Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 104 * 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 104 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 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -2077437.4 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 -2077437.4

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 13 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 104 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 054402,6145.805,-944.259,39,1.2,39,-9.7 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.162,-0.151

_SM_DEPTHo 1.42 KALMAN_X -32557.6,-310.7,7434.1,-8606.4,-28473.5

_SM_ANGLEo -63.9 KALMAN_Y 99484.2,-80.3,-3303.7,-82049.3,6282.2

GPS2 054915,6145.792,-944.302,15,1.2,15,-9.7 MHEAD_RNG_PITCHd_Wd 142.6,25727,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,1.006322 ALTIM_BOTTOM_PING 875.5,103.2

SM_CCo 19777,0.00,0.000,0,0,510,565.91 _24V_AH 23.5,20.270

SM_GC 1.37,11.62,0.00,0.00,0.044,0.000,0.000,64,2404,510,-10.70,0.11,565.91 _10V_AH 10.1,9.076

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47283,950

TT8_MAMPS 0.02301 CFSIZE 260165632,253444096

HUMID 2128 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 16.30 GPS 291107,112115,6145.124,-948.882,39,2.1,58,-9.7

XPDR_PINGS 22

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 175 108.04 SBE_CT 664 24 374.52

Roll_motor 189 82 368.21 SBE_O2 675 19 301.66

VBD_pump_during_apogee 597 1349 18946.17 WL_BB2F 498 105 1230.96

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 78.88 nil 0 0 0.00

Iridium_during_connect 33 160 127.47 nil 0 0 0.00

Iridium_during_xfer 150 223 790.83

Transponder_ping 13 420 130.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.86

TT8 1788 19 357.65

LPSleep 14853 2 328.55

TT8_Active 669 19 133.84

TT8_Sampling 2406 39 967.39

TT8_CF8 371 45 171.85

TT8_Kalman 33 81 27.56

Analog_circuits 1895 12 229.69

GPS_charging 0 0 0.00

Compass 2342 8 189.24

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 17 begin dive

19 -0.85 -146.6 0.0 0.0 0 82 0.00 0.00 -61.40 0.000 2 0.000 0.000 67 2403 3173

84 -0.85 -146.6 4.1 -6.3 3 107 12.20 2.70 -5.30 0.000 4 0.176 0.077 2221 982 3418

265 -0.85 -146.6 25.1 -10.5 11 269 0.00 2.60 0.00 0.000 6 0.000 0.051 2221 2407 3418

590 -0.85 -146.6 53.4 -6.6 27 595 0.00 2.65 0.00 0.000 4 0.000 0.064 2221 980 3418

633 -0.85 -146.6 56.6 -7.6 29 638 0.00 2.60 0.00 0.000 6 0.000 0.053 2221 2397 3418

961 -0.85 -146.6 83.7 -9.5 45 962 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2397 3417

1270 -0.85 -146.6 109.1 -7.9 60 1274 0.00 2.62 0.00 0.000 4 0.000 0.067 2221 979 3418

1353 -0.85 -146.6 116.4 -8.9 64 1357 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2403 3418

1678 -0.85 -146.6 142.1 -6.5 80 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2404 3418

1987 -0.85 -146.6 159.6 -5.1 95 1992 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 980 3418

2082 -0.85 -146.6 164.7 -4.8 99 2086 0.00 2.60 0.00 0.000 6 0.000 0.052 2221 2407 3418

2403 -0.85 -146.6 181.1 -5.2 115 2407 0.00 2.65 0.00 0.000 4 0.000 0.066 2221 980 3418

2451 -0.85 -146.6 184.1 -6.2 117 2455 0.00 2.60 0.00 0.000 6 0.000 0.052 2221 2395 3418

2772 -0.85 -146.6 210.2 -10.5 133 2773 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2395 3418

3081 -0.85 -146.6 247.1 -13.6 148 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2395 3418

3390 -0.85 -146.6 292.0 -15.3 163 3391 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2395 3418

3700 -0.85 -146.6 331.7 -12.6 178 3704 0.00 2.62 0.00 0.000 4 0.000 0.067 2221 980 3418

3731 -0.85 -146.6 337.0 -16.9 179 3738 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2397 3418

4047 -0.85 -146.6 352.3 -3.7 195 4051 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 972 3418

4103 -0.85 -146.6 354.4 -4.3 197 4108 0.00 2.60 0.00 0.000 6 0.000 0.055 2221 2400 3417

4417 -0.85 -146.6 365.7 -2.9 213 4418 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

4726 -0.85 -146.6 373.2 -1.9 228 4731 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 973 3418

4782 -0.85 -146.6 375.0 -3.1 230 4788 0.00 2.60 0.00 0.000 6 0.000 0.056 2221 2400 3418

5097 -0.85 -146.6 386.1 -1.7 246 5098 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3418

5406 -0.85 -146.6 403.9 -4.8 261 5411 0.00 2.65 0.00 0.000 4 0.000 0.070 2221 978 3418

5455 -0.85 -146.6 405.5 -3.3 263 5460 0.00 2.60 0.00 0.000 6 0.000 0.057 2221 2401 3418

5776 -0.85 -146.6 421.6 -6.0 279 5780 0.00 2.65 0.00 0.000 4 0.000 0.072 2221 980 3419

5869 -0.85 -146.6 427.9 -7.1 283 5874 0.00 2.60 0.00 0.000 6 0.000 0.055 2221 2401 3418

6190 -0.85 -146.6 448.4 -6.2 299 6191 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2401 3418

6500 -0.85 -146.6 468.2 -6.2 314 6504 0.00 2.65 0.00 0.000 4 0.000 0.069 2221 976 3418

6548 -0.85 -146.6 471.2 -6.3 316 6552 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2391 3418

6869 -0.85 -146.6 491.9 -7.0 332 6873 0.00 2.62 0.00 0.000 4 0.000 0.068 2221 977 3418

6929 -0.85 -146.6 496.1 -7.0 335 6934 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2406 3418

7256 -0.85 -146.6 517.0 -6.6 351 7260 0.00 2.65 0.00 0.000 4 0.000 0.067 2221 978 3418

7304 -0.85 -146.6 520.5 -7.1 353 7309 0.00 2.60 0.00 0.000 6 0.000 0.053 2221 2393 3417

7625 -0.85 -146.6 536.9 -5.1 369 7626 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2393 3418

7934 -0.85 -146.6 557.0 -6.7 384 7936 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2393 3418

8243 -0.85 -146.6 587.3 -11.3 399 8248 0.00 2.62 0.00 0.000 4 0.000 0.070 2221 981 3417

8315 -0.85 -146.6 595.8 -12.1 402 8319 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2395 3418

8636 -0.85 -146.6 627.4 -10.4 418 8637 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2395 3418

8945 -0.85 -146.6 657.4 -9.9 433 8949 0.00 2.62 0.00 0.000 4 0.000 0.069 2221 981 3418

8988 -0.85 -146.6 661.7 -9.1 435 8993 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 2393 3418

9316 -0.85 -146.6 689.5 -8.2 451 9317 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2393 3418

9625 -0.85 -146.6 711.7 -5.3 466 9629 0.00 2.62 0.00 0.000 4 0.000 0.066 2221 972 3418

9673 -0.85 -146.6 715.0 -6.2 468 9678 0.00 2.62 0.00 0.000 6 0.000 0.053 2221 2403 3418

9995 -0.85 -146.6 739.8 -9.1 484 9996 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2403 3418

10304 -0.85 -146.6 760.6 -6.8 499 10308 0.00 2.62 0.00 0.000 4 0.000 0.066 2221 980 3417

10346 -0.85 -146.6 763.9 -7.4 501 10351 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2394 3418

10673 -0.85 -146.6 790.1 -9.5 517 10678 0.00 2.60 0.00 0.000 4 0.000 0.065 2221 979 3417

10716 -0.85 -146.6 794.8 -10.1 519 10720 0.00 2.60 0.00 0.000 6 0.000 0.053 2220 2397 3417

11043 -0.85 -146.6 827.8 -11.1 535 11047 0.00 2.58 0.00 0.000 4 0.000 0.080 2221 3765 3417

11115 -0.85 -146.6 836.7 -12.7 538 11119 0.00 2.47 0.00 0.000 6 0.000 0.053 2221 2392 3417

11429 -0.85 -146.6 873.6 -12.4 553 11433 0.00 2.62 0.00 0.000 4 0.000 0.071 2221 977 3417

11574 -0.85 -146.6 886.7 -6.9 559 11580 0.00 2.60 0.00 0.000 6 0.000 0.054 2221 2404 3417

11889 -0.85 -146.6 894.5 0.1 575 11893 0.00 2.58 0.00 0.000 4 0.000 0.081 2221 3770 3417

12022 -0.85 -146.6 891.8 3.3 581 12026 0.00 2.50 0.00 0.000 6 0.000 0.054 2221 2392 3417

12348 -0.85 -146.6 871.1 5.5 597 12349 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2392 3417

12657 -0.85 -146.6 892.1 -15.2 612 12661 0.00 2.65 0.00 0.000 4 0.000 0.078 2221 983 3417

12678 -0.85 -146.6 896.3 -19.6 613 12683 0.00 2.60 0.00 0.000 6 0.000 0.059 2221 2393 3417

13004 -0.85 -146.6 959.5 -13.1 629 13009 0.00 2.60 0.00 0.000 4 0.000 0.083 2221 3763 3418

13038 -0.85 -146.6 961.0 -3.6 630 13045 0.00 2.47 0.00 0.000 6 0.000 0.055 2221 2392 3417

13104 end dive: BOTTOM_OBSTACLE_DETECTED

state 13104 begin apogee

13109 -0.31 0.0 970.1 13.6 634 13236 0.60 0.00 124.55 1.349 6 0.120 0.000 2338 2197 2817

13237 end apogee: CONTROL_FINISHED_OK

state 13237 begin climb

13239 0.85 146.6 978.1 0.0 640 13370 1.23 2.78 122.88 1.321 4 0.090 0.073 2589 790 2220

13427 0.85 146.6 962.2 17.6 649 13432 0.00 2.62 0.00 0.000 6 0.000 0.052 2589 2206 2218

13753 0.85 146.6 904.5 11.0 665 13757 0.00 2.70 0.00 0.000 4 0.000 0.082 2589 3613 2216

14009 1.37 624.3 890.7 -7.1 676 14361 0.52 2.62 341.25 1.282 6 0.045 0.059 2713 2200 509

14668 1.37 624.3 860.9 11.2 709 14673 0.00 2.72 0.00 0.000 4 0.000 0.082 2713 788 509

14752 1.37 624.3 851.2 11.3 713 14756 0.00 2.60 0.00 0.000 6 0.000 0.052 2713 2201 508

15077 1.37 624.3 809.9 13.4 729 15082 0.00 2.70 0.00 0.000 4 0.000 0.074 2713 789 506

15206 1.37 624.3 789.7 15.2 735 15210 0.00 2.58 0.00 0.000 6 0.000 0.049 2713 2204 506

15537 1.37 624.3 741.2 14.7 751 15542 0.00 2.67 0.00 0.000 4 0.000 0.071 2713 788 506

15653 1.37 624.3 722.4 11.8 756 15658 0.00 2.58 0.00 0.000 6 0.000 0.048 2713 2207 506

15974 1.37 624.3 671.3 15.8 772 15978 0.00 2.67 0.00 0.000 4 0.000 0.070 2713 788 507

16103 1.37 624.3 650.4 15.5 778 16107 0.00 2.55 0.00 0.000 6 0.000 0.046 2713 2200 507

16428 1.37 624.3 603.0 15.5 794 16432 0.00 2.67 0.00 0.000 4 0.000 0.071 2713 780 508

16556 1.37 624.3 583.7 13.5 800 16560 0.00 2.58 0.00 0.000 6 0.000 0.046 2713 2206 509

16881 1.37 624.3 532.5 17.1 816 16886 0.00 2.67 0.03 0.268 4 0.000 0.070 2713 785 509

17020 1.37 624.3 512.9 14.4 822 17026 0.00 2.55 0.28 0.143 6 0.000 0.046 2713 2201 509

17335 1.37 624.3 466.3 15.6 837 17341 0.00 2.67 1.02 0.134 4 0.000 0.071 2713 785 510

17481 1.37 624.3 443.7 15.5 843 17488 0.00 2.55 2.22 0.264 6 0.000 0.046 2713 2199 509

17795 1.37 624.3 382.4 21.9 859 17800 0.00 2.65 0.00 0.000 4 0.000 0.072 2713 788 509

17947 1.37 624.3 349.6 20.4 866 17951 0.00 2.55 0.00 0.000 6 0.000 0.047 2713 2200 509

18273 1.37 624.3 282.0 21.1 882 18279 0.00 2.67 0.98 0.140 4 0.000 0.074 2713 780 510

18385 1.37 624.3 258.0 16.1 887 18394 0.00 2.55 1.95 0.131 6 0.000 0.046 2713 2199 510

18710 1.37 624.3 185.2 23.0 903 18719 0.00 2.70 2.22 0.247 4 0.000 0.072 2713 786 509

18871 1.37 624.3 153.8 18.7 910 18876 0.00 2.55 0.00 0.000 6 0.000 0.047 2713 2204 509

19198 1.37 624.3 90.0 19.4 926 19203 0.00 2.67 0.08 0.180 4 0.000 0.071 2713 781 509

19350 1.37 624.3 61.5 18.4 933 19355 0.00 2.55 0.12 0.160 6 0.000 0.047 2713 2200 509

19675 end climb: SURFACE_DEPTH_REACHED

state 19675 begin surface coast

19698 end surface coast: CONTROL_FINISHED_OK

state 19698 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	104	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	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-2077437.4	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	054402,6145.805,-944.259,39,1.2,39,-9.7	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.162,-0.151
_SM_DEPTHo	1.42	KALMAN_X	-32557.6,-310.7,7434.1,-8606.4,-28473.5
_SM_ANGLEo	-63.9	KALMAN_Y	99484.2,-80.3,-3303.7,-82049.3,6282.2
GPS2	054915,6145.792,-944.302,15,1.2,15,-9.7	MHEAD_RNG_PITCHd_Wd	142.6,25727,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.7,1.006322	ALTIM_BOTTOM_PING	875.5,103.2
SM_CCo	19777,0.00,0.000,0,0,510,565.91	_24V_AH	23.5,20.270
SM_GC	1.37,11.62,0.00,0.00,0.044,0.000,0.000,64,2404,510,-10.70,0.11,565.91	_10V_AH	10.1,9.076
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47283,950
TT8_MAMPS	0.02301	CFSIZE	260165632,253444096
HUMID	2128	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	16.30	GPS	291107,112115,6145.124,-948.882,39,2.1,58,-9.7
XPDR_PINGS	22

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	175	108.04	SBE_CT	664	24	374.52
Roll_motor	189	82	368.21	SBE_O2	675	19	301.66
VBD_pump_during_apogee	597	1349	18946.17	WL_BB2F	498	105	1230.96
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	78.88	nil	0	0	0.00
Iridium_during_connect	33	160	127.47	nil	0	0	0.00
Iridium_during_xfer	150	223	790.83
Transponder_ping	13	420	130.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.86
TT8	1788	19	357.65
LPSleep	14853	2	328.55
TT8_Active	669	19	133.84
TT8_Sampling	2406	39	967.39
TT8_CF8	371	45	171.85
TT8_Kalman	33	81	27.56
Analog_circuits	1895	12	229.69
GPS_charging	0	0	0.00
Compass	2342	8	189.24
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	17	begin dive
19	-0.85	-146.6	0.0	0.0	0	82	0.00	0.00	-61.40	0.000	2	0.000	0.000	67	2403	3173
84	-0.85	-146.6	4.1	-6.3	3	107	12.20	2.70	-5.30	0.000	4	0.176	0.077	2221	982	3418
265	-0.85	-146.6	25.1	-10.5	11	269	0.00	2.60	0.00	0.000	6	0.000	0.051	2221	2407	3418
590	-0.85	-146.6	53.4	-6.6	27	595	0.00	2.65	0.00	0.000	4	0.000	0.064	2221	980	3418
633	-0.85	-146.6	56.6	-7.6	29	638	0.00	2.60	0.00	0.000	6	0.000	0.053	2221	2397	3418
961	-0.85	-146.6	83.7	-9.5	45	962	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2397	3417
1270	-0.85	-146.6	109.1	-7.9	60	1274	0.00	2.62	0.00	0.000	4	0.000	0.067	2221	979	3418
1353	-0.85	-146.6	116.4	-8.9	64	1357	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2403	3418
1678	-0.85	-146.6	142.1	-6.5	80	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2404	3418
1987	-0.85	-146.6	159.6	-5.1	95	1992	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	980	3418
2082	-0.85	-146.6	164.7	-4.8	99	2086	0.00	2.60	0.00	0.000	6	0.000	0.052	2221	2407	3418
2403	-0.85	-146.6	181.1	-5.2	115	2407	0.00	2.65	0.00	0.000	4	0.000	0.066	2221	980	3418
2451	-0.85	-146.6	184.1	-6.2	117	2455	0.00	2.60	0.00	0.000	6	0.000	0.052	2221	2395	3418
2772	-0.85	-146.6	210.2	-10.5	133	2773	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2395	3418
3081	-0.85	-146.6	247.1	-13.6	148	3082	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2395	3418
3390	-0.85	-146.6	292.0	-15.3	163	3391	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2395	3418
3700	-0.85	-146.6	331.7	-12.6	178	3704	0.00	2.62	0.00	0.000	4	0.000	0.067	2221	980	3418
3731	-0.85	-146.6	337.0	-16.9	179	3738	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2397	3418
4047	-0.85	-146.6	352.3	-3.7	195	4051	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	972	3418
4103	-0.85	-146.6	354.4	-4.3	197	4108	0.00	2.60	0.00	0.000	6	0.000	0.055	2221	2400	3417
4417	-0.85	-146.6	365.7	-2.9	213	4418	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
4726	-0.85	-146.6	373.2	-1.9	228	4731	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	973	3418
4782	-0.85	-146.6	375.0	-3.1	230	4788	0.00	2.60	0.00	0.000	6	0.000	0.056	2221	2400	3418
5097	-0.85	-146.6	386.1	-1.7	246	5098	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3418
5406	-0.85	-146.6	403.9	-4.8	261	5411	0.00	2.65	0.00	0.000	4	0.000	0.070	2221	978	3418
5455	-0.85	-146.6	405.5	-3.3	263	5460	0.00	2.60	0.00	0.000	6	0.000	0.057	2221	2401	3418
5776	-0.85	-146.6	421.6	-6.0	279	5780	0.00	2.65	0.00	0.000	4	0.000	0.072	2221	980	3419
5869	-0.85	-146.6	427.9	-7.1	283	5874	0.00	2.60	0.00	0.000	6	0.000	0.055	2221	2401	3418
6190	-0.85	-146.6	448.4	-6.2	299	6191	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2401	3418
6500	-0.85	-146.6	468.2	-6.2	314	6504	0.00	2.65	0.00	0.000	4	0.000	0.069	2221	976	3418
6548	-0.85	-146.6	471.2	-6.3	316	6552	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2391	3418
6869	-0.85	-146.6	491.9	-7.0	332	6873	0.00	2.62	0.00	0.000	4	0.000	0.068	2221	977	3418
6929	-0.85	-146.6	496.1	-7.0	335	6934	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2406	3418
7256	-0.85	-146.6	517.0	-6.6	351	7260	0.00	2.65	0.00	0.000	4	0.000	0.067	2221	978	3418
7304	-0.85	-146.6	520.5	-7.1	353	7309	0.00	2.60	0.00	0.000	6	0.000	0.053	2221	2393	3417
7625	-0.85	-146.6	536.9	-5.1	369	7626	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2393	3418
7934	-0.85	-146.6	557.0	-6.7	384	7936	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2393	3418
8243	-0.85	-146.6	587.3	-11.3	399	8248	0.00	2.62	0.00	0.000	4	0.000	0.070	2221	981	3417
8315	-0.85	-146.6	595.8	-12.1	402	8319	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2395	3418
8636	-0.85	-146.6	627.4	-10.4	418	8637	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2395	3418
8945	-0.85	-146.6	657.4	-9.9	433	8949	0.00	2.62	0.00	0.000	4	0.000	0.069	2221	981	3418
8988	-0.85	-146.6	661.7	-9.1	435	8993	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	2393	3418
9316	-0.85	-146.6	689.5	-8.2	451	9317	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2393	3418
9625	-0.85	-146.6	711.7	-5.3	466	9629	0.00	2.62	0.00	0.000	4	0.000	0.066	2221	972	3418
9673	-0.85	-146.6	715.0	-6.2	468	9678	0.00	2.62	0.00	0.000	6	0.000	0.053	2221	2403	3418
9995	-0.85	-146.6	739.8	-9.1	484	9996	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2403	3418
10304	-0.85	-146.6	760.6	-6.8	499	10308	0.00	2.62	0.00	0.000	4	0.000	0.066	2221	980	3417
10346	-0.85	-146.6	763.9	-7.4	501	10351	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2394	3418
10673	-0.85	-146.6	790.1	-9.5	517	10678	0.00	2.60	0.00	0.000	4	0.000	0.065	2221	979	3417
10716	-0.85	-146.6	794.8	-10.1	519	10720	0.00	2.60	0.00	0.000	6	0.000	0.053	2220	2397	3417
11043	-0.85	-146.6	827.8	-11.1	535	11047	0.00	2.58	0.00	0.000	4	0.000	0.080	2221	3765	3417
11115	-0.85	-146.6	836.7	-12.7	538	11119	0.00	2.47	0.00	0.000	6	0.000	0.053	2221	2392	3417
11429	-0.85	-146.6	873.6	-12.4	553	11433	0.00	2.62	0.00	0.000	4	0.000	0.071	2221	977	3417
11574	-0.85	-146.6	886.7	-6.9	559	11580	0.00	2.60	0.00	0.000	6	0.000	0.054	2221	2404	3417
11889	-0.85	-146.6	894.5	0.1	575	11893	0.00	2.58	0.00	0.000	4	0.000	0.081	2221	3770	3417
12022	-0.85	-146.6	891.8	3.3	581	12026	0.00	2.50	0.00	0.000	6	0.000	0.054	2221	2392	3417
12348	-0.85	-146.6	871.1	5.5	597	12349	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2392	3417
12657	-0.85	-146.6	892.1	-15.2	612	12661	0.00	2.65	0.00	0.000	4	0.000	0.078	2221	983	3417
12678	-0.85	-146.6	896.3	-19.6	613	12683	0.00	2.60	0.00	0.000	6	0.000	0.059	2221	2393	3417
13004	-0.85	-146.6	959.5	-13.1	629	13009	0.00	2.60	0.00	0.000	4	0.000	0.083	2221	3763	3418
13038	-0.85	-146.6	961.0	-3.6	630	13045	0.00	2.47	0.00	0.000	6	0.000	0.055	2221	2392	3417
13104	end dive: BOTTOM_OBSTACLE_DETECTED
state	13104	begin apogee
13109	-0.31	0.0	970.1	13.6	634	13236	0.60	0.00	124.55	1.349	6	0.120	0.000	2338	2197	2817
13237	end apogee: CONTROL_FINISHED_OK
state	13237	begin climb
13239	0.85	146.6	978.1	0.0	640	13370	1.23	2.78	122.88	1.321	4	0.090	0.073	2589	790	2220
13427	0.85	146.6	962.2	17.6	649	13432	0.00	2.62	0.00	0.000	6	0.000	0.052	2589	2206	2218
13753	0.85	146.6	904.5	11.0	665	13757	0.00	2.70	0.00	0.000	4	0.000	0.082	2589	3613	2216
14009	1.37	624.3	890.7	-7.1	676	14361	0.52	2.62	341.25	1.282	6	0.045	0.059	2713	2200	509
14668	1.37	624.3	860.9	11.2	709	14673	0.00	2.72	0.00	0.000	4	0.000	0.082	2713	788	509
14752	1.37	624.3	851.2	11.3	713	14756	0.00	2.60	0.00	0.000	6	0.000	0.052	2713	2201	508
15077	1.37	624.3	809.9	13.4	729	15082	0.00	2.70	0.00	0.000	4	0.000	0.074	2713	789	506
15206	1.37	624.3	789.7	15.2	735	15210	0.00	2.58	0.00	0.000	6	0.000	0.049	2713	2204	506
15537	1.37	624.3	741.2	14.7	751	15542	0.00	2.67	0.00	0.000	4	0.000	0.071	2713	788	506
15653	1.37	624.3	722.4	11.8	756	15658	0.00	2.58	0.00	0.000	6	0.000	0.048	2713	2207	506
15974	1.37	624.3	671.3	15.8	772	15978	0.00	2.67	0.00	0.000	4	0.000	0.070	2713	788	507
16103	1.37	624.3	650.4	15.5	778	16107	0.00	2.55	0.00	0.000	6	0.000	0.046	2713	2200	507
16428	1.37	624.3	603.0	15.5	794	16432	0.00	2.67	0.00	0.000	4	0.000	0.071	2713	780	508
16556	1.37	624.3	583.7	13.5	800	16560	0.00	2.58	0.00	0.000	6	0.000	0.046	2713	2206	509
16881	1.37	624.3	532.5	17.1	816	16886	0.00	2.67	0.03	0.268	4	0.000	0.070	2713	785	509
17020	1.37	624.3	512.9	14.4	822	17026	0.00	2.55	0.28	0.143	6	0.000	0.046	2713	2201	509
17335	1.37	624.3	466.3	15.6	837	17341	0.00	2.67	1.02	0.134	4	0.000	0.071	2713	785	510
17481	1.37	624.3	443.7	15.5	843	17488	0.00	2.55	2.22	0.264	6	0.000	0.046	2713	2199	509
17795	1.37	624.3	382.4	21.9	859	17800	0.00	2.65	0.00	0.000	4	0.000	0.072	2713	788	509
17947	1.37	624.3	349.6	20.4	866	17951	0.00	2.55	0.00	0.000	6	0.000	0.047	2713	2200	509
18273	1.37	624.3	282.0	21.1	882	18279	0.00	2.67	0.98	0.140	4	0.000	0.074	2713	780	510
18385	1.37	624.3	258.0	16.1	887	18394	0.00	2.55	1.95	0.131	6	0.000	0.046	2713	2199	510
18710	1.37	624.3	185.2	23.0	903	18719	0.00	2.70	2.22	0.247	4	0.000	0.072	2713	786	509
18871	1.37	624.3	153.8	18.7	910	18876	0.00	2.55	0.00	0.000	6	0.000	0.047	2713	2204	509
19198	1.37	624.3	90.0	19.4	926	19203	0.00	2.67	0.08	0.180	4	0.000	0.071	2713	781	509
19350	1.37	624.3	61.5	18.4	933	19355	0.00	2.55	0.12	0.160	6	0.000	0.047	2713	2200	509
19675	end climb: SURFACE_DEPTH_REACHED
state	19675	begin surface coast
19698	end surface coast: CONTROL_FINISHED_OK
state	19698	begin surface