	90457.9,407.2,748.3,-107484.0,-15417.4
GPS2	054551,6129.646,-915.444,13,1.9,13,-9.4	MHEAD_RNG_PITCHd_Wd	0.5,28439,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.015567	ALTIM_BOTTOM_PING	625.1,112.8
SM_CCo	18090,0.00,0.000,0,0,1458,333.12	_24V_AH	23.6,18.933
SM_GC	1.69,11.12,0.00,0.00,0.042,0.000,0.000,73,2402,1458,-10.68,0.08,333.12	_10V_AH	10.2,8.325
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44234,877
TT8_MAMPS	0.02301	CFSIZE	260165632,254038016
HUMID	2093	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	17.40	GPS	271107,104946,6133.800,-915.069,42,2.9,61,-9.4
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	175	104.67	SBE_CT	613	24	347.46
Roll_motor	169	84	338.39	SBE_O2	629	19	282.20
VBD_pump_during_apogee	389	1145	10538.06	WL_BB2F	531	105	1317.09
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	32	103	79.38	nil	0	0	0.00
Iridium_during_connect	24	160	92.58	nil	0	0	0.00
Iridium_during_xfer	115	223	606.34
Transponder_ping	5	420	54.52
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.67
TT8	1572	19	317.57
LPSleep	14117	2	315.35
TT8_Active	527	19	106.49
TT8_Sampling	1834	39	744.61
TT8_CF8	304	45	142.09
TT8_Kalman	33	81	27.84
Analog_circuits	1477	12	180.84
GPS_charging	0	0	0.00
Compass	1793	8	146.36
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	-0.85	-146.6	0.0	0.0	0	82	0.00	0.00	-62.28	0.000	2	0.000	0.000	69	2405	3260
84	-0.85	-146.6	4.4	-6.8	3	107	12.18	2.70	-3.25	0.000	4	0.176	0.084	2219	980	3417
219	-0.85	-146.6	23.4	-8.6	9	224	0.00	2.62	0.00	0.000	6	0.000	0.061	2219	2402	3418
545	-0.85	-146.6	49.5	-7.2	25	549	0.00	2.67	0.00	0.000	4	0.000	0.073	2219	979	3418
571	-0.85	-146.6	51.6	-8.1	26	575	0.00	2.65	0.00	0.000	6	0.000	0.061	2219	2401	3416
892	-0.85	-146.6	76.4	-8.2	42	897	0.00	2.67	0.00	0.000	4	0.000	0.074	2219	980	3418
919	-0.85	-146.6	78.7	-8.6	43	923	0.00	2.65	0.00	0.000	6	0.000	0.061	2220	2406	3418
1240	-0.85	-146.6	106.3	-9.1	59	1244	0.00	2.70	0.00	0.000	4	0.000	0.075	2219	979	3418
1271	-0.85	-146.6	109.3	-9.7	60	1279	0.00	2.62	0.00	0.000	6	0.000	0.062	2219	2393	3418
1589	-0.85	-146.6	140.5	-10.3	76	1593	0.00	2.67	0.00	0.000	4	0.000	0.077	2219	979	3418
1615	-0.85	-146.6	143.6	-11.3	77	1619	0.00	2.62	0.00	0.000	6	0.000	0.063	2219	2404	3418
1935	-0.85	-146.6	178.3	-10.9	93	1940	0.00	2.70	0.00	0.000	4	0.000	0.077	2219	980	3417
1974	-0.85	-146.6	182.7	-11.5	95	1978	0.00	2.62	0.00	0.000	6	0.000	0.064	2219	2403	3417
2299	-0.85	-146.6	218.3	-11.0	111	2303	0.00	2.70	0.00	0.000	4	0.000	0.078	2219	979	3417
2325	-0.85	-146.6	221.3	-11.1	112	2329	0.00	2.65	0.00	0.000	6	0.000	0.063	2219	2400	3418
2646	-0.85	-146.6	254.3	-10.3	128	2650	0.00	2.70	0.00	0.000	4	0.000	0.078	2219	974	3418
2671	-0.85	-146.6	257.3	-11.0	129	2676	0.00	2.67	0.00	0.000	6	0.000	0.063	2219	2397	3418
2993	-0.85	-146.6	290.6	-9.5	145	2997	0.00	2.70	0.00	0.000	4	0.000	0.078	2220	974	3417
3009	-0.85	-146.6	292.0	-9.3	146	3013	0.00	2.65	0.00	0.000	6	0.000	0.063	2219	2400	3418
3334	-0.85	-146.6	319.0	-7.3	162	3338	0.00	2.70	0.00	0.000	4	0.000	0.080	2219	978	3418
3371	-0.85	-146.6	321.7	-7.2	164	3376	0.00	2.65	0.00	0.000	6	0.000	0.064	2219	2404	3417
3697	-0.85	-146.6	341.3	-6.1	180	3702	0.00	2.70	0.00	0.000	4	0.000	0.078	2219	976	3417
3724	-0.85	-146.6	342.8	-6.0	181	3728	0.00	2.65	0.00	0.000	6	0.000	0.063	2219	2404	3418
4044	-0.85	-146.6	363.9	-7.5	197	4049	0.00	2.70	0.00	0.000	4	0.000	0.078	2219	979	3418
4098	-0.85	-146.6	368.2	-8.2	199	4105	0.00	2.67	0.00	0.000	6	0.000	0.063	2219	2401	3418
4414	-0.85	-146.6	397.5	-10.0	215	4418	0.00	2.70	0.00	0.000	4	0.000	0.078	2219	973	3417
4468	-0.85	-146.6	403.0	-10.0	217	4475	0.00	2.67	0.00	0.000	6	0.000	0.062	2219	2401	3418
4783	-0.85	-146.6	434.7	-10.0	233	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3418
5092	-0.85	-146.6	465.3	-9.1	248	5094	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2401	3418
5402	-0.85	-146.6	488.1	-6.4	263	5406	0.00	2.70	0.00	0.000	4	0.000	0.077	2219	972	3418
5433	-0.85	-146.6	490.2	-7.2	264	5440	0.00	2.65	0.00	0.000	6	0.000	0.059	2219	2400	3418
5749	-0.85	-146.6	510.2	-6.6	280	5753	0.00	2.67	0.00	0.000	4	0.000	0.073	2219	969	3418
5787	-0.85	-146.6	513.0	-7.9	282	5791	0.00	2.62	0.00	0.000	6	0.000	0.061	2219	2400	3418
6112	-0.85	-146.6	534.5	-6.7	298	6113	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2400	3418
6421	-0.85	-146.6	559.7	-8.7	313	6425	0.00	2.65	0.00	0.000	4	0.000	0.071	2219	977	3418
6464	-0.85	-146.6	563.7	-9.3	315	6469	0.00	2.62	0.00	0.000	6	0.000	0.058	2219	2391	3418
6792	-0.85	-146.6	594.2	-9.1	331	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2391	3418
7101	-0.85	-146.6	620.5	-8.0	346	7105	0.00	2.62	0.00	0.000	4	0.000	0.071	2219	979	3418
7154	-0.85	-146.6	624.7	-7.6	348	7167	0.00	2.62	0.00	0.000	6	0.000	0.058	2219	2394	3418
7470	-0.85	-146.6	645.7	-5.8	364	7475	0.00	2.65	0.00	0.000	4	0.000	0.071	2219	972	3418
7502	-0.85	-146.6	647.9	-6.2	365	7510	0.00	2.65	0.00	0.000	6	0.000	0.058	2219	2397	3418
7818	-0.85	-146.6	666.2	-6.3	381	7819	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2398	3417
8128	-0.85	-146.6	688.6	-8.2	396	8129	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2398	3417
8437	-0.85	-146.6	715.5	-8.8	411	8438	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2398	3417
8579	end dive: BOTTOM_OBSTACLE_DETECTED
state	8579	begin apogee
8584	-0.31	0.0	729.2	9.2	418	8708	0.60	0.00	121.43	1.146	6	0.107	0.000	2340	2192	2817
8709	end apogee: CONTROL_FINISHED_OK
state	8709	begin climb
8711	0.85	146.6	735.0	0.0	424	8835	1.23	0.00	119.55	1.127	6	0.100	0.000	2586	2192	2219
9141	0.92	216.3	720.7	4.1	445	9205	0.12	2.75	56.80	1.100	4	0.063	0.069	2620	789	1935
9227	0.92	216.3	715.5	6.9	449	9231	0.00	2.62	0.00	0.000	6	0.000	0.049	2620	2209	1934
9552	0.92	216.3	689.7	9.0	465	9553	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2210	1934
9861	0.92	216.3	661.9	8.5	480	9862	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2210	1933
10171	0.92	216.3	637.4	7.1	495	10172	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1933
10480	0.92	216.3	613.1	9.2	510	10481	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1932
10789	0.92	216.3	588.0	7.9	525	10790	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1932
11098	0.92	216.3	564.5	7.2	540	11099	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1932
11407	0.92	216.3	541.8	7.7	555	11409	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1932
11717	0.92	216.3	517.0	8.8	570	11718	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2209	1932
12026	0.92	216.3	487.5	9.9	585	12027	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2208	1932
12335	0.92	216.3	457.0	9.7	600	12340	0.00	2.62	0.00	0.000	4	0.000	0.066	2620	788	1932
12378	0.92	216.3	452.7	10.7	602	12383	0.00	2.58	0.00	0.000	6	0.000	0.048	2619	2199	1932
12705	0.92	216.3	423.6	8.2	618	12710	0.00	2.65	0.00	0.000	4	0.000	0.075	2619	3614	1932
12744	0.92	216.3	420.1	9.1	620	12748	0.00	2.60	0.00	0.000	6	0.000	0.063	2620	2207	1932
13069	0.92	216.3	394.0	7.6	636	13074	0.00	2.62	0.00	0.000	4	0.000	0.066	2620	781	1932
13112	0.92	216.3	390.3	8.3	638	13117	0.00	2.58	0.00	0.000	6	0.000	0.047	2620	2194	1931
13439	0.92	216.3	365.1	8.1	654	13440	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2194	1932
13748	0.92	216.3	341.2	7.9	669	13749	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2194	1932
14057	0.92	216.3	314.7	8.7	684	14062	0.00	2.62	0.00	0.000	4	0.000	0.074	2620	3614	1931
14101	0.92	216.3	310.7	9.2	686	14106	0.00	2.62	0.00	0.000	6	0.000	0.061	2619	2204	1931
14427	0.92	216.3	285.8	6.7	702	14428	0.00	0.00	0.00	0.000	6	0.000	0.000	2620	2205	1932
14737	1.03	312.3	272.9	3.4	717	14819	0.00	2.70	74.80	0.838	4	0.000	0.067	2619	784	1542
14852	1.05	332.5	267.8	5.4	722	14876	0.00	2.60	17.10	0.782	6	0.000	0.048	2620	2207	1461
15191	1.05	332.5	248.3	6.9	739	15196	0.00	2.67	0.00	0.000	4	0.000	0.067	2619	781	1460
15225	1.05	332.5	245.8	7.9	740	15231	0.00	2.58	0.00	0.000	6	0.000	0.048	2619	2204	1460
15539	1.05	332.5	218.1	9.4	756	15544	0.00	2.67	0.00	0.000	4	0.000	0.069	2620	776	1460
15578	1.05	332.5	214.0	10.9	758	15582	0.00	2.58	0.00	0.000	6	0.000	0.048	2619	2201	1459
15903	1.05	332.5	181.2	9.9	774	15907	0.00	2.65	0.00	0.000	4	0.000	0.067	2620	779	1460
15941	1.05	332.5	177.6	9.8	776	15946	0.00	2.58	0.00	0.000	6	0.000	0.047	2620	2203	1460
16267	1.05	332.5	146.8	8.7	792	16271	0.00	2.62	0.00	0.000	4	0.000	0.066	2620	783	1459
16310	1.05	332.5	142.6	10.0	794	16314	0.00	2.58	0.00	0.000	6	0.000	0.047	2620	2196	1460
16637	1.05	332.5	120.6	8.6	810	16641	0.00	2.62	0.00	0.000	4	0.000	0.067	2619	782	1460
16679	1.05	332.5	115.9	11.1	812	16684	0.00	2.58	0.00	0.000	6	0.000	0.046	2620	2196	1460
17007	1.05	332.5	86.3	9.8	828	17011	0.00	2.62	0.00	0.000	4	0.000	0.065	2620	779	1460
17038	1.05	332.5	82.5	11.4	829	17045	0.00	2.58	0.00	0.000	6	0.000	0.046	2620	2195	1460
17355	1.05	332.5	55.5	8.1	845	17360	0.00	2.60	0.00	0.000	4	0.000	0.064	2619	782	1460
17388	1.05	332.5	52.0	9.9	846	17395	0.00	2.58	0.00	0.000	6	0.000	0.047	2620	2196	1460
17703	1.05	332.5	25.8	8.8	862	17707	0.00	2.62	0.00	0.000	4	0.000	0.066	2620	779	1460
17746	1.05	332.5	21.9	10.0	864	17750	0.00	2.58	0.00	0.000	6	0.000	0.046	2619	2197	1459
17989	end climb: SURFACE_DEPTH_REACHED
state	17989	begin surface coast
18011	end surface coast: CONTROL_FINISHED_OK
state	18011	begin surface