Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 144 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 144 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 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 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 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -65012.582 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

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 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

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 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 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 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -65012.582

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 18 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 144 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 24

Pre-dive calculations and measurements:

GPS1 232526,6227.049,-1032.512,33,1.0,52,-10.4 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.199,0.089

_SM_DEPTHo -0.19 KALMAN_X -183143.5,522.2,884.9,77492.2,-6620.3

_SM_ANGLEo -59.4 KALMAN_Y -8882.0,313.8,330.0,106441.6,1506.6

GPS2 233109,6227.044,-1032.592,16,0.9,16,-10.4 MHEAD_RNG_PITCHd_Wd 76.2,5906,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 642

Post-dive calculations and measurements:

FINISH 1.3,1.027313 XPDR_PINGS 1

SM_CCo 19216,54.78,0.745,1,0,1678,300.00 ALTIM_BOTTOM_PING 600.5,50.0

SM_GC -0.36,0.00,0.00,54.78,0.000,0.000,0.745,48,2901,1678,-10.87,0.03,300.00 _24V_AH 23.4,27.534

IRIDIUM_FIX 6202.67,-1021.20,071207,222235 _10V_AH 10.1,12.764

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47338,927

HUMID 2060 CFSIZE 260165632,250331136

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,40,1,0

TCM_TEMP 19.10 GPS 081207,045438,6228.365,-1034.127,33,0.9,33,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.87 SBE_CT 666 24 374.54

Roll_motor 175 123 506.76 SBE_O2 648 19 288.32

VBD_pump_during_apogee 321 1211 9110.47 WL_BB2F 587 105 1444.47

VBD_pump_during_surface 54 744 954.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.33 nil 0 0 0.00

Iridium_during_connect 36 160 136.66 nil 0 0 0.00

Iridium_during_xfer 165 223 865.89

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.39

TT8 1707 19 341.39

LPSleep 14858 2 328.67

TT8_Active 544 19 108.84

TT8_Sampling 2075 39 834.36

TT8_CF8 448 45 207.53

TT8_Kalman 33 81 27.57

Analog_circuits 1583 12 191.88

GPS_charging 0 0 0.00

Compass 2038 8 164.71

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -62.15 0.000 2 0.000 0.000 42 2898 3394

86 -1.10 -146.6 3.5 -9.2 3 109 11.98 1.80 -1.92 0.000 4 0.158 0.123 2163 3786 3500

199 -1.10 -146.6 20.1 -10.1 8 203 0.00 1.55 0.00 0.000 6 0.000 0.032 2163 2886 3500

531 -1.10 -146.6 43.8 -7.0 24 535 0.00 2.58 0.00 0.000 4 0.000 0.071 2163 1494 3501

562 -1.10 -146.6 46.1 -6.7 25 569 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2903 3500

880 -1.10 -146.6 68.0 -7.2 41 881 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3501

1188 -1.10 -146.6 86.1 -6.2 56 1192 0.00 2.60 0.00 0.000 4 0.000 0.067 2163 1501 3501

1250 -1.10 -146.6 89.5 -5.6 59 1255 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2899 3501

1576 -1.10 -146.6 107.6 -5.2 75 1578 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3501

1887 -1.10 -146.6 127.3 -6.2 90 1891 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1500 3501

1952 -1.10 -146.6 132.0 -6.8 93 1956 0.00 2.58 0.00 0.000 6 0.000 0.067 2163 2899 3501

2279 -1.10 -146.6 153.9 -6.7 109 2283 0.00 2.58 0.00 0.000 4 0.000 0.067 2163 1501 3501

2321 -1.10 -146.6 156.9 -6.9 111 2326 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2893 3501

2648 -1.10 -146.6 179.0 -7.0 127 2649 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2893 3501

2958 -1.10 -146.6 201.0 -7.1 142 2963 0.00 2.58 0.00 0.000 4 0.000 0.067 2163 1498 3501

3013 -1.10 -146.6 205.1 -7.7 144 3020 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2901 3501

3331 -1.10 -146.6 226.2 -6.5 160 3335 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1500 3501

3379 -1.10 -146.6 229.8 -6.8 162 3384 0.00 2.58 0.00 0.000 6 0.000 0.065 2163 2900 3501

3700 -1.10 -146.6 253.8 -8.0 178 3701 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3501

4009 -1.10 -146.6 276.6 -7.1 193 4014 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1501 3501

4081 -1.10 -146.6 281.8 -6.6 196 4085 0.00 2.58 0.00 0.000 6 0.000 0.066 2163 2902 3501

4402 -1.10 -146.6 302.8 -6.4 212 4406 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1498 3501

4445 -1.10 -146.6 305.7 -6.5 214 4450 0.00 2.65 0.00 0.000 6 0.000 0.072 2163 2897 3501

4771 -1.10 -146.6 328.3 -7.0 230 4776 0.00 2.58 0.00 0.000 4 0.000 0.067 2163 1500 3501

4810 -1.10 -146.6 330.9 -7.0 232 4815 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2910 3501

5136 -1.10 -146.6 354.7 -7.5 248 5140 0.00 2.60 0.00 0.000 4 0.000 0.065 2163 1494 3501

5179 -1.10 -146.6 358.3 -7.6 250 5183 0.00 2.62 0.00 0.000 6 0.000 0.074 2163 2902 3501

5506 -1.10 -146.6 382.9 -7.3 266 5507 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3501

5815 -1.10 -146.6 406.6 -7.5 281 5816 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3501

6125 -1.10 -146.6 429.0 -7.0 296 6129 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1499 3501

6156 -1.10 -146.6 431.3 -6.6 297 6163 0.00 2.62 0.00 0.000 6 0.000 0.074 2163 2885 3501

6472 -1.10 -146.6 453.2 -7.2 313 6473 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2885 3501

6782 -1.10 -146.6 473.1 -5.9 328 6786 0.00 2.53 0.00 0.000 4 0.000 0.067 2163 1500 3501

6836 -1.10 -146.6 476.6 -5.9 330 6843 0.00 2.65 0.00 0.000 6 0.000 0.072 2163 2904 3501

7152 -1.10 -146.6 494.7 -5.8 346 7153 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3501

7462 -1.10 -146.6 511.0 -4.6 361 7466 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1497 3501

7505 -1.10 -146.6 512.9 -4.4 363 7509 0.00 2.60 0.00 0.000 6 0.000 0.069 2163 2905 3501

7831 -1.10 -146.6 527.7 -5.2 379 7836 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1496 3501

7893 -1.10 -146.6 531.7 -7.2 382 7897 0.00 2.60 0.00 0.000 6 0.000 0.069 2163 2901 3501

8218 -1.10 -146.6 554.3 -7.6 398 8222 0.00 2.55 0.00 0.000 4 0.000 0.064 2163 1496 3501

8317 -1.10 -146.6 561.7 -7.6 402 8324 0.00 2.60 0.00 0.000 6 0.000 0.068 2163 2907 3501

8632 -1.10 -146.6 582.4 -6.3 418 8636 0.00 1.62 0.00 0.000 4 0.000 0.083 2163 3784 3501

8709 -1.10 -146.6 587.6 -6.2 421 8714 0.00 1.50 0.00 0.000 6 0.000 0.034 2163 2903 3501

9030 -1.10 -146.6 607.1 -6.5 437 9035 0.00 2.55 0.00 0.000 4 0.000 0.064 2163 1495 3501

9085 -1.10 -146.6 611.0 -7.4 439 9092 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2900 3501

9400 -1.10 -146.6 631.0 -6.2 455 9402 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3501

9564 end dive: BOTTOM_OBSTACLE_DETECTED

state 9564 begin apogee

9570 -0.42 0.0 640.9 5.6 463 9697 0.75 0.00 123.60 1.211 6 0.075 0.000 2318 2109 2901

9698 end apogee: CONTROL_FINISHED_OK

state 9698 begin climb

9700 1.10 146.6 644.1 0.0 469 9830 1.55 2.67 120.12 1.200 4 0.057 0.060 2650 684 2302

9964 1.10 146.6 633.4 6.4 481 9969 0.00 2.58 0.00 0.000 6 0.000 0.044 2650 2107 2302

10286 1.13 171.4 614.5 5.3 497 10314 0.00 2.70 21.55 1.155 4 0.000 0.074 2650 3509 2202

10484 1.13 171.4 601.6 7.1 506 10489 0.00 2.55 0.00 0.000 6 0.000 0.047 2650 2088 2201

10809 1.13 171.4 580.9 6.3 522 10810 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2088 2200

11119 1.13 171.4 559.6 7.4 537 11120 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2088 2200

11428 1.13 171.4 538.4 6.5 552 11432 0.00 2.53 0.00 0.000 4 0.000 0.063 2650 693 2198

11459 1.13 171.4 536.4 7.0 553 11466 0.00 2.53 0.00 0.000 6 0.000 0.044 2650 2098 2199

11775 1.13 171.4 517.1 6.0 569 11779 0.00 2.65 0.00 0.000 4 0.000 0.074 2650 3509 2198

11874 1.13 171.4 511.1 6.0 573 11881 0.00 2.53 0.00 0.000 6 0.000 0.047 2650 2105 2197

12189 1.13 171.4 491.5 6.4 589 12194 0.00 2.65 0.00 0.000 4 0.000 0.075 2650 3509 2197

12261 1.14 174.0 487.2 5.9 592 12265 0.00 2.53 0.00 0.000 6 0.000 0.047 2650 2092 2197

12582 1.17 201.0 471.1 5.3 608 12608 0.00 0.00 24.73 1.101 6 0.000 0.000 2650 2092 2081

12911 1.17 201.0 449.6 6.9 624 12916 0.00 2.67 0.00 0.000 4 0.000 0.074 2650 3516 2081

12983 1.17 201.0 444.5 6.8 627 12987 0.00 2.53 0.00 0.000 6 0.000 0.047 2650 2096 2081

13304 1.17 201.0 423.6 6.4 643 13305 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2096 2081

13613 1.19 214.6 405.4 5.6 658 13635 0.00 2.75 12.85 0.999 4 0.000 0.073 2650 3510 2026

13707 1.19 214.6 399.1 7.0 662 13711 0.00 2.53 0.00 0.000 6 0.000 0.045 2650 2090 2026

14033 1.19 214.6 378.3 6.8 678 14038 0.00 2.67 0.00 0.000 4 0.000 0.072 2650 3517 2026

14072 1.19 214.6 375.4 7.8 680 14076 0.00 2.50 0.00 0.000 6 0.000 0.047 2650 2100 2026

14404 1.20 226.0 354.1 5.7 696 14420 0.00 2.70 11.15 0.943 4 0.000 0.072 2650 3512 1979

14475 1.20 226.0 349.4 6.4 698 14480 0.00 2.55 0.00 0.000 6 0.000 0.048 2650 2105 1979

14797 1.20 226.0 329.6 6.2 714 14801 0.00 2.65 0.00 0.000 4 0.000 0.074 2650 3511 1979

14851 1.20 226.0 326.1 6.8 716 14858 0.00 2.53 0.00 0.000 6 0.000 0.047 2650 2102 1979

15166 1.21 233.0 307.8 5.8 732 15181 0.10 2.70 7.47 0.851 4 0.050 0.071 2686 3512 1951

15214 1.21 233.0 304.4 6.9 734 15218 0.00 2.53 0.00 0.000 6 0.000 0.047 2686 2094 1951

15540 1.21 233.0 282.5 6.6 750 15541 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2094 1951

15850 1.21 233.0 260.1 7.4 765 15851 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2094 1951

16159 1.21 233.0 235.9 8.0 780 16163 0.00 2.65 0.00 0.000 4 0.000 0.071 2686 3511 1951

16207 1.21 233.0 231.8 7.8 782 16212 0.00 2.53 0.00 0.000 6 0.000 0.046 2686 2099 1951

16528 1.21 233.0 208.8 6.8 798 16530 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2099 1951

16838 1.21 233.0 183.6 8.1 813 16842 0.00 2.65 0.00 0.000 4 0.000 0.072 2686 3512 1952

16881 1.21 233.0 180.0 7.1 815 16885 0.00 2.53 0.00 0.000 6 0.000 0.048 2686 2103 1952

17208 1.21 233.0 154.5 7.5 831 17209 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2103 1952

17517 1.21 233.0 130.6 7.8 846 17522 0.00 2.62 0.00 0.000 4 0.000 0.071 2686 3511 1952

17566 1.21 233.0 126.5 8.3 848 17571 0.00 2.53 0.00 0.000 6 0.000 0.048 2686 2102 1952

17888 1.21 233.0 101.9 7.7 864 17889 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2102 1952

18199 1.21 233.0 77.0 8.0 879 18203 0.00 2.62 0.00 0.000 4 0.000 0.071 2686 3511 1952

18230 1.21 233.0 74.2 9.2 880 18238 0.00 2.53 0.00 0.000 6 0.000 0.047 2686 2099 1953

18546 1.21 233.0 50.2 7.3 896 18547 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2099 1953

18856 1.21 233.0 28.3 6.9 911 18857 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2099 1953

19166 1.21 233.0 4.3 8.1 926 19171 0.00 2.62 0.00 0.000 4 0.000 0.077 2686 691 1953

19187 end climb: SURFACE_DEPTH_REACHED

state 19187 begin surface coast

19192 end surface coast: CONTROL_FINISHED_OK

state 19192 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	144	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	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	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	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-65012.582	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
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	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	232526,6227.049,-1032.512,33,1.0,52,-10.4	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.199,0.089
_SM_DEPTHo	-0.19	KALMAN_X	-183143.5,522.2,884.9,77492.2,-6620.3
_SM_ANGLEo	-59.4	KALMAN_Y	-8882.0,313.8,330.0,106441.6,1506.6
GPS2	233109,6227.044,-1032.592,16,0.9,16,-10.4	MHEAD_RNG_PITCHd_Wd	76.2,5906,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	642

FINISH	1.3,1.027313	XPDR_PINGS	1
SM_CCo	19216,54.78,0.745,1,0,1678,300.00	ALTIM_BOTTOM_PING	600.5,50.0
SM_GC	-0.36,0.00,0.00,54.78,0.000,0.000,0.745,48,2901,1678,-10.87,0.03,300.00	_24V_AH	23.4,27.534
IRIDIUM_FIX	6202.67,-1021.20,071207,222235	_10V_AH	10.1,12.764
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47338,927
HUMID	2060	CFSIZE	260165632,250331136
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,40,1,0
TCM_TEMP	19.10	GPS	081207,045438,6228.365,-1034.127,33,0.9,33,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.87	SBE_CT	666	24	374.54
Roll_motor	175	123	506.76	SBE_O2	648	19	288.32
VBD_pump_during_apogee	321	1211	9110.47	WL_BB2F	587	105	1444.47
VBD_pump_during_surface	54	744	954.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.33	nil	0	0	0.00
Iridium_during_connect	36	160	136.66	nil	0	0	0.00
Iridium_during_xfer	165	223	865.89
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.39
TT8	1707	19	341.39
LPSleep	14858	2	328.67
TT8_Active	544	19	108.84
TT8_Sampling	2075	39	834.36
TT8_CF8	448	45	207.53
TT8_Kalman	33	81	27.57
Analog_circuits	1583	12	191.88
GPS_charging	0	0	0.00
Compass	2038	8	164.71
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-62.15	0.000	2	0.000	0.000	42	2898	3394
86	-1.10	-146.6	3.5	-9.2	3	109	11.98	1.80	-1.92	0.000	4	0.158	0.123	2163	3786	3500
199	-1.10	-146.6	20.1	-10.1	8	203	0.00	1.55	0.00	0.000	6	0.000	0.032	2163	2886	3500
531	-1.10	-146.6	43.8	-7.0	24	535	0.00	2.58	0.00	0.000	4	0.000	0.071	2163	1494	3501
562	-1.10	-146.6	46.1	-6.7	25	569	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2903	3500
880	-1.10	-146.6	68.0	-7.2	41	881	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3501
1188	-1.10	-146.6	86.1	-6.2	56	1192	0.00	2.60	0.00	0.000	4	0.000	0.067	2163	1501	3501
1250	-1.10	-146.6	89.5	-5.6	59	1255	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2899	3501
1576	-1.10	-146.6	107.6	-5.2	75	1578	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3501
1887	-1.10	-146.6	127.3	-6.2	90	1891	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1500	3501
1952	-1.10	-146.6	132.0	-6.8	93	1956	0.00	2.58	0.00	0.000	6	0.000	0.067	2163	2899	3501
2279	-1.10	-146.6	153.9	-6.7	109	2283	0.00	2.58	0.00	0.000	4	0.000	0.067	2163	1501	3501
2321	-1.10	-146.6	156.9	-6.9	111	2326	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2893	3501
2648	-1.10	-146.6	179.0	-7.0	127	2649	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2893	3501
2958	-1.10	-146.6	201.0	-7.1	142	2963	0.00	2.58	0.00	0.000	4	0.000	0.067	2163	1498	3501
3013	-1.10	-146.6	205.1	-7.7	144	3020	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2901	3501
3331	-1.10	-146.6	226.2	-6.5	160	3335	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1500	3501
3379	-1.10	-146.6	229.8	-6.8	162	3384	0.00	2.58	0.00	0.000	6	0.000	0.065	2163	2900	3501
3700	-1.10	-146.6	253.8	-8.0	178	3701	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3501
4009	-1.10	-146.6	276.6	-7.1	193	4014	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1501	3501
4081	-1.10	-146.6	281.8	-6.6	196	4085	0.00	2.58	0.00	0.000	6	0.000	0.066	2163	2902	3501
4402	-1.10	-146.6	302.8	-6.4	212	4406	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1498	3501
4445	-1.10	-146.6	305.7	-6.5	214	4450	0.00	2.65	0.00	0.000	6	0.000	0.072	2163	2897	3501
4771	-1.10	-146.6	328.3	-7.0	230	4776	0.00	2.58	0.00	0.000	4	0.000	0.067	2163	1500	3501
4810	-1.10	-146.6	330.9	-7.0	232	4815	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2910	3501
5136	-1.10	-146.6	354.7	-7.5	248	5140	0.00	2.60	0.00	0.000	4	0.000	0.065	2163	1494	3501
5179	-1.10	-146.6	358.3	-7.6	250	5183	0.00	2.62	0.00	0.000	6	0.000	0.074	2163	2902	3501
5506	-1.10	-146.6	382.9	-7.3	266	5507	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3501
5815	-1.10	-146.6	406.6	-7.5	281	5816	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3501
6125	-1.10	-146.6	429.0	-7.0	296	6129	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1499	3501
6156	-1.10	-146.6	431.3	-6.6	297	6163	0.00	2.62	0.00	0.000	6	0.000	0.074	2163	2885	3501
6472	-1.10	-146.6	453.2	-7.2	313	6473	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2885	3501
6782	-1.10	-146.6	473.1	-5.9	328	6786	0.00	2.53	0.00	0.000	4	0.000	0.067	2163	1500	3501
6836	-1.10	-146.6	476.6	-5.9	330	6843	0.00	2.65	0.00	0.000	6	0.000	0.072	2163	2904	3501
7152	-1.10	-146.6	494.7	-5.8	346	7153	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3501
7462	-1.10	-146.6	511.0	-4.6	361	7466	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1497	3501
7505	-1.10	-146.6	512.9	-4.4	363	7509	0.00	2.60	0.00	0.000	6	0.000	0.069	2163	2905	3501
7831	-1.10	-146.6	527.7	-5.2	379	7836	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1496	3501
7893	-1.10	-146.6	531.7	-7.2	382	7897	0.00	2.60	0.00	0.000	6	0.000	0.069	2163	2901	3501
8218	-1.10	-146.6	554.3	-7.6	398	8222	0.00	2.55	0.00	0.000	4	0.000	0.064	2163	1496	3501
8317	-1.10	-146.6	561.7	-7.6	402	8324	0.00	2.60	0.00	0.000	6	0.000	0.068	2163	2907	3501
8632	-1.10	-146.6	582.4	-6.3	418	8636	0.00	1.62	0.00	0.000	4	0.000	0.083	2163	3784	3501
8709	-1.10	-146.6	587.6	-6.2	421	8714	0.00	1.50	0.00	0.000	6	0.000	0.034	2163	2903	3501
9030	-1.10	-146.6	607.1	-6.5	437	9035	0.00	2.55	0.00	0.000	4	0.000	0.064	2163	1495	3501
9085	-1.10	-146.6	611.0	-7.4	439	9092	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2900	3501
9400	-1.10	-146.6	631.0	-6.2	455	9402	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3501
9564	end dive: BOTTOM_OBSTACLE_DETECTED
state	9564	begin apogee
9570	-0.42	0.0	640.9	5.6	463	9697	0.75	0.00	123.60	1.211	6	0.075	0.000	2318	2109	2901
9698	end apogee: CONTROL_FINISHED_OK
state	9698	begin climb
9700	1.10	146.6	644.1	0.0	469	9830	1.55	2.67	120.12	1.200	4	0.057	0.060	2650	684	2302
9964	1.10	146.6	633.4	6.4	481	9969	0.00	2.58	0.00	0.000	6	0.000	0.044	2650	2107	2302
10286	1.13	171.4	614.5	5.3	497	10314	0.00	2.70	21.55	1.155	4	0.000	0.074	2650	3509	2202
10484	1.13	171.4	601.6	7.1	506	10489	0.00	2.55	0.00	0.000	6	0.000	0.047	2650	2088	2201
10809	1.13	171.4	580.9	6.3	522	10810	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2088	2200
11119	1.13	171.4	559.6	7.4	537	11120	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2088	2200
11428	1.13	171.4	538.4	6.5	552	11432	0.00	2.53	0.00	0.000	4	0.000	0.063	2650	693	2198
11459	1.13	171.4	536.4	7.0	553	11466	0.00	2.53	0.00	0.000	6	0.000	0.044	2650	2098	2199
11775	1.13	171.4	517.1	6.0	569	11779	0.00	2.65	0.00	0.000	4	0.000	0.074	2650	3509	2198
11874	1.13	171.4	511.1	6.0	573	11881	0.00	2.53	0.00	0.000	6	0.000	0.047	2650	2105	2197
12189	1.13	171.4	491.5	6.4	589	12194	0.00	2.65	0.00	0.000	4	0.000	0.075	2650	3509	2197
12261	1.14	174.0	487.2	5.9	592	12265	0.00	2.53	0.00	0.000	6	0.000	0.047	2650	2092	2197
12582	1.17	201.0	471.1	5.3	608	12608	0.00	0.00	24.73	1.101	6	0.000	0.000	2650	2092	2081
12911	1.17	201.0	449.6	6.9	624	12916	0.00	2.67	0.00	0.000	4	0.000	0.074	2650	3516	2081
12983	1.17	201.0	444.5	6.8	627	12987	0.00	2.53	0.00	0.000	6	0.000	0.047	2650	2096	2081
13304	1.17	201.0	423.6	6.4	643	13305	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2096	2081
13613	1.19	214.6	405.4	5.6	658	13635	0.00	2.75	12.85	0.999	4	0.000	0.073	2650	3510	2026
13707	1.19	214.6	399.1	7.0	662	13711	0.00	2.53	0.00	0.000	6	0.000	0.045	2650	2090	2026
14033	1.19	214.6	378.3	6.8	678	14038	0.00	2.67	0.00	0.000	4	0.000	0.072	2650	3517	2026
14072	1.19	214.6	375.4	7.8	680	14076	0.00	2.50	0.00	0.000	6	0.000	0.047	2650	2100	2026
14404	1.20	226.0	354.1	5.7	696	14420	0.00	2.70	11.15	0.943	4	0.000	0.072	2650	3512	1979
14475	1.20	226.0	349.4	6.4	698	14480	0.00	2.55	0.00	0.000	6	0.000	0.048	2650	2105	1979
14797	1.20	226.0	329.6	6.2	714	14801	0.00	2.65	0.00	0.000	4	0.000	0.074	2650	3511	1979
14851	1.20	226.0	326.1	6.8	716	14858	0.00	2.53	0.00	0.000	6	0.000	0.047	2650	2102	1979
15166	1.21	233.0	307.8	5.8	732	15181	0.10	2.70	7.47	0.851	4	0.050	0.071	2686	3512	1951
15214	1.21	233.0	304.4	6.9	734	15218	0.00	2.53	0.00	0.000	6	0.000	0.047	2686	2094	1951
15540	1.21	233.0	282.5	6.6	750	15541	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2094	1951
15850	1.21	233.0	260.1	7.4	765	15851	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2094	1951
16159	1.21	233.0	235.9	8.0	780	16163	0.00	2.65	0.00	0.000	4	0.000	0.071	2686	3511	1951
16207	1.21	233.0	231.8	7.8	782	16212	0.00	2.53	0.00	0.000	6	0.000	0.046	2686	2099	1951
16528	1.21	233.0	208.8	6.8	798	16530	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2099	1951
16838	1.21	233.0	183.6	8.1	813	16842	0.00	2.65	0.00	0.000	4	0.000	0.072	2686	3512	1952
16881	1.21	233.0	180.0	7.1	815	16885	0.00	2.53	0.00	0.000	6	0.000	0.048	2686	2103	1952
17208	1.21	233.0	154.5	7.5	831	17209	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2103	1952
17517	1.21	233.0	130.6	7.8	846	17522	0.00	2.62	0.00	0.000	4	0.000	0.071	2686	3511	1952
17566	1.21	233.0	126.5	8.3	848	17571	0.00	2.53	0.00	0.000	6	0.000	0.048	2686	2102	1952
17888	1.21	233.0	101.9	7.7	864	17889	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2102	1952
18199	1.21	233.0	77.0	8.0	879	18203	0.00	2.62	0.00	0.000	4	0.000	0.071	2686	3511	1952
18230	1.21	233.0	74.2	9.2	880	18238	0.00	2.53	0.00	0.000	6	0.000	0.047	2686	2099	1953
18546	1.21	233.0	50.2	7.3	896	18547	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2099	1953
18856	1.21	233.0	28.3	6.9	911	18857	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2099	1953
19166	1.21	233.0	4.3	8.1	926	19171	0.00	2.62	0.00	0.000	4	0.000	0.077	2686	691	1953
19187	end climb: SURFACE_DEPTH_REACHED
state	19187	begin surface coast
19192	end surface coast: CONTROL_FINISHED_OK
state	19192	begin surface