Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 62 * 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 62 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 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 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 -2076383.6 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 412.5

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 -2076383.6

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 15 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 62 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 151255,6141.818,-921.074,39,1.6,39,-9.5 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.121,-0.214

_SM_DEPTHo 1.65 KALMAN_X 6502.9,-55.6,-505.0,-19500.2,-254.9

_SM_ANGLEo -61.9 KALMAN_Y 81453.1,58.8,764.0,-75599.0,-667.9

GPS2 151708,6141.811,-921.072,10,1.6,15,-9.5 MHEAD_RNG_PITCHd_Wd 160.1,44521,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.9,1.027912 ALTIM_BOTTOM_PING 775.2,102.5

SM_CCo 18262,42.45,0.598,3,0,1594,300.00 _24V_AH 23.5,15.236

SM_GC 1.86,0.00,0.00,42.45,0.000,0.000,0.598,74,2399,1594,-10.74,0.00,300.00 _10V_AH 10.2,6.480

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 44291,882

TT8_MAMPS 0.02301 CFSIZE 260165632,255414272

HUMID 2089 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,3,0

TCM_TEMP 17.50 GPS 221107,202426,6141.640,-919.742,38,1.9,38,-9.5

XPDR_PINGS 27

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 100.18 SBE_CT 617 24 348.41

Roll_motor 141 92 305.89 SBE_O2 632 19 282.38

VBD_pump_during_apogee 317 1283 9589.74 WL_BB2F 514 105 1269.07

VBD_pump_during_surface 42 598 596.81 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 29 160 110.15 nil 0 0 0.00

Iridium_during_xfer 110 223 581.17

Transponder_ping 13 420 133.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.03

TT8 1626 19 328.46

LPSleep 14137 2 315.80

TT8_Active 516 19 104.22

TT8_Sampling 2015 39 818.39

TT8_CF8 281 45 131.51

TT8_Kalman 33 81 27.83

Analog_circuits 1501 12 183.74

GPS_charging 0 0 0.00

Compass 1971 8 160.91

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 -1.08 -146.6 0.0 0.0 0 73 0.00 0.00 -52.47 0.000 2 0.000 0.000 72 2400 2933

75 -1.08 -146.6 3.4 -3.6 3 105 11.70 2.60 -12.40 0.000 4 0.170 0.082 2169 3763 3417

356 -1.08 -146.6 38.2 -10.4 15 364 0.00 2.47 0.00 0.000 6 0.000 0.044 2169 2401 3418

672 -1.08 -146.6 66.3 -10.2 31 676 0.00 2.55 0.00 0.000 4 0.000 0.067 2170 3768 3418

845 -1.08 -146.6 83.0 -9.6 39 850 0.00 2.45 0.00 0.000 6 0.000 0.046 2170 2399 3418

1171 -1.08 -146.6 111.0 -9.0 55 1175 0.00 2.60 0.00 0.000 4 0.000 0.063 2170 985 3418

1219 -1.08 -146.6 115.4 -8.4 57 1224 0.00 2.58 0.00 0.000 6 0.000 0.048 2169 2401 3417

1541 -1.08 -146.6 142.0 -8.9 73 1542 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2401 3417

1849 -1.08 -146.6 171.8 -9.2 88 1851 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2401 3417

2159 -1.08 -146.6 205.6 -11.0 103 2160 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2401 3418

2468 -1.08 -146.6 241.1 -11.3 118 2472 0.00 2.60 0.00 0.000 4 0.000 0.060 2170 983 3418

2562 -1.08 -146.6 252.5 -12.6 122 2567 0.00 2.60 0.00 0.000 6 0.000 0.048 2170 2403 3417

2883 -1.08 -146.6 291.7 -12.4 138 2887 0.00 2.60 0.00 0.000 4 0.000 0.061 2170 983 3418

2925 -1.08 -146.6 297.4 -12.6 140 2931 0.00 2.60 0.00 0.000 6 0.000 0.049 2170 2401 3418

3253 -1.08 -146.6 333.7 -10.4 156 3254 0.00 0.00 0.00 0.000 6 0.000 0.000 2169 2401 3418

3562 -1.08 -146.6 366.9 -10.3 171 3567 0.00 2.55 0.00 0.000 4 0.000 0.071 2170 3770 3418

3611 -1.08 -146.6 371.8 -9.2 173 3616 0.00 2.47 0.00 0.000 6 0.000 0.047 2170 2405 3418

3934 -1.08 -146.6 401.2 -9.7 189 3938 0.00 2.62 0.00 0.000 4 0.000 0.065 2170 980 3418

4027 -1.08 -146.6 410.8 -9.8 193 4032 0.00 2.60 0.00 0.000 6 0.000 0.049 2170 2400 3418

4348 -1.08 -146.6 443.1 -10.4 209 4352 0.00 2.60 0.00 0.000 4 0.000 0.062 2169 980 3418

4403 -1.08 -146.6 448.7 -10.3 211 4407 0.00 2.60 0.00 0.000 6 0.000 0.050 2170 2400 3418

4724 -1.08 -146.6 478.5 -9.3 227 4725 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2401 3418

5033 -1.08 -146.6 507.9 -10.5 242 5037 0.00 2.60 0.00 0.000 4 0.000 0.061 2170 982 3418

5104 -1.08 -146.6 514.3 -8.9 245 5109 0.00 2.58 0.00 0.000 6 0.000 0.050 2170 2398 3418

5426 -1.08 -146.6 545.0 -9.2 261 5430 0.00 2.60 0.00 0.000 4 0.000 0.060 2169 977 3417

5474 -1.08 -146.6 549.6 -9.3 263 5483 0.00 2.60 0.00 0.000 6 0.000 0.049 2169 2400 3418

5797 -1.08 -146.6 578.7 -9.0 279 5798 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3417

6106 -1.08 -146.6 604.5 -8.3 294 6110 0.00 2.55 0.00 0.000 4 0.000 0.072 2170 3769 3418

6145 -1.08 -146.6 608.0 -9.2 296 6149 0.00 2.45 0.00 0.000 6 0.000 0.048 2170 2398 3417

6470 -1.08 -146.6 638.9 -9.2 312 6471 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2398 3417

6779 -1.08 -146.6 672.2 -11.9 327 6783 0.00 2.58 0.00 0.000 4 0.000 0.074 2170 3769 3417

6845 -1.08 -146.6 678.6 -9.7 330 6849 0.00 2.47 0.00 0.000 6 0.000 0.048 2170 2405 3417

7173 -1.08 -146.6 708.5 -7.5 346 7177 0.00 2.60 0.00 0.000 4 0.000 0.065 2170 987 3417

7243 -1.08 -146.6 712.8 -4.6 349 7248 0.00 2.58 0.00 0.000 6 0.000 0.051 2170 2401 3417

7564 -1.08 -146.6 731.0 -6.0 365 7566 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3417

7874 -1.08 -146.6 757.2 -11.3 380 7878 0.00 2.62 0.00 0.000 4 0.000 0.064 2170 980 3417

8115 -1.08 -146.6 776.8 -9.6 391 8119 0.00 2.60 0.00 0.000 6 0.000 0.054 2170 2405 3417

8440 -1.08 -146.6 807.4 -9.7 407 8444 0.00 2.60 0.00 0.000 4 0.000 0.084 2170 3769 3417

8533 -1.08 -146.6 819.6 -14.2 411 8538 0.00 2.53 0.00 0.000 6 0.000 0.059 2170 2409 3417

8854 -1.08 -146.6 855.5 -8.4 427 8855 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2409 3417

9162 end dive: BOTTOM_OBSTACLE_DETECTED

state 9162 begin apogee

9167 -0.31 0.0 869.4 5.4 442 9293 0.85 0.00 123.35 1.284 6 0.117 0.000 2338 2202 2818

9294 end apogee: CONTROL_FINISHED_OK

state 9294 begin climb

9295 1.08 146.6 871.3 0.0 448 9427 1.45 2.83 121.15 1.257 4 0.074 0.079 2645 785 2218

9679 1.08 146.6 843.4 12.2 465 9686 0.00 2.67 0.00 0.000 6 0.000 0.060 2645 2196 2216

9995 1.14 202.4 824.7 6.0 481 10048 0.00 2.83 45.97 1.238 4 0.000 0.089 2645 3616 1991

10070 1.14 202.4 818.7 8.3 484 10077 0.00 2.78 0.00 0.000 6 0.000 0.074 2645 2201 1990

10385 1.14 202.4 786.5 13.0 500 10386 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2201 1988

10694 1.14 202.4 756.7 14.3 515 10699 0.00 2.75 0.00 0.000 4 0.000 0.087 2645 3613 1984

10737 1.14 202.4 751.0 12.4 517 10742 0.00 2.70 0.00 0.000 6 0.000 0.067 2645 2199 1984

11064 1.14 202.4 720.1 10.1 533 11065 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1982

11373 1.14 202.4 692.8 9.0 548 11374 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1982

11682 1.14 202.4 665.6 8.4 563 11687 0.00 2.65 0.00 0.000 4 0.000 0.072 2645 3616 1982

11744 1.14 202.4 660.2 8.9 566 11748 0.00 2.60 0.00 0.000 6 0.000 0.054 2645 2197 1982

12069 1.14 202.4 631.1 8.9 582 12070 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2197 1982

12378 1.14 202.4 602.5 9.8 597 12382 0.00 2.65 0.00 0.000 4 0.000 0.070 2645 3619 1983

12461 1.14 202.4 593.8 10.7 601 12466 0.00 2.60 0.00 0.000 6 0.000 0.053 2645 2197 1983

12787 1.14 202.4 558.1 12.0 617 12791 0.00 2.65 0.00 0.000 4 0.000 0.069 2645 3625 1983

12852 1.14 202.4 549.4 13.1 620 12857 0.00 2.62 0.00 0.000 6 0.000 0.053 2645 2200 1983

13179 1.14 202.4 508.2 12.6 636 13183 0.00 2.62 0.00 0.000 4 0.000 0.067 2645 788 1984

13217 1.14 202.4 503.3 13.0 638 13221 0.00 2.55 0.00 0.000 6 0.000 0.044 2645 2206 1984

13542 1.14 202.4 463.6 12.0 654 13544 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2206 1984

13852 1.14 202.4 428.0 11.7 669 13856 0.00 2.62 0.00 0.000 4 0.000 0.061 2645 783 1985

13894 1.14 202.4 422.7 11.6 671 13899 0.00 2.58 0.00 0.000 6 0.000 0.044 2645 2200 1985

14221 1.14 202.4 384.6 11.4 687 14222 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1986

14531 1.14 202.4 351.4 10.3 702 14532 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2199 1987

14840 1.14 202.4 321.9 9.5 717 14844 0.00 2.62 0.00 0.000 4 0.000 0.068 2645 3619 1988

14882 1.14 202.4 317.5 10.3 719 14887 0.00 2.60 0.00 0.000 6 0.000 0.053 2645 2207 1988

15209 1.14 202.4 285.8 9.8 735 15210 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2208 1988

15518 1.14 202.4 256.6 9.3 750 15519 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2208 1988

15827 1.14 202.4 226.0 9.6 765 15832 0.00 2.62 0.00 0.000 4 0.000 0.063 2645 782 1988

15876 1.14 202.4 221.2 10.1 767 15881 0.00 2.58 0.00 0.000 6 0.000 0.044 2645 2201 1989

16197 1.14 202.4 190.9 9.6 783 16202 0.00 2.60 0.00 0.000 4 0.000 0.068 2645 3611 1989

16252 1.14 202.4 185.4 9.1 785 16259 0.00 2.60 0.00 0.000 6 0.000 0.054 2645 2201 1990

16568 1.14 202.4 157.7 8.8 801 16569 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2202 1990

16877 1.16 216.0 133.9 7.5 816 16891 0.00 0.00 12.10 0.693 6 0.000 0.000 2645 2202 1935

17187 1.18 233.5 113.9 7.4 831 17209 0.00 2.67 15.25 0.695 4 0.000 0.067 2645 3613 1863

17242 1.18 233.5 108.9 9.1 833 17246 0.00 2.62 0.00 0.000 6 0.000 0.054 2645 2206 1863

17563 1.18 233.5 77.6 11.1 849 17564 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2206 1863

17872 1.18 233.5 40.6 12.7 864 17873 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2206 1864

18182 1.18 233.5 5.5 10.2 879 18183 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2206 1864

18222 end climb: SURFACE_DEPTH_REACHED

state 18222 begin surface coast

18243 end surface coast: CONTROL_FINISHED_OK

state 18244 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	62	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	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	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	-2076383.6	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	151255,6141.818,-921.074,39,1.6,39,-9.5	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.121,-0.214
_SM_DEPTHo	1.65	KALMAN_X	6502.9,-55.6,-505.0,-19500.2,-254.9
_SM_ANGLEo	-61.9	KALMAN_Y	81453.1,58.8,764.0,-75599.0,-667.9
GPS2	151708,6141.811,-921.072,10,1.6,15,-9.5	MHEAD_RNG_PITCHd_Wd	160.1,44521,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.9,1.027912	ALTIM_BOTTOM_PING	775.2,102.5
SM_CCo	18262,42.45,0.598,3,0,1594,300.00	_24V_AH	23.5,15.236
SM_GC	1.86,0.00,0.00,42.45,0.000,0.000,0.598,74,2399,1594,-10.74,0.00,300.00	_10V_AH	10.2,6.480
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	44291,882
TT8_MAMPS	0.02301	CFSIZE	260165632,255414272
HUMID	2089	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,3,0
TCM_TEMP	17.50	GPS	221107,202426,6141.640,-919.742,38,1.9,38,-9.5
XPDR_PINGS	27

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	100.18	SBE_CT	617	24	348.41
Roll_motor	141	92	305.89	SBE_O2	632	19	282.38
VBD_pump_during_apogee	317	1283	9589.74	WL_BB2F	514	105	1269.07
VBD_pump_during_surface	42	598	596.81	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	29	160	110.15	nil	0	0	0.00
Iridium_during_xfer	110	223	581.17
Transponder_ping	13	420	133.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.03
TT8	1626	19	328.46
LPSleep	14137	2	315.80
TT8_Active	516	19	104.22
TT8_Sampling	2015	39	818.39
TT8_CF8	281	45	131.51
TT8_Kalman	33	81	27.83
Analog_circuits	1501	12	183.74
GPS_charging	0	0	0.00
Compass	1971	8	160.91
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	-1.08	-146.6	0.0	0.0	0	73	0.00	0.00	-52.47	0.000	2	0.000	0.000	72	2400	2933
75	-1.08	-146.6	3.4	-3.6	3	105	11.70	2.60	-12.40	0.000	4	0.170	0.082	2169	3763	3417
356	-1.08	-146.6	38.2	-10.4	15	364	0.00	2.47	0.00	0.000	6	0.000	0.044	2169	2401	3418
672	-1.08	-146.6	66.3	-10.2	31	676	0.00	2.55	0.00	0.000	4	0.000	0.067	2170	3768	3418
845	-1.08	-146.6	83.0	-9.6	39	850	0.00	2.45	0.00	0.000	6	0.000	0.046	2170	2399	3418
1171	-1.08	-146.6	111.0	-9.0	55	1175	0.00	2.60	0.00	0.000	4	0.000	0.063	2170	985	3418
1219	-1.08	-146.6	115.4	-8.4	57	1224	0.00	2.58	0.00	0.000	6	0.000	0.048	2169	2401	3417
1541	-1.08	-146.6	142.0	-8.9	73	1542	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2401	3417
1849	-1.08	-146.6	171.8	-9.2	88	1851	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2401	3417
2159	-1.08	-146.6	205.6	-11.0	103	2160	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2401	3418
2468	-1.08	-146.6	241.1	-11.3	118	2472	0.00	2.60	0.00	0.000	4	0.000	0.060	2170	983	3418
2562	-1.08	-146.6	252.5	-12.6	122	2567	0.00	2.60	0.00	0.000	6	0.000	0.048	2170	2403	3417
2883	-1.08	-146.6	291.7	-12.4	138	2887	0.00	2.60	0.00	0.000	4	0.000	0.061	2170	983	3418
2925	-1.08	-146.6	297.4	-12.6	140	2931	0.00	2.60	0.00	0.000	6	0.000	0.049	2170	2401	3418
3253	-1.08	-146.6	333.7	-10.4	156	3254	0.00	0.00	0.00	0.000	6	0.000	0.000	2169	2401	3418
3562	-1.08	-146.6	366.9	-10.3	171	3567	0.00	2.55	0.00	0.000	4	0.000	0.071	2170	3770	3418
3611	-1.08	-146.6	371.8	-9.2	173	3616	0.00	2.47	0.00	0.000	6	0.000	0.047	2170	2405	3418
3934	-1.08	-146.6	401.2	-9.7	189	3938	0.00	2.62	0.00	0.000	4	0.000	0.065	2170	980	3418
4027	-1.08	-146.6	410.8	-9.8	193	4032	0.00	2.60	0.00	0.000	6	0.000	0.049	2170	2400	3418
4348	-1.08	-146.6	443.1	-10.4	209	4352	0.00	2.60	0.00	0.000	4	0.000	0.062	2169	980	3418
4403	-1.08	-146.6	448.7	-10.3	211	4407	0.00	2.60	0.00	0.000	6	0.000	0.050	2170	2400	3418
4724	-1.08	-146.6	478.5	-9.3	227	4725	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2401	3418
5033	-1.08	-146.6	507.9	-10.5	242	5037	0.00	2.60	0.00	0.000	4	0.000	0.061	2170	982	3418
5104	-1.08	-146.6	514.3	-8.9	245	5109	0.00	2.58	0.00	0.000	6	0.000	0.050	2170	2398	3418
5426	-1.08	-146.6	545.0	-9.2	261	5430	0.00	2.60	0.00	0.000	4	0.000	0.060	2169	977	3417
5474	-1.08	-146.6	549.6	-9.3	263	5483	0.00	2.60	0.00	0.000	6	0.000	0.049	2169	2400	3418
5797	-1.08	-146.6	578.7	-9.0	279	5798	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3417
6106	-1.08	-146.6	604.5	-8.3	294	6110	0.00	2.55	0.00	0.000	4	0.000	0.072	2170	3769	3418
6145	-1.08	-146.6	608.0	-9.2	296	6149	0.00	2.45	0.00	0.000	6	0.000	0.048	2170	2398	3417
6470	-1.08	-146.6	638.9	-9.2	312	6471	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2398	3417
6779	-1.08	-146.6	672.2	-11.9	327	6783	0.00	2.58	0.00	0.000	4	0.000	0.074	2170	3769	3417
6845	-1.08	-146.6	678.6	-9.7	330	6849	0.00	2.47	0.00	0.000	6	0.000	0.048	2170	2405	3417
7173	-1.08	-146.6	708.5	-7.5	346	7177	0.00	2.60	0.00	0.000	4	0.000	0.065	2170	987	3417
7243	-1.08	-146.6	712.8	-4.6	349	7248	0.00	2.58	0.00	0.000	6	0.000	0.051	2170	2401	3417
7564	-1.08	-146.6	731.0	-6.0	365	7566	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3417
7874	-1.08	-146.6	757.2	-11.3	380	7878	0.00	2.62	0.00	0.000	4	0.000	0.064	2170	980	3417
8115	-1.08	-146.6	776.8	-9.6	391	8119	0.00	2.60	0.00	0.000	6	0.000	0.054	2170	2405	3417
8440	-1.08	-146.6	807.4	-9.7	407	8444	0.00	2.60	0.00	0.000	4	0.000	0.084	2170	3769	3417
8533	-1.08	-146.6	819.6	-14.2	411	8538	0.00	2.53	0.00	0.000	6	0.000	0.059	2170	2409	3417
8854	-1.08	-146.6	855.5	-8.4	427	8855	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2409	3417
9162	end dive: BOTTOM_OBSTACLE_DETECTED
state	9162	begin apogee
9167	-0.31	0.0	869.4	5.4	442	9293	0.85	0.00	123.35	1.284	6	0.117	0.000	2338	2202	2818
9294	end apogee: CONTROL_FINISHED_OK
state	9294	begin climb
9295	1.08	146.6	871.3	0.0	448	9427	1.45	2.83	121.15	1.257	4	0.074	0.079	2645	785	2218
9679	1.08	146.6	843.4	12.2	465	9686	0.00	2.67	0.00	0.000	6	0.000	0.060	2645	2196	2216
9995	1.14	202.4	824.7	6.0	481	10048	0.00	2.83	45.97	1.238	4	0.000	0.089	2645	3616	1991
10070	1.14	202.4	818.7	8.3	484	10077	0.00	2.78	0.00	0.000	6	0.000	0.074	2645	2201	1990
10385	1.14	202.4	786.5	13.0	500	10386	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2201	1988
10694	1.14	202.4	756.7	14.3	515	10699	0.00	2.75	0.00	0.000	4	0.000	0.087	2645	3613	1984
10737	1.14	202.4	751.0	12.4	517	10742	0.00	2.70	0.00	0.000	6	0.000	0.067	2645	2199	1984
11064	1.14	202.4	720.1	10.1	533	11065	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1982
11373	1.14	202.4	692.8	9.0	548	11374	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1982
11682	1.14	202.4	665.6	8.4	563	11687	0.00	2.65	0.00	0.000	4	0.000	0.072	2645	3616	1982
11744	1.14	202.4	660.2	8.9	566	11748	0.00	2.60	0.00	0.000	6	0.000	0.054	2645	2197	1982
12069	1.14	202.4	631.1	8.9	582	12070	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2197	1982
12378	1.14	202.4	602.5	9.8	597	12382	0.00	2.65	0.00	0.000	4	0.000	0.070	2645	3619	1983
12461	1.14	202.4	593.8	10.7	601	12466	0.00	2.60	0.00	0.000	6	0.000	0.053	2645	2197	1983
12787	1.14	202.4	558.1	12.0	617	12791	0.00	2.65	0.00	0.000	4	0.000	0.069	2645	3625	1983
12852	1.14	202.4	549.4	13.1	620	12857	0.00	2.62	0.00	0.000	6	0.000	0.053	2645	2200	1983
13179	1.14	202.4	508.2	12.6	636	13183	0.00	2.62	0.00	0.000	4	0.000	0.067	2645	788	1984
13217	1.14	202.4	503.3	13.0	638	13221	0.00	2.55	0.00	0.000	6	0.000	0.044	2645	2206	1984
13542	1.14	202.4	463.6	12.0	654	13544	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2206	1984
13852	1.14	202.4	428.0	11.7	669	13856	0.00	2.62	0.00	0.000	4	0.000	0.061	2645	783	1985
13894	1.14	202.4	422.7	11.6	671	13899	0.00	2.58	0.00	0.000	6	0.000	0.044	2645	2200	1985
14221	1.14	202.4	384.6	11.4	687	14222	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1986
14531	1.14	202.4	351.4	10.3	702	14532	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2199	1987
14840	1.14	202.4	321.9	9.5	717	14844	0.00	2.62	0.00	0.000	4	0.000	0.068	2645	3619	1988
14882	1.14	202.4	317.5	10.3	719	14887	0.00	2.60	0.00	0.000	6	0.000	0.053	2645	2207	1988
15209	1.14	202.4	285.8	9.8	735	15210	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2208	1988
15518	1.14	202.4	256.6	9.3	750	15519	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2208	1988
15827	1.14	202.4	226.0	9.6	765	15832	0.00	2.62	0.00	0.000	4	0.000	0.063	2645	782	1988
15876	1.14	202.4	221.2	10.1	767	15881	0.00	2.58	0.00	0.000	6	0.000	0.044	2645	2201	1989
16197	1.14	202.4	190.9	9.6	783	16202	0.00	2.60	0.00	0.000	4	0.000	0.068	2645	3611	1989
16252	1.14	202.4	185.4	9.1	785	16259	0.00	2.60	0.00	0.000	6	0.000	0.054	2645	2201	1990
16568	1.14	202.4	157.7	8.8	801	16569	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2202	1990
16877	1.16	216.0	133.9	7.5	816	16891	0.00	0.00	12.10	0.693	6	0.000	0.000	2645	2202	1935
17187	1.18	233.5	113.9	7.4	831	17209	0.00	2.67	15.25	0.695	4	0.000	0.067	2645	3613	1863
17242	1.18	233.5	108.9	9.1	833	17246	0.00	2.62	0.00	0.000	6	0.000	0.054	2645	2206	1863
17563	1.18	233.5	77.6	11.1	849	17564	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2206	1863
17872	1.18	233.5	40.6	12.7	864	17873	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2206	1864
18182	1.18	233.5	5.5	10.2	879	18183	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2206	1864
18222	end climb: SURFACE_DEPTH_REACHED
state	18222	begin surface coast
18243	end surface coast: CONTROL_FINISHED_OK
state	18244	begin surface