Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 97 * 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 97 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 19 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 -2077285.1 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 -2077285.1

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 14 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 19 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

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

DIVE 97 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 104946,6133.800,-915.069,42,2.9,61,-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 -0.204,0.097

_SM_DEPTHo 1.57 KALMAN_X 15835.8,-862.2,-276.8,-22983.2,6714.2

_SM_ANGLEo -57.5 KALMAN_Y 92976.2,767.9,582.0,-102497.4,-7284.1

GPS2 105435,6133.817,-915.074,10,5.5,29,-9.4 MHEAD_RNG_PITCHd_Wd 304.8,20711,-10.7,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.6,1.027283 ALTIM_BOTTOM_PING 725.9,110.1

SM_CCo 22413,22.70,0.556,3,0,1594,300.00 _24V_AH 23.6,19.060

SM_GC 1.53,0.00,0.00,22.70,0.000,0.000,0.556,76,2409,1594,-10.74,0.25,300.00 _10V_AH 10.2,8.418

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53684,1087

TT8_MAMPS 0.023777 CFSIZE 260165632,253952000

HUMID 2086 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,3,0

TCM_TEMP 16.30 GPS 271107,171058,6135.042,-924.310,27,2.3,47,-9.5

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 171 100.91 SBE_CT 751 24 425.83

Roll_motor 125 84 250.63 SBE_O2 781 19 350.47

VBD_pump_during_apogee 349 1220 10055.17 WL_BB2F 629 105 1560.11

VBD_pump_during_surface 22 556 297.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 79.40 nil 0 0 0.00

Iridium_during_connect 26 160 98.46 nil 0 0 0.00

Iridium_during_xfer 125 223 659.57

Transponder_ping 7 420 69.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.57

TT8 1903 19 384.34

LPSleep 17805 2 397.75

TT8_Active 556 19 112.32

TT8_Sampling 2150 39 873.05

TT8_CF8 327 45 153.17

TT8_Kalman 33 81 27.85

Analog_circuits 1569 12 192.13

GPS_charging 0 0 0.00

Compass 2096 8 171.11

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 -0.83 -146.6 0.0 0.0 0 83 0.00 0.00 -62.58 0.000 2 0.000 0.000 72 2403 3084

85 -0.83 -146.6 3.6 -5.3 3 111 12.07 2.58 -7.93 0.000 4 0.171 0.084 2226 3769 3417

155 -0.83 -146.6 11.7 -6.9 6 159 0.00 2.50 0.00 0.000 6 0.000 0.050 2226 2404 3418

476 -0.83 -146.6 35.3 -7.2 22 477 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2404 3418

785 -0.83 -146.6 61.7 -9.5 37 790 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 985 3418

834 -0.83 -146.6 67.2 -10.6 39 839 0.00 2.60 0.00 0.000 6 0.000 0.053 2226 2393 3418

1156 -0.83 -146.6 97.1 -8.0 55 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3418

1465 -0.83 -146.6 116.8 -6.0 70 1466 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3418

1774 -0.83 -146.6 137.4 -7.4 85 1778 0.00 2.60 0.00 0.000 4 0.000 0.065 2227 985 3418

1862 -0.83 -146.6 144.7 -8.6 89 1866 0.00 2.58 0.00 0.000 6 0.000 0.054 2226 2393 3418

2188 -0.83 -146.6 169.7 -8.2 105 2189 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3417

2498 -0.83 -146.6 193.5 -7.9 120 2502 0.00 2.60 0.00 0.000 4 0.000 0.065 2227 983 3417

2568 -0.83 -146.6 199.1 -7.6 123 2573 0.00 2.60 0.00 0.000 6 0.000 0.054 2226 2393 3418

2889 -0.83 -146.6 224.1 -8.1 139 2890 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3417

3199 -0.83 -146.6 250.1 -8.4 154 3204 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 980 3418

3299 -0.83 -146.6 258.4 -8.7 158 3306 0.00 2.62 0.00 0.000 6 0.000 0.054 2226 2402 3417

3614 -0.83 -146.6 282.8 -7.5 174 3615 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2402 3418

3924 -0.83 -146.6 306.6 -7.8 189 3928 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 983 3418

4000 -0.83 -146.6 313.0 -8.5 192 4007 0.00 2.60 0.00 0.000 6 0.000 0.055 2226 2393 3418

4315 -0.83 -146.6 340.5 -9.3 208 4316 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3418

4625 -0.83 -146.6 370.5 -10.0 223 4629 0.00 2.60 0.00 0.000 4 0.000 0.067 2226 984 3418

4680 -0.83 -146.6 376.1 -10.1 225 4686 0.00 2.58 0.00 0.000 6 0.000 0.056 2226 2401 3418

4994 -0.83 -146.6 405.5 -9.0 241 4999 0.00 2.62 0.00 0.000 4 0.000 0.069 2226 983 3418

5033 -0.83 -146.6 408.9 -8.8 243 5037 0.00 2.58 0.00 0.000 6 0.000 0.056 2226 2400 3418

5359 -0.83 -146.6 433.1 -6.6 259 5360 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2400 3417

5668 -0.83 -146.6 453.0 -6.5 274 5672 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 982 3418

5744 -0.83 -146.6 458.0 -6.5 277 5751 0.00 2.60 0.00 0.000 6 0.000 0.056 2226 2391 3417

6060 -0.83 -146.6 478.1 -6.7 293 6064 0.00 2.62 0.00 0.000 4 0.000 0.069 2226 978 3418

6098 -0.83 -146.6 481.0 -7.7 295 6102 0.00 2.60 0.00 0.000 6 0.000 0.057 2226 2403 3417

6424 -0.83 -146.6 505.7 -7.3 311 6425 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2403 3417

6733 -0.83 -146.6 530.6 -8.2 326 6737 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 985 3417

6803 -0.83 -146.6 537.1 -9.5 329 6808 0.00 2.58 0.00 0.000 6 0.000 0.055 2226 2393 3417

7124 -0.83 -146.6 564.6 -8.0 345 7125 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3417

7433 -0.83 -146.6 587.4 -6.6 360 7435 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2393 3417

7743 -0.83 -146.6 602.2 -3.7 375 7748 0.00 2.60 0.00 0.000 4 0.000 0.068 2226 984 3417

7815 -0.83 -146.6 604.4 -2.6 378 7819 0.00 2.60 0.00 0.000 6 0.000 0.057 2226 2406 3417

8136 -0.83 -146.6 616.1 -5.4 394 8140 0.00 2.55 0.00 0.000 4 0.000 0.079 2226 3768 3417

8179 -0.83 -146.6 619.2 -7.6 396 8183 0.00 2.50 0.00 0.000 6 0.000 0.055 2226 2406 3417

8505 -0.83 -146.6 643.3 -8.3 412 8509 0.00 2.65 0.00 0.000 4 0.000 0.074 2226 983 3417

8544 -0.83 -146.6 646.8 -9.1 414 8548 0.00 2.60 0.00 0.000 6 0.000 0.058 2226 2404 3417

8869 -0.83 -146.6 673.0 -7.4 430 8870 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2404 3417

9178 -0.83 -146.6 690.8 -5.0 445 9180 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2404 3416

9488 -0.83 -146.6 706.9 -5.5 460 9492 0.00 2.62 0.00 0.000 4 0.000 0.066 2226 981 3416

9558 -0.83 -146.6 710.9 -6.5 463 9563 0.00 2.62 0.00 0.000 6 0.000 0.058 2226 2398 3416

9879 -0.83 -146.6 731.3 -6.5 479 9880 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2398 3416

10189 -0.83 -146.6 752.4 -6.9 494 10190 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2398 3416

10498 -0.83 -146.6 774.4 -7.5 509 10502 0.00 2.62 0.00 0.000 4 0.000 0.068 2226 979 3416

10546 -0.83 -146.6 778.0 -7.0 511 10551 0.00 2.62 0.00 0.000 6 0.000 0.058 2226 2397 3416

10867 -0.83 -146.6 800.5 -7.1 527 10868 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2397 3416

11176 -0.83 -146.6 823.7 -7.3 542 11177 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 2397 3415

11216 end dive: BOTTOM_OBSTACLE_DETECTED

state 11216 begin apogee

11221 -0.31 0.0 827.0 7.8 544 11346 0.55 0.00 122.25 1.220 6 0.105 0.000 2338 2197 2817

11347 end apogee: CONTROL_FINISHED_OK

state 11347 begin climb

11348 0.83 146.6 831.1 0.0 550 11473 1.23 0.00 121.45 1.195 6 0.091 0.000 2585 2196 2219

11769 0.88 194.2 810.7 4.8 571 11810 0.00 0.00 40.08 1.151 6 0.000 0.000 2585 2197 2024

12117 0.88 195.5 791.3 6.0 588 12118 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2196 2024

12427 0.89 202.3 774.0 5.8 603 12437 0.00 0.00 8.10 0.963 6 0.000 0.000 2584 2196 1992

12736 0.90 215.8 756.6 5.6 618 12757 0.00 2.72 12.48 1.039 4 0.000 0.066 2585 783 1937

12784 0.90 215.8 753.5 6.6 620 12789 0.00 2.62 0.00 0.000 6 0.000 0.049 2584 2196 1936

13112 0.91 225.4 733.7 5.7 636 13124 0.12 0.00 9.68 0.991 6 0.063 0.000 2617 2196 1897

13420 0.91 225.4 712.4 7.2 651 13422 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2196 1896

13730 0.91 225.4 688.7 8.0 666 13734 0.00 2.62 0.00 0.000 4 0.000 0.065 2618 782 1896

13790 0.91 225.4 683.4 9.2 669 13795 0.00 2.58 0.00 0.000 6 0.000 0.050 2617 2202 1896

14116 0.91 225.4 653.1 9.9 685 14117 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1896

14425 0.91 225.4 619.1 11.0 700 14427 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1896

14734 0.91 225.4 585.2 10.4 715 14736 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1896

15044 0.91 225.4 557.6 8.5 730 15045 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1896

15353 0.91 225.4 532.5 8.1 745 15354 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1896

15662 0.91 225.4 506.5 8.4 760 15663 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1896

15971 0.91 225.4 482.4 7.3 775 15976 0.00 2.62 0.00 0.000 4 0.000 0.064 2617 783 1896

16015 0.91 225.4 478.9 7.7 777 16019 0.00 2.60 0.00 0.000 6 0.000 0.049 2617 2203 1896

16342 0.91 225.4 454.5 7.1 793 16343 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1896

16651 0.91 225.4 434.5 6.3 808 16652 0.00 0.00 0.00 0.000 6 0.000 0.000 2615 2203 1895

16960 0.91 225.4 415.8 6.1 823 16961 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1895

17269 0.91 225.4 396.4 6.6 838 17271 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1896

17578 0.91 225.4 373.5 7.8 853 17580 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1896

17888 0.91 225.4 350.3 7.5 868 17889 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2203 1896

18197 0.91 225.4 323.9 8.8 883 18202 0.00 2.62 0.00 0.000 4 0.000 0.065 2617 782 1896

18245 0.91 225.4 319.4 8.8 885 18250 0.00 2.58 0.00 0.000 6 0.000 0.049 2617 2195 1896

18567 0.91 225.4 290.9 8.6 901 18568 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2195 1896

18877 0.91 225.4 266.1 8.1 916 18878 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2195 1896

19186 0.91 225.4 241.4 8.0 931 19187 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2195 1896

19495 0.91 225.4 218.8 7.4 946 19496 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2195 1896

19804 0.91 225.4 196.3 6.9 961 19809 0.00 2.60 0.00 0.000 4 0.000 0.064 2617 782 1896

19853 0.91 225.4 192.4 7.0 963 19858 0.00 2.58 0.00 0.000 6 0.000 0.049 2617 2193 1896

20174 0.91 225.4 170.5 6.7 979 20175 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2193 1896

20484 0.91 225.4 149.3 6.7 994 20485 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2193 1897

20793 0.91 225.4 127.5 6.6 1009 20797 0.00 2.65 0.00 0.000 4 0.000 0.073 2617 3623 1897

20831 0.91 225.4 124.7 7.4 1011 20836 0.00 2.60 0.00 0.000 6 0.000 0.061 2617 2202 1897

21157 0.91 225.4 99.7 7.3 1027 21159 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2202 1897

21467 0.96 270.0 81.4 4.8 1042 21509 0.00 2.70 35.12 0.709 4 0.000 0.069 2618 781 1715

21554 0.96 270.0 73.6 10.4 1046 21559 0.00 2.58 0.00 0.000 6 0.000 0.046 2617 2201 1715

21880 0.96 270.0 48.3 8.8 1062 21882 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2201 1715

22189 0.96 270.0 18.4 8.9 1077 22194 0.00 2.65 0.00 0.000 4 0.000 0.067 2617 775 1715

22243 0.96 270.0 13.3 9.6 1079 22251 0.00 2.60 0.00 0.000 6 0.000 0.048 2617 2198 1714

22372 end climb: SURFACE_DEPTH_REACHED

state 22372 begin surface coast

22394 end surface coast: CONTROL_FINISHED_OK

state 22394 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	97	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	19	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	-2077285.1	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	104946,6133.800,-915.069,42,2.9,61,-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	-0.204,0.097
_SM_DEPTHo	1.57	KALMAN_X	15835.8,-862.2,-276.8,-22983.2,6714.2
_SM_ANGLEo	-57.5	KALMAN_Y	92976.2,767.9,582.0,-102497.4,-7284.1
GPS2	105435,6133.817,-915.074,10,5.5,29,-9.4	MHEAD_RNG_PITCHd_Wd	304.8,20711,-10.7,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.6,1.027283	ALTIM_BOTTOM_PING	725.9,110.1
SM_CCo	22413,22.70,0.556,3,0,1594,300.00	_24V_AH	23.6,19.060
SM_GC	1.53,0.00,0.00,22.70,0.000,0.000,0.556,76,2409,1594,-10.74,0.25,300.00	_10V_AH	10.2,8.418
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53684,1087
TT8_MAMPS	0.023777	CFSIZE	260165632,253952000
HUMID	2086	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,3,0
TCM_TEMP	16.30	GPS	271107,171058,6135.042,-924.310,27,2.3,47,-9.5
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	171	100.91	SBE_CT	751	24	425.83
Roll_motor	125	84	250.63	SBE_O2	781	19	350.47
VBD_pump_during_apogee	349	1220	10055.17	WL_BB2F	629	105	1560.11
VBD_pump_during_surface	22	556	297.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	79.40	nil	0	0	0.00
Iridium_during_connect	26	160	98.46	nil	0	0	0.00
Iridium_during_xfer	125	223	659.57
Transponder_ping	7	420	69.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.57
TT8	1903	19	384.34
LPSleep	17805	2	397.75
TT8_Active	556	19	112.32
TT8_Sampling	2150	39	873.05
TT8_CF8	327	45	153.17
TT8_Kalman	33	81	27.85
Analog_circuits	1569	12	192.13
GPS_charging	0	0	0.00
Compass	2096	8	171.11
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	-0.83	-146.6	0.0	0.0	0	83	0.00	0.00	-62.58	0.000	2	0.000	0.000	72	2403	3084
85	-0.83	-146.6	3.6	-5.3	3	111	12.07	2.58	-7.93	0.000	4	0.171	0.084	2226	3769	3417
155	-0.83	-146.6	11.7	-6.9	6	159	0.00	2.50	0.00	0.000	6	0.000	0.050	2226	2404	3418
476	-0.83	-146.6	35.3	-7.2	22	477	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2404	3418
785	-0.83	-146.6	61.7	-9.5	37	790	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	985	3418
834	-0.83	-146.6	67.2	-10.6	39	839	0.00	2.60	0.00	0.000	6	0.000	0.053	2226	2393	3418
1156	-0.83	-146.6	97.1	-8.0	55	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3418
1465	-0.83	-146.6	116.8	-6.0	70	1466	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3418
1774	-0.83	-146.6	137.4	-7.4	85	1778	0.00	2.60	0.00	0.000	4	0.000	0.065	2227	985	3418
1862	-0.83	-146.6	144.7	-8.6	89	1866	0.00	2.58	0.00	0.000	6	0.000	0.054	2226	2393	3418
2188	-0.83	-146.6	169.7	-8.2	105	2189	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3417
2498	-0.83	-146.6	193.5	-7.9	120	2502	0.00	2.60	0.00	0.000	4	0.000	0.065	2227	983	3417
2568	-0.83	-146.6	199.1	-7.6	123	2573	0.00	2.60	0.00	0.000	6	0.000	0.054	2226	2393	3418
2889	-0.83	-146.6	224.1	-8.1	139	2890	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3417
3199	-0.83	-146.6	250.1	-8.4	154	3204	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	980	3418
3299	-0.83	-146.6	258.4	-8.7	158	3306	0.00	2.62	0.00	0.000	6	0.000	0.054	2226	2402	3417
3614	-0.83	-146.6	282.8	-7.5	174	3615	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2402	3418
3924	-0.83	-146.6	306.6	-7.8	189	3928	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	983	3418
4000	-0.83	-146.6	313.0	-8.5	192	4007	0.00	2.60	0.00	0.000	6	0.000	0.055	2226	2393	3418
4315	-0.83	-146.6	340.5	-9.3	208	4316	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3418
4625	-0.83	-146.6	370.5	-10.0	223	4629	0.00	2.60	0.00	0.000	4	0.000	0.067	2226	984	3418
4680	-0.83	-146.6	376.1	-10.1	225	4686	0.00	2.58	0.00	0.000	6	0.000	0.056	2226	2401	3418
4994	-0.83	-146.6	405.5	-9.0	241	4999	0.00	2.62	0.00	0.000	4	0.000	0.069	2226	983	3418
5033	-0.83	-146.6	408.9	-8.8	243	5037	0.00	2.58	0.00	0.000	6	0.000	0.056	2226	2400	3418
5359	-0.83	-146.6	433.1	-6.6	259	5360	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2400	3417
5668	-0.83	-146.6	453.0	-6.5	274	5672	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	982	3418
5744	-0.83	-146.6	458.0	-6.5	277	5751	0.00	2.60	0.00	0.000	6	0.000	0.056	2226	2391	3417
6060	-0.83	-146.6	478.1	-6.7	293	6064	0.00	2.62	0.00	0.000	4	0.000	0.069	2226	978	3418
6098	-0.83	-146.6	481.0	-7.7	295	6102	0.00	2.60	0.00	0.000	6	0.000	0.057	2226	2403	3417
6424	-0.83	-146.6	505.7	-7.3	311	6425	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2403	3417
6733	-0.83	-146.6	530.6	-8.2	326	6737	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	985	3417
6803	-0.83	-146.6	537.1	-9.5	329	6808	0.00	2.58	0.00	0.000	6	0.000	0.055	2226	2393	3417
7124	-0.83	-146.6	564.6	-8.0	345	7125	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3417
7433	-0.83	-146.6	587.4	-6.6	360	7435	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2393	3417
7743	-0.83	-146.6	602.2	-3.7	375	7748	0.00	2.60	0.00	0.000	4	0.000	0.068	2226	984	3417
7815	-0.83	-146.6	604.4	-2.6	378	7819	0.00	2.60	0.00	0.000	6	0.000	0.057	2226	2406	3417
8136	-0.83	-146.6	616.1	-5.4	394	8140	0.00	2.55	0.00	0.000	4	0.000	0.079	2226	3768	3417
8179	-0.83	-146.6	619.2	-7.6	396	8183	0.00	2.50	0.00	0.000	6	0.000	0.055	2226	2406	3417
8505	-0.83	-146.6	643.3	-8.3	412	8509	0.00	2.65	0.00	0.000	4	0.000	0.074	2226	983	3417
8544	-0.83	-146.6	646.8	-9.1	414	8548	0.00	2.60	0.00	0.000	6	0.000	0.058	2226	2404	3417
8869	-0.83	-146.6	673.0	-7.4	430	8870	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2404	3417
9178	-0.83	-146.6	690.8	-5.0	445	9180	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2404	3416
9488	-0.83	-146.6	706.9	-5.5	460	9492	0.00	2.62	0.00	0.000	4	0.000	0.066	2226	981	3416
9558	-0.83	-146.6	710.9	-6.5	463	9563	0.00	2.62	0.00	0.000	6	0.000	0.058	2226	2398	3416
9879	-0.83	-146.6	731.3	-6.5	479	9880	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2398	3416
10189	-0.83	-146.6	752.4	-6.9	494	10190	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2398	3416
10498	-0.83	-146.6	774.4	-7.5	509	10502	0.00	2.62	0.00	0.000	4	0.000	0.068	2226	979	3416
10546	-0.83	-146.6	778.0	-7.0	511	10551	0.00	2.62	0.00	0.000	6	0.000	0.058	2226	2397	3416
10867	-0.83	-146.6	800.5	-7.1	527	10868	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2397	3416
11176	-0.83	-146.6	823.7	-7.3	542	11177	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	2397	3415
11216	end dive: BOTTOM_OBSTACLE_DETECTED
state	11216	begin apogee
11221	-0.31	0.0	827.0	7.8	544	11346	0.55	0.00	122.25	1.220	6	0.105	0.000	2338	2197	2817
11347	end apogee: CONTROL_FINISHED_OK
state	11347	begin climb
11348	0.83	146.6	831.1	0.0	550	11473	1.23	0.00	121.45	1.195	6	0.091	0.000	2585	2196	2219
11769	0.88	194.2	810.7	4.8	571	11810	0.00	0.00	40.08	1.151	6	0.000	0.000	2585	2197	2024
12117	0.88	195.5	791.3	6.0	588	12118	0.00	0.00	0.00	0.000	6	0.000	0.000	2585	2196	2024
12427	0.89	202.3	774.0	5.8	603	12437	0.00	0.00	8.10	0.963	6	0.000	0.000	2584	2196	1992
12736	0.90	215.8	756.6	5.6	618	12757	0.00	2.72	12.48	1.039	4	0.000	0.066	2585	783	1937
12784	0.90	215.8	753.5	6.6	620	12789	0.00	2.62	0.00	0.000	6	0.000	0.049	2584	2196	1936
13112	0.91	225.4	733.7	5.7	636	13124	0.12	0.00	9.68	0.991	6	0.063	0.000	2617	2196	1897
13420	0.91	225.4	712.4	7.2	651	13422	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2196	1896
13730	0.91	225.4	688.7	8.0	666	13734	0.00	2.62	0.00	0.000	4	0.000	0.065	2618	782	1896
13790	0.91	225.4	683.4	9.2	669	13795	0.00	2.58	0.00	0.000	6	0.000	0.050	2617	2202	1896
14116	0.91	225.4	653.1	9.9	685	14117	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1896
14425	0.91	225.4	619.1	11.0	700	14427	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1896
14734	0.91	225.4	585.2	10.4	715	14736	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1896
15044	0.91	225.4	557.6	8.5	730	15045	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1896
15353	0.91	225.4	532.5	8.1	745	15354	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1896
15662	0.91	225.4	506.5	8.4	760	15663	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1896
15971	0.91	225.4	482.4	7.3	775	15976	0.00	2.62	0.00	0.000	4	0.000	0.064	2617	783	1896
16015	0.91	225.4	478.9	7.7	777	16019	0.00	2.60	0.00	0.000	6	0.000	0.049	2617	2203	1896
16342	0.91	225.4	454.5	7.1	793	16343	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1896
16651	0.91	225.4	434.5	6.3	808	16652	0.00	0.00	0.00	0.000	6	0.000	0.000	2615	2203	1895
16960	0.91	225.4	415.8	6.1	823	16961	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1895
17269	0.91	225.4	396.4	6.6	838	17271	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1896
17578	0.91	225.4	373.5	7.8	853	17580	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1896
17888	0.91	225.4	350.3	7.5	868	17889	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2203	1896
18197	0.91	225.4	323.9	8.8	883	18202	0.00	2.62	0.00	0.000	4	0.000	0.065	2617	782	1896
18245	0.91	225.4	319.4	8.8	885	18250	0.00	2.58	0.00	0.000	6	0.000	0.049	2617	2195	1896
18567	0.91	225.4	290.9	8.6	901	18568	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2195	1896
18877	0.91	225.4	266.1	8.1	916	18878	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2195	1896
19186	0.91	225.4	241.4	8.0	931	19187	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2195	1896
19495	0.91	225.4	218.8	7.4	946	19496	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2195	1896
19804	0.91	225.4	196.3	6.9	961	19809	0.00	2.60	0.00	0.000	4	0.000	0.064	2617	782	1896
19853	0.91	225.4	192.4	7.0	963	19858	0.00	2.58	0.00	0.000	6	0.000	0.049	2617	2193	1896
20174	0.91	225.4	170.5	6.7	979	20175	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2193	1896
20484	0.91	225.4	149.3	6.7	994	20485	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2193	1897
20793	0.91	225.4	127.5	6.6	1009	20797	0.00	2.65	0.00	0.000	4	0.000	0.073	2617	3623	1897
20831	0.91	225.4	124.7	7.4	1011	20836	0.00	2.60	0.00	0.000	6	0.000	0.061	2617	2202	1897
21157	0.91	225.4	99.7	7.3	1027	21159	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2202	1897
21467	0.96	270.0	81.4	4.8	1042	21509	0.00	2.70	35.12	0.709	4	0.000	0.069	2618	781	1715
21554	0.96	270.0	73.6	10.4	1046	21559	0.00	2.58	0.00	0.000	6	0.000	0.046	2617	2201	1715
21880	0.96	270.0	48.3	8.8	1062	21882	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2201	1715
22189	0.96	270.0	18.4	8.9	1077	22194	0.00	2.65	0.00	0.000	4	0.000	0.067	2617	775	1715
22243	0.96	270.0	13.3	9.6	1079	22251	0.00	2.60	0.00	0.000	6	0.000	0.048	2617	2198	1714
22372	end climb: SURFACE_DEPTH_REACHED
state	22372	begin surface coast
22394	end surface coast: CONTROL_FINISHED_OK
state	22394	begin surface