Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 99 * 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 99 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 -2077348.9 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 -2077348.9

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 99 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 233055,6139.284,-930.335,41,1.9,60,-9.5 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.025,0.220

_SM_DEPTHo 1.55 KALMAN_X 11693.0,-196.0,-54.5,-33194.3,2107.2

_SM_ANGLEo -66.2 KALMAN_Y 96726.5,564.0,948.3,-96239.9,-4948.6

GPS2 233545,6139.310,-930.381,15,1.9,15,-9.5 MHEAD_RNG_PITCHd_Wd 16.1,17112,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.8,1.027275 ALTIM_BOTTOM_PING 850.4,92.9

SM_CCo 19065,0.00,0.000,0,0,837,485.69 _24V_AH 23.5,19.404

SM_GC 1.56,11.30,0.00,0.00,0.035,0.000,0.000,74,2403,837,-10.69,0.08,485.69 _10V_AH 10.1,8.601

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 47419,918

TT8_MAMPS 0.02301 CFSIZE 260165632,253816832

HUMID 2111 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 19.70 GPS 281107,045537,6141.181,-934.112,43,1.7,43,-9.6

XPDR_PINGS 19

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 102.04 SBE_CT 637 24 359.56

Roll_motor 217 91 465.77 SBE_O2 657 19 293.50

VBD_pump_during_apogee 521 1313 16111.85 WL_BB2F 495 105 1222.52

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 78.94 nil 0 0 0.00

Iridium_during_connect 26 160 100.45 nil 0 0 0.00

Iridium_during_xfer 136 223 714.38

Transponder_ping 12 420 120.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.02

TT8 1733 19 346.72

LPSleep 14270 2 315.66

TT8_Active 649 19 129.89

TT8_Sampling 2354 39 946.62

TT8_CF8 344 45 159.59

TT8_Kalman 33 81 27.57

Analog_circuits 1853 12 224.61

GPS_charging 0 0 0.00

Compass 2291 8 185.19

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

19 -0.85 -146.6 0.0 0.0 0 82 0.00 0.00 -61.62 0.000 2 0.000 0.000 68 2405 3224

84 -0.85 -146.6 4.4 -6.8 3 107 12.05 2.67 -4.10 0.000 4 0.170 0.081 2222 981 3415

274 -0.85 -146.6 25.4 -8.6 11 279 0.00 2.60 0.00 0.000 6 0.000 0.054 2222 2395 3417

595 -0.85 -146.6 54.9 -9.0 27 596 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2395 3417

905 -0.85 -146.6 80.8 -9.4 42 909 0.00 2.65 0.00 0.000 4 0.000 0.068 2222 976 3417

943 -0.85 -146.6 84.3 -9.9 44 948 0.00 2.62 0.00 0.000 6 0.000 0.056 2222 2404 3417

1268 -0.85 -146.6 114.7 -10.0 60 1273 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 976 3417

1285 -0.85 -146.6 116.3 -10.2 61 1289 0.00 2.60 0.00 0.000 6 0.000 0.055 2222 2400 3417

1610 -0.85 -146.6 145.2 -8.1 77 1615 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 980 3417

1650 -0.85 -146.6 147.6 -5.8 79 1654 0.00 2.60 0.00 0.000 6 0.000 0.056 2222 2399 3417

1975 -0.85 -146.6 173.0 -8.3 95 1979 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 977 3417

2013 -0.85 -146.6 176.0 -8.1 97 2017 0.00 2.60 0.00 0.000 6 0.000 0.057 2222 2404 3417

2338 -0.85 -146.6 202.1 -7.9 113 2339 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2404 3417

2647 -0.85 -146.6 233.1 -11.8 128 2651 0.00 2.65 0.00 0.000 4 0.000 0.067 2222 978 3417

2690 -0.85 -146.6 238.8 -11.7 130 2695 0.00 2.62 0.00 0.000 6 0.000 0.056 2222 2395 3417

3018 -0.85 -146.6 277.2 -12.2 146 3023 0.00 2.65 0.00 0.000 4 0.000 0.070 2222 976 3417

3044 -0.85 -146.6 280.6 -12.6 147 3049 0.00 2.60 0.00 0.000 6 0.000 0.056 2222 2395 3417

3366 -0.85 -146.6 314.9 -10.0 163 3367 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2395 3417

3675 -0.85 -146.6 344.4 -9.7 178 3679 0.00 2.60 0.00 0.000 4 0.000 0.080 2222 3773 3417

3700 -0.85 -146.6 347.2 -10.8 179 3706 0.00 2.53 0.00 0.000 6 0.000 0.057 2222 2401 3417

4022 -0.85 -146.6 380.6 -10.7 195 4026 0.00 2.65 0.00 0.000 4 0.000 0.072 2222 975 3417

4092 -0.85 -146.6 388.5 -11.2 198 4097 0.00 2.60 0.00 0.000 6 0.000 0.056 2222 2392 3417

4414 -0.85 -146.6 418.6 -8.0 214 4418 0.00 2.62 0.00 0.000 4 0.000 0.071 2222 982 3417

4468 -0.85 -146.6 423.1 -7.8 216 4475 0.00 2.60 0.00 0.000 6 0.000 0.057 2222 2398 3417

4783 -0.85 -146.6 446.2 -6.3 232 4785 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3418

5093 -0.85 -146.6 468.9 -7.5 247 5097 0.00 2.65 0.00 0.000 4 0.000 0.071 2222 976 3418

5154 -0.85 -146.6 474.1 -9.3 250 5158 0.00 2.60 0.00 0.000 6 0.000 0.057 2222 2401 3417

5479 -0.85 -146.6 499.2 -6.7 266 5483 0.00 2.65 0.00 0.000 4 0.000 0.070 2222 973 3417

5510 -0.85 -146.6 501.7 -7.5 267 5517 0.00 2.62 0.00 0.000 6 0.000 0.057 2222 2392 3417

5826 -0.85 -146.6 520.8 -5.9 283 5831 0.00 2.62 0.00 0.000 4 0.000 0.070 2222 976 3418

5858 -0.85 -146.6 523.0 -6.4 284 5865 0.00 2.65 0.00 0.000 6 0.000 0.058 2222 2403 3417

6174 -0.85 -146.6 541.4 -5.5 300 6178 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 975 3418

6205 -0.85 -146.6 543.2 -6.1 301 6212 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2394 3418

6521 -0.85 -146.6 561.4 -5.9 317 6525 0.00 2.62 0.00 0.000 4 0.000 0.069 2222 980 3418

6552 -0.85 -146.6 563.8 -6.9 318 6559 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2395 3418

6868 -0.85 -146.6 588.8 -8.5 334 6869 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2395 3417

7177 -0.85 -146.6 616.9 -8.7 349 7181 0.00 2.62 0.00 0.000 4 0.000 0.068 2222 980 3417

7220 -0.85 -146.6 620.4 -7.6 351 7225 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2394 3417

7547 -0.85 -146.6 644.0 -7.2 367 7551 0.00 2.62 0.00 0.000 4 0.000 0.068 2222 977 3417

7612 -0.85 -146.6 648.8 -7.7 370 7617 0.00 2.65 0.00 0.000 6 0.000 0.058 2222 2402 3417

7939 -0.85 -146.6 669.4 -6.1 386 7940 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2402 3417

8249 -0.85 -146.6 688.1 -5.9 401 8253 0.00 2.65 0.00 0.000 4 0.000 0.070 2222 975 3417

8281 -0.85 -146.6 689.8 -5.6 402 8287 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2405 3417

8596 -0.85 -146.6 704.9 -5.4 418 8600 0.00 2.65 0.00 0.000 4 0.000 0.069 2222 977 3417

8629 -0.85 -146.6 706.8 -5.9 419 8635 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2400 3417

8943 -0.85 -146.6 728.4 -8.5 435 8945 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3417

9253 -0.85 -146.6 753.4 -8.2 450 9257 0.00 2.62 0.00 0.000 4 0.000 0.070 2222 980 3417

9296 -0.85 -146.6 756.8 -8.9 452 9300 0.00 2.62 0.00 0.000 6 0.000 0.058 2222 2397 3417

9622 -0.85 -146.6 779.8 -5.7 468 9627 0.00 2.62 0.00 0.000 4 0.000 0.069 2222 980 3417

9661 -0.85 -146.6 782.1 -6.3 470 9665 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2400 3417

9987 -0.85 -146.6 802.3 -6.4 486 9988 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2400 3417

10297 -0.85 -146.6 825.9 -7.6 501 10301 0.00 2.65 0.00 0.000 4 0.000 0.071 2222 973 3417

10367 -0.85 -146.6 830.7 -6.1 504 10372 0.00 2.65 0.00 0.000 6 0.000 0.060 2222 2397 3417

10689 -0.85 -146.6 844.9 -3.7 520 10693 0.00 2.62 0.00 0.000 4 0.000 0.071 2222 982 3417

10811 -0.85 -146.6 849.6 -2.1 525 10818 0.00 2.62 0.00 0.000 6 0.000 0.061 2222 2401 3417

11127 -0.85 -146.6 866.7 -4.4 541 11131 0.00 2.65 0.00 0.000 4 0.000 0.072 2222 982 3417

11203 -0.85 -146.6 872.0 -7.8 544 11210 0.00 2.65 0.00 0.000 6 0.000 0.062 2222 2400 3416

11518 -0.85 -146.6 890.6 -7.4 560 11523 0.00 2.67 0.00 0.000 4 0.000 0.074 2222 975 3417

11545 -0.85 -146.6 894.3 -14.6 561 11549 0.00 2.67 0.00 0.000 6 0.000 0.064 2222 2399 3417

11866 -0.85 -146.6 922.7 -5.3 577 11870 0.00 2.62 0.00 0.000 4 0.000 0.091 2222 3766 3417

11949 end dive: BOTTOM_OBSTACLE_DETECTED

state 11949 begin apogee

11956 -0.31 0.0 933.3 13.8 581 12083 0.60 0.00 124.10 1.314 6 0.110 0.000 2341 2200 2817

12084 end apogee: CONTROL_FINISHED_OK

state 12084 begin climb

12085 0.85 146.6 945.3 0.0 587 12217 1.15 2.80 122.12 1.293 4 0.071 0.074 2587 786 2219

12469 0.85 146.6 900.6 24.4 604 12476 0.00 2.65 0.00 0.000 6 0.000 0.060 2587 2198 2217

12784 0.85 146.6 875.8 6.4 620 12788 0.00 2.72 0.00 0.000 4 0.000 0.077 2587 779 2217

13041 1.22 486.4 877.2 -3.3 631 13326 0.40 2.65 275.60 1.279 6 0.048 0.060 2683 2201 834

13641 1.22 486.4 822.4 11.3 661 13646 0.00 2.70 0.00 0.000 4 0.000 0.079 2683 3617 832

13808 1.22 486.4 802.7 12.2 668 13815 0.00 2.67 0.00 0.000 6 0.000 0.067 2682 2204 831

14123 1.22 486.4 765.2 11.8 684 14127 0.00 2.72 0.00 0.000 4 0.000 0.077 2683 772 832

14284 1.22 486.4 744.2 14.0 691 14289 0.00 2.62 0.00 0.000 6 0.000 0.051 2683 2203 832

14605 1.22 486.4 695.4 14.8 707 14609 0.00 2.70 0.00 0.000 4 0.000 0.074 2683 780 831

14716 1.22 486.4 678.7 15.7 712 14721 0.00 2.60 0.00 0.000 6 0.000 0.050 2683 2205 832

15036 1.22 486.4 629.0 16.0 728 15040 0.00 2.70 0.00 0.000 4 0.000 0.072 2683 779 833

15158 1.22 486.4 605.1 19.0 733 15164 0.00 2.60 0.00 0.000 6 0.000 0.051 2683 2208 833

15472 1.22 486.4 547.6 17.9 749 15477 0.00 2.70 0.00 0.000 4 0.000 0.072 2683 779 834

15583 1.22 486.4 527.6 16.6 754 15588 0.00 2.60 0.00 0.000 6 0.000 0.050 2683 2193 834

15910 1.22 486.4 473.9 18.1 770 15914 0.00 2.67 0.00 0.000 4 0.000 0.071 2683 772 834

16015 1.22 486.4 458.3 14.6 775 16020 0.00 2.60 0.00 0.000 6 0.000 0.051 2683 2203 835

16341 1.22 486.4 410.2 15.2 791 16346 0.00 2.70 0.00 0.000 4 0.000 0.074 2684 773 835

16457 1.22 486.4 391.3 16.7 796 16461 0.00 2.62 0.00 0.000 6 0.000 0.051 2683 2199 835

16778 1.22 486.4 338.9 16.8 812 16782 0.00 2.67 0.00 0.000 4 0.000 0.071 2683 775 836

16899 1.22 486.4 318.9 15.1 817 16906 0.00 2.62 0.00 0.000 6 0.000 0.050 2683 2203 836

17215 1.22 486.4 264.5 17.0 833 17219 0.00 2.67 0.00 0.000 4 0.000 0.071 2683 773 836

17336 1.22 486.4 245.6 15.2 838 17343 0.00 2.60 0.00 0.000 6 0.000 0.049 2683 2195 837

17651 1.22 486.4 194.4 16.2 854 17656 0.00 2.65 0.00 0.000 4 0.000 0.071 2683 779 837

17764 1.22 486.4 176.7 14.8 859 17768 0.00 2.58 0.00 0.000 6 0.000 0.048 2683 2206 836

18083 1.22 486.4 128.5 14.0 875 18088 0.00 2.67 0.00 0.000 4 0.000 0.069 2683 776 837

18194 1.22 486.4 111.3 15.3 880 18199 0.00 2.60 0.00 0.000 6 0.000 0.047 2683 2204 838

18521 1.22 486.4 63.4 14.6 896 18525 0.00 2.67 0.00 0.000 4 0.000 0.069 2683 773 838

18631 1.22 486.4 49.4 11.4 901 18635 0.00 2.60 0.00 0.000 6 0.000 0.047 2683 2201 838

18958 1.22 486.4 4.6 13.5 917 18962 0.00 2.65 0.00 0.000 4 0.000 0.070 2683 778 839

18977 end climb: SURFACE_DEPTH_REACHED

state 18977 begin surface coast

18983 end surface coast: CONTROL_FINISHED_OK

state 18984 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	99	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	-2077348.9	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	233055,6139.284,-930.335,41,1.9,60,-9.5	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.025,0.220
_SM_DEPTHo	1.55	KALMAN_X	11693.0,-196.0,-54.5,-33194.3,2107.2
_SM_ANGLEo	-66.2	KALMAN_Y	96726.5,564.0,948.3,-96239.9,-4948.6
GPS2	233545,6139.310,-930.381,15,1.9,15,-9.5	MHEAD_RNG_PITCHd_Wd	16.1,17112,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.8,1.027275	ALTIM_BOTTOM_PING	850.4,92.9
SM_CCo	19065,0.00,0.000,0,0,837,485.69	_24V_AH	23.5,19.404
SM_GC	1.56,11.30,0.00,0.00,0.035,0.000,0.000,74,2403,837,-10.69,0.08,485.69	_10V_AH	10.1,8.601
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	47419,918
TT8_MAMPS	0.02301	CFSIZE	260165632,253816832
HUMID	2111	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	19.70	GPS	281107,045537,6141.181,-934.112,43,1.7,43,-9.6
XPDR_PINGS	19

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	102.04	SBE_CT	637	24	359.56
Roll_motor	217	91	465.77	SBE_O2	657	19	293.50
VBD_pump_during_apogee	521	1313	16111.85	WL_BB2F	495	105	1222.52
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	78.94	nil	0	0	0.00
Iridium_during_connect	26	160	100.45	nil	0	0	0.00
Iridium_during_xfer	136	223	714.38
Transponder_ping	12	420	120.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.02
TT8	1733	19	346.72
LPSleep	14270	2	315.66
TT8_Active	649	19	129.89
TT8_Sampling	2354	39	946.62
TT8_CF8	344	45	159.59
TT8_Kalman	33	81	27.57
Analog_circuits	1853	12	224.61
GPS_charging	0	0	0.00
Compass	2291	8	185.19
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
19	-0.85	-146.6	0.0	0.0	0	82	0.00	0.00	-61.62	0.000	2	0.000	0.000	68	2405	3224
84	-0.85	-146.6	4.4	-6.8	3	107	12.05	2.67	-4.10	0.000	4	0.170	0.081	2222	981	3415
274	-0.85	-146.6	25.4	-8.6	11	279	0.00	2.60	0.00	0.000	6	0.000	0.054	2222	2395	3417
595	-0.85	-146.6	54.9	-9.0	27	596	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2395	3417
905	-0.85	-146.6	80.8	-9.4	42	909	0.00	2.65	0.00	0.000	4	0.000	0.068	2222	976	3417
943	-0.85	-146.6	84.3	-9.9	44	948	0.00	2.62	0.00	0.000	6	0.000	0.056	2222	2404	3417
1268	-0.85	-146.6	114.7	-10.0	60	1273	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	976	3417
1285	-0.85	-146.6	116.3	-10.2	61	1289	0.00	2.60	0.00	0.000	6	0.000	0.055	2222	2400	3417
1610	-0.85	-146.6	145.2	-8.1	77	1615	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	980	3417
1650	-0.85	-146.6	147.6	-5.8	79	1654	0.00	2.60	0.00	0.000	6	0.000	0.056	2222	2399	3417
1975	-0.85	-146.6	173.0	-8.3	95	1979	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	977	3417
2013	-0.85	-146.6	176.0	-8.1	97	2017	0.00	2.60	0.00	0.000	6	0.000	0.057	2222	2404	3417
2338	-0.85	-146.6	202.1	-7.9	113	2339	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2404	3417
2647	-0.85	-146.6	233.1	-11.8	128	2651	0.00	2.65	0.00	0.000	4	0.000	0.067	2222	978	3417
2690	-0.85	-146.6	238.8	-11.7	130	2695	0.00	2.62	0.00	0.000	6	0.000	0.056	2222	2395	3417
3018	-0.85	-146.6	277.2	-12.2	146	3023	0.00	2.65	0.00	0.000	4	0.000	0.070	2222	976	3417
3044	-0.85	-146.6	280.6	-12.6	147	3049	0.00	2.60	0.00	0.000	6	0.000	0.056	2222	2395	3417
3366	-0.85	-146.6	314.9	-10.0	163	3367	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2395	3417
3675	-0.85	-146.6	344.4	-9.7	178	3679	0.00	2.60	0.00	0.000	4	0.000	0.080	2222	3773	3417
3700	-0.85	-146.6	347.2	-10.8	179	3706	0.00	2.53	0.00	0.000	6	0.000	0.057	2222	2401	3417
4022	-0.85	-146.6	380.6	-10.7	195	4026	0.00	2.65	0.00	0.000	4	0.000	0.072	2222	975	3417
4092	-0.85	-146.6	388.5	-11.2	198	4097	0.00	2.60	0.00	0.000	6	0.000	0.056	2222	2392	3417
4414	-0.85	-146.6	418.6	-8.0	214	4418	0.00	2.62	0.00	0.000	4	0.000	0.071	2222	982	3417
4468	-0.85	-146.6	423.1	-7.8	216	4475	0.00	2.60	0.00	0.000	6	0.000	0.057	2222	2398	3417
4783	-0.85	-146.6	446.2	-6.3	232	4785	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3418
5093	-0.85	-146.6	468.9	-7.5	247	5097	0.00	2.65	0.00	0.000	4	0.000	0.071	2222	976	3418
5154	-0.85	-146.6	474.1	-9.3	250	5158	0.00	2.60	0.00	0.000	6	0.000	0.057	2222	2401	3417
5479	-0.85	-146.6	499.2	-6.7	266	5483	0.00	2.65	0.00	0.000	4	0.000	0.070	2222	973	3417
5510	-0.85	-146.6	501.7	-7.5	267	5517	0.00	2.62	0.00	0.000	6	0.000	0.057	2222	2392	3417
5826	-0.85	-146.6	520.8	-5.9	283	5831	0.00	2.62	0.00	0.000	4	0.000	0.070	2222	976	3418
5858	-0.85	-146.6	523.0	-6.4	284	5865	0.00	2.65	0.00	0.000	6	0.000	0.058	2222	2403	3417
6174	-0.85	-146.6	541.4	-5.5	300	6178	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	975	3418
6205	-0.85	-146.6	543.2	-6.1	301	6212	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2394	3418
6521	-0.85	-146.6	561.4	-5.9	317	6525	0.00	2.62	0.00	0.000	4	0.000	0.069	2222	980	3418
6552	-0.85	-146.6	563.8	-6.9	318	6559	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2395	3418
6868	-0.85	-146.6	588.8	-8.5	334	6869	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2395	3417
7177	-0.85	-146.6	616.9	-8.7	349	7181	0.00	2.62	0.00	0.000	4	0.000	0.068	2222	980	3417
7220	-0.85	-146.6	620.4	-7.6	351	7225	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2394	3417
7547	-0.85	-146.6	644.0	-7.2	367	7551	0.00	2.62	0.00	0.000	4	0.000	0.068	2222	977	3417
7612	-0.85	-146.6	648.8	-7.7	370	7617	0.00	2.65	0.00	0.000	6	0.000	0.058	2222	2402	3417
7939	-0.85	-146.6	669.4	-6.1	386	7940	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2402	3417
8249	-0.85	-146.6	688.1	-5.9	401	8253	0.00	2.65	0.00	0.000	4	0.000	0.070	2222	975	3417
8281	-0.85	-146.6	689.8	-5.6	402	8287	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2405	3417
8596	-0.85	-146.6	704.9	-5.4	418	8600	0.00	2.65	0.00	0.000	4	0.000	0.069	2222	977	3417
8629	-0.85	-146.6	706.8	-5.9	419	8635	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2400	3417
8943	-0.85	-146.6	728.4	-8.5	435	8945	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3417
9253	-0.85	-146.6	753.4	-8.2	450	9257	0.00	2.62	0.00	0.000	4	0.000	0.070	2222	980	3417
9296	-0.85	-146.6	756.8	-8.9	452	9300	0.00	2.62	0.00	0.000	6	0.000	0.058	2222	2397	3417
9622	-0.85	-146.6	779.8	-5.7	468	9627	0.00	2.62	0.00	0.000	4	0.000	0.069	2222	980	3417
9661	-0.85	-146.6	782.1	-6.3	470	9665	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2400	3417
9987	-0.85	-146.6	802.3	-6.4	486	9988	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2400	3417
10297	-0.85	-146.6	825.9	-7.6	501	10301	0.00	2.65	0.00	0.000	4	0.000	0.071	2222	973	3417
10367	-0.85	-146.6	830.7	-6.1	504	10372	0.00	2.65	0.00	0.000	6	0.000	0.060	2222	2397	3417
10689	-0.85	-146.6	844.9	-3.7	520	10693	0.00	2.62	0.00	0.000	4	0.000	0.071	2222	982	3417
10811	-0.85	-146.6	849.6	-2.1	525	10818	0.00	2.62	0.00	0.000	6	0.000	0.061	2222	2401	3417
11127	-0.85	-146.6	866.7	-4.4	541	11131	0.00	2.65	0.00	0.000	4	0.000	0.072	2222	982	3417
11203	-0.85	-146.6	872.0	-7.8	544	11210	0.00	2.65	0.00	0.000	6	0.000	0.062	2222	2400	3416
11518	-0.85	-146.6	890.6	-7.4	560	11523	0.00	2.67	0.00	0.000	4	0.000	0.074	2222	975	3417
11545	-0.85	-146.6	894.3	-14.6	561	11549	0.00	2.67	0.00	0.000	6	0.000	0.064	2222	2399	3417
11866	-0.85	-146.6	922.7	-5.3	577	11870	0.00	2.62	0.00	0.000	4	0.000	0.091	2222	3766	3417
11949	end dive: BOTTOM_OBSTACLE_DETECTED
state	11949	begin apogee
11956	-0.31	0.0	933.3	13.8	581	12083	0.60	0.00	124.10	1.314	6	0.110	0.000	2341	2200	2817
12084	end apogee: CONTROL_FINISHED_OK
state	12084	begin climb
12085	0.85	146.6	945.3	0.0	587	12217	1.15	2.80	122.12	1.293	4	0.071	0.074	2587	786	2219
12469	0.85	146.6	900.6	24.4	604	12476	0.00	2.65	0.00	0.000	6	0.000	0.060	2587	2198	2217
12784	0.85	146.6	875.8	6.4	620	12788	0.00	2.72	0.00	0.000	4	0.000	0.077	2587	779	2217
13041	1.22	486.4	877.2	-3.3	631	13326	0.40	2.65	275.60	1.279	6	0.048	0.060	2683	2201	834
13641	1.22	486.4	822.4	11.3	661	13646	0.00	2.70	0.00	0.000	4	0.000	0.079	2683	3617	832
13808	1.22	486.4	802.7	12.2	668	13815	0.00	2.67	0.00	0.000	6	0.000	0.067	2682	2204	831
14123	1.22	486.4	765.2	11.8	684	14127	0.00	2.72	0.00	0.000	4	0.000	0.077	2683	772	832
14284	1.22	486.4	744.2	14.0	691	14289	0.00	2.62	0.00	0.000	6	0.000	0.051	2683	2203	832
14605	1.22	486.4	695.4	14.8	707	14609	0.00	2.70	0.00	0.000	4	0.000	0.074	2683	780	831
14716	1.22	486.4	678.7	15.7	712	14721	0.00	2.60	0.00	0.000	6	0.000	0.050	2683	2205	832
15036	1.22	486.4	629.0	16.0	728	15040	0.00	2.70	0.00	0.000	4	0.000	0.072	2683	779	833
15158	1.22	486.4	605.1	19.0	733	15164	0.00	2.60	0.00	0.000	6	0.000	0.051	2683	2208	833
15472	1.22	486.4	547.6	17.9	749	15477	0.00	2.70	0.00	0.000	4	0.000	0.072	2683	779	834
15583	1.22	486.4	527.6	16.6	754	15588	0.00	2.60	0.00	0.000	6	0.000	0.050	2683	2193	834
15910	1.22	486.4	473.9	18.1	770	15914	0.00	2.67	0.00	0.000	4	0.000	0.071	2683	772	834
16015	1.22	486.4	458.3	14.6	775	16020	0.00	2.60	0.00	0.000	6	0.000	0.051	2683	2203	835
16341	1.22	486.4	410.2	15.2	791	16346	0.00	2.70	0.00	0.000	4	0.000	0.074	2684	773	835
16457	1.22	486.4	391.3	16.7	796	16461	0.00	2.62	0.00	0.000	6	0.000	0.051	2683	2199	835
16778	1.22	486.4	338.9	16.8	812	16782	0.00	2.67	0.00	0.000	4	0.000	0.071	2683	775	836
16899	1.22	486.4	318.9	15.1	817	16906	0.00	2.62	0.00	0.000	6	0.000	0.050	2683	2203	836
17215	1.22	486.4	264.5	17.0	833	17219	0.00	2.67	0.00	0.000	4	0.000	0.071	2683	773	836
17336	1.22	486.4	245.6	15.2	838	17343	0.00	2.60	0.00	0.000	6	0.000	0.049	2683	2195	837
17651	1.22	486.4	194.4	16.2	854	17656	0.00	2.65	0.00	0.000	4	0.000	0.071	2683	779	837
17764	1.22	486.4	176.7	14.8	859	17768	0.00	2.58	0.00	0.000	6	0.000	0.048	2683	2206	836
18083	1.22	486.4	128.5	14.0	875	18088	0.00	2.67	0.00	0.000	4	0.000	0.069	2683	776	837
18194	1.22	486.4	111.3	15.3	880	18199	0.00	2.60	0.00	0.000	6	0.000	0.047	2683	2204	838
18521	1.22	486.4	63.4	14.6	896	18525	0.00	2.67	0.00	0.000	4	0.000	0.069	2683	773	838
18631	1.22	486.4	49.4	11.4	901	18635	0.00	2.60	0.00	0.000	6	0.000	0.047	2683	2201	838
18958	1.22	486.4	4.6	13.5	917	18962	0.00	2.65	0.00	0.000	4	0.000	0.070	2683	778	839
18977	end climb: SURFACE_DEPTH_REACHED
state	18977	begin surface coast
18983	end surface coast: CONTROL_FINISHED_OK
state	18984	begin surface