Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 145 * 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 145 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 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 -65028.832 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 -65028.832

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 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 13 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 145 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 045438,6228.365,-1034.127,33,0.9,33,-10.4 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6237.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.218,0.003

_SM_DEPTHo -0.24 KALMAN_X -186446.0,-381.8,-552.0,81720.3,-2751.1

_SM_ANGLEo -57.3 KALMAN_Y -5931.1,-1297.6,-350.6,108388.0,5056.5

GPS2 050033,6228.425,-1034.226,15,1.0,15,-10.4 MHEAD_RNG_PITCHd_Wd 281.2,27096,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 629

Post-dive calculations and measurements:

FINISH -1.2,1.027345 XPDR_PINGS 2

SM_CCo 16568,20.83,0.703,1,0,1676,300.00 ALTIM_BOTTOM_PING 575.0,57.1

SM_GC -0.24,0.00,0.00,20.83,0.000,0.000,0.703,48,2899,1676,-10.87,-0.03,300.00 _24V_AH 23.5,27.671

IRIDIUM_FIX 6202.67,-1030.33,081207,030315 _10V_AH 10.1,12.842

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41138,803

HUMID 2075 CFSIZE 260165632,250294272

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,1,0

TCM_TEMP 17.10 GPS 081207,093925,6230.536,-1040.726,37,1.6,37,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.29 SBE_CT 587 24 331.18

Roll_motor 164 82 320.08 SBE_O2 563 19 251.61

VBD_pump_during_apogee 354 1198 9974.35 WL_BB2F 513 105 1266.19

VBD_pump_during_surface 20 702 343.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.68 nil 0 0 0.00

Iridium_during_connect 37 160 140.55 nil 0 0 0.00

Iridium_during_xfer 173 223 909.44

Transponder_ping 5 420 54.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.89

TT8 1483 19 296.76

LPSleep 12737 2 281.75

TT8_Active 523 19 104.78

TT8_Sampling 1762 39 708.53

TT8_CF8 455 45 210.65

TT8_Kalman 33 81 27.57

Analog_circuits 1441 12 174.69

GPS_charging 0 0 0.00

Compass 1739 8 140.57

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 92 0.00 0.00 -65.20 0.000 6 0.000 0.000 48 2904 3500

94 -1.10 -146.6 5.6 -8.5 4 115 11.95 2.62 0.00 0.000 4 0.159 0.057 2162 1491 3502

350 -1.10 -146.6 35.3 -7.7 15 355 0.00 2.67 0.00 0.000 6 0.000 0.075 2163 2889 3502

671 -1.10 -146.6 58.1 -7.9 31 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2889 3502

981 -1.10 -146.6 81.6 -7.4 46 982 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2889 3502

1290 -1.10 -146.6 103.5 -7.0 61 1294 0.00 2.60 0.00 0.000 4 0.000 0.070 2163 1492 3502

1333 -1.10 -146.6 106.4 -7.4 63 1338 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2903 3502

1660 -1.10 -146.6 128.4 -6.5 79 1664 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1492 3502

1698 -1.10 -146.6 130.9 -6.4 81 1703 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2900 3502

2024 -1.10 -146.6 153.3 -6.9 97 2028 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1490 3502

2072 -1.10 -146.6 156.9 -7.2 99 2077 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2898 3502

2394 -1.10 -146.6 179.7 -6.7 115 2398 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1484 3502

2454 -1.10 -146.6 184.2 -7.5 118 2459 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2908 3502

2780 -1.10 -146.6 206.7 -7.1 134 2785 0.00 2.60 0.00 0.000 4 0.000 0.065 2163 1491 3502

2812 -1.10 -146.6 209.2 -7.7 135 2820 0.00 2.62 0.00 0.000 6 0.000 0.064 2163 2899 3502

3128 -1.10 -146.6 232.3 -7.4 151 3133 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1491 3502

3160 -1.10 -146.6 234.9 -7.5 152 3167 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2901 3502

3476 -1.10 -146.6 260.1 -8.1 168 3480 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1484 3502

3519 -1.10 -146.6 263.4 -8.0 170 3523 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2909 3502

3846 -1.10 -146.6 287.2 -6.9 186 3851 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1491 3502

3895 -1.10 -146.6 290.6 -6.3 188 3900 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2892 3502

4217 -1.10 -146.6 309.6 -5.6 204 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2892 3502

4526 -1.10 -146.6 328.6 -5.7 219 4531 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1489 3502

4581 -1.10 -146.6 332.0 -5.8 221 4588 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2906 3502

4896 -1.10 -146.6 351.6 -6.7 237 4900 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1489 3502

4950 -1.10 -146.6 355.2 -6.3 239 4957 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2904 3502

5266 -1.10 -146.6 374.9 -6.3 255 5273 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1485 3502

5317 -1.10 -146.6 378.5 -6.9 257 5322 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2901 3502

5646 -1.10 -146.6 401.2 -6.8 273 5648 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3502

5953 -1.10 -146.6 422.8 -7.0 288 5957 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1490 3502

6014 -1.10 -146.6 427.1 -7.4 291 6019 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2907 3502

6340 -1.10 -146.6 446.6 -5.4 307 6341 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3502

6649 -1.10 -146.6 460.0 -4.2 322 6653 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1489 3502

6698 -1.10 -146.6 461.9 -4.0 324 6702 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2899 3502

7020 -1.10 -146.6 475.2 -5.0 340 7024 0.00 2.55 0.00 0.000 4 0.000 0.060 2163 1490 3502

7046 -1.10 -146.6 476.7 -5.4 341 7050 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2899 3502

7367 -1.10 -146.6 498.8 -8.7 357 7371 0.00 2.58 0.00 0.000 4 0.000 0.060 2163 1482 3502

7416 -1.10 -146.6 503.8 -10.2 359 7420 0.00 2.62 0.00 0.000 6 0.000 0.064 2163 2901 3502

7737 -1.10 -146.6 531.4 -5.9 375 7741 0.00 2.58 0.00 0.000 4 0.000 0.060 2163 1483 3502

7798 -1.10 -146.6 534.2 -4.5 378 7802 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2899 3502

8124 -1.10 -146.6 547.3 -3.7 394 8125 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

8432 -1.10 -146.6 562.4 -6.7 409 8436 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1489 3502

8548 -1.10 -146.6 571.1 -8.7 414 8552 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2903 3502

8870 -1.10 -146.6 595.8 -7.2 430 8871 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

9178 -1.10 -146.6 618.5 -7.9 445 9183 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1488 3502

9205 -1.10 -146.6 620.6 -7.9 446 9209 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2901 3502

9236 end dive: BOTTOM_OBSTACLE_DETECTED

state 9236 begin apogee

9242 -0.42 0.0 622.5 6.3 448 9369 0.75 0.00 123.93 1.198 6 0.084 0.000 2315 2098 2901

9370 end apogee: CONTROL_FINISHED_OK

state 9370 begin climb

9371 1.10 146.6 626.6 0.0 454 9502 1.58 2.75 121.18 1.159 4 0.061 0.073 2648 3505 2303

9519 1.16 189.9 623.1 4.8 461 9565 0.00 2.53 37.55 1.102 6 0.000 0.040 2649 2091 2126

9886 1.16 189.9 601.7 6.5 479 9890 0.00 2.58 0.00 0.000 4 0.000 0.064 2649 690 2125

9907 1.16 189.9 599.6 9.4 480 9911 0.00 2.55 0.00 0.000 6 0.000 0.044 2649 2103 2125

10234 1.26 276.7 577.1 3.6 496 10316 0.17 2.70 71.62 1.159 4 0.035 0.061 2706 697 1773

10399 1.26 276.7 565.6 9.7 503 10406 0.05 2.55 0.00 0.000 6 0.066 0.048 2686 2100 1772

10715 1.26 276.7 533.3 11.0 519 10716 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2100 1771

11024 1.26 276.7 505.6 8.7 534 11028 0.00 2.65 0.00 0.000 4 0.000 0.076 2686 3512 1770

11050 1.26 276.7 503.3 8.7 535 11054 0.00 2.53 0.00 0.000 6 0.000 0.048 2686 2096 1770

11371 1.26 276.7 472.5 10.8 551 11376 0.00 2.70 0.00 0.000 4 0.000 0.076 2686 3516 1769

11426 1.26 276.7 466.3 11.0 553 11433 0.00 2.55 0.00 0.000 6 0.000 0.048 2686 2089 1769

11742 1.26 276.7 433.1 10.5 569 11743 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2089 1769

12051 1.26 276.7 400.7 10.1 584 12055 0.00 2.70 0.00 0.000 4 0.000 0.076 2686 3515 1769

12076 1.26 276.7 398.0 10.1 585 12081 0.00 2.55 0.00 0.000 6 0.000 0.046 2687 2100 1769

12398 1.26 276.7 370.2 8.2 601 12403 0.00 2.67 0.00 0.000 4 0.000 0.076 2686 3511 1769

12419 1.26 276.7 368.2 9.0 602 12424 0.00 2.53 0.00 0.000 6 0.000 0.048 2686 2093 1769

12746 1.26 276.7 341.9 8.7 618 12747 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2093 1770

13055 1.26 276.7 315.3 8.8 633 13060 0.00 2.70 0.00 0.000 4 0.000 0.077 2686 3518 1771

13098 1.26 276.7 311.3 9.3 635 13103 0.00 2.55 0.00 0.000 6 0.000 0.049 2686 2103 1770

13425 1.26 276.7 282.6 8.5 651 13427 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2103 1771

13735 1.26 276.7 254.6 9.0 666 13739 0.00 2.67 0.00 0.000 4 0.000 0.077 2686 3518 1771

13766 1.26 276.7 251.4 9.1 667 13773 0.00 2.55 0.00 0.000 6 0.000 0.048 2686 2101 1771

14082 1.26 276.7 223.2 8.8 683 14083 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2101 1772

14391 1.26 276.7 195.1 8.6 698 14396 0.00 2.65 0.00 0.000 4 0.000 0.075 2686 3512 1772

14436 1.26 276.7 190.8 9.5 700 14440 0.00 2.55 0.00 0.000 6 0.000 0.050 2686 2091 1772

14756 1.26 276.7 162.1 8.5 716 14757 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2091 1772

15067 1.26 276.7 134.7 8.4 731 15071 0.00 2.67 0.00 0.000 4 0.000 0.074 2686 3512 1772

15098 1.26 276.7 131.8 8.3 732 15106 0.00 2.55 0.00 0.000 6 0.000 0.051 2686 2100 1772

15415 1.26 276.7 102.5 9.6 748 15416 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2100 1773

15725 1.26 276.7 73.3 9.9 763 15730 0.00 2.67 0.00 0.000 4 0.000 0.076 2686 3514 1773

15758 1.26 276.7 70.1 8.8 764 15765 0.00 2.55 0.00 0.000 6 0.000 0.049 2686 2097 1773

16073 1.26 276.7 42.2 8.9 780 16074 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2097 1773

16383 1.26 276.7 13.6 9.4 795 16384 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2097 1773

16525 end climb: SURFACE_DEPTH_REACHED

state 16525 begin surface coast

16547 end surface coast: CONTROL_FINISHED_OK

state 16547 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	145	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	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	-65028.832	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	045438,6228.365,-1034.127,33,0.9,33,-10.4	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6237.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.218,0.003
_SM_DEPTHo	-0.24	KALMAN_X	-186446.0,-381.8,-552.0,81720.3,-2751.1
_SM_ANGLEo	-57.3	KALMAN_Y	-5931.1,-1297.6,-350.6,108388.0,5056.5
GPS2	050033,6228.425,-1034.226,15,1.0,15,-10.4	MHEAD_RNG_PITCHd_Wd	281.2,27096,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	629

FINISH	-1.2,1.027345	XPDR_PINGS	2
SM_CCo	16568,20.83,0.703,1,0,1676,300.00	ALTIM_BOTTOM_PING	575.0,57.1
SM_GC	-0.24,0.00,0.00,20.83,0.000,0.000,0.703,48,2899,1676,-10.87,-0.03,300.00	_24V_AH	23.5,27.671
IRIDIUM_FIX	6202.67,-1030.33,081207,030315	_10V_AH	10.1,12.842
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41138,803
HUMID	2075	CFSIZE	260165632,250294272
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
TCM_TEMP	17.10	GPS	081207,093925,6230.536,-1040.726,37,1.6,37,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.29	SBE_CT	587	24	331.18
Roll_motor	164	82	320.08	SBE_O2	563	19	251.61
VBD_pump_during_apogee	354	1198	9974.35	WL_BB2F	513	105	1266.19
VBD_pump_during_surface	20	702	343.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.68	nil	0	0	0.00
Iridium_during_connect	37	160	140.55	nil	0	0	0.00
Iridium_during_xfer	173	223	909.44
Transponder_ping	5	420	54.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.89
TT8	1483	19	296.76
LPSleep	12737	2	281.75
TT8_Active	523	19	104.78
TT8_Sampling	1762	39	708.53
TT8_CF8	455	45	210.65
TT8_Kalman	33	81	27.57
Analog_circuits	1441	12	174.69
GPS_charging	0	0	0.00
Compass	1739	8	140.57
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	92	0.00	0.00	-65.20	0.000	6	0.000	0.000	48	2904	3500
94	-1.10	-146.6	5.6	-8.5	4	115	11.95	2.62	0.00	0.000	4	0.159	0.057	2162	1491	3502
350	-1.10	-146.6	35.3	-7.7	15	355	0.00	2.67	0.00	0.000	6	0.000	0.075	2163	2889	3502
671	-1.10	-146.6	58.1	-7.9	31	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2889	3502
981	-1.10	-146.6	81.6	-7.4	46	982	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2889	3502
1290	-1.10	-146.6	103.5	-7.0	61	1294	0.00	2.60	0.00	0.000	4	0.000	0.070	2163	1492	3502
1333	-1.10	-146.6	106.4	-7.4	63	1338	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2903	3502
1660	-1.10	-146.6	128.4	-6.5	79	1664	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1492	3502
1698	-1.10	-146.6	130.9	-6.4	81	1703	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2900	3502
2024	-1.10	-146.6	153.3	-6.9	97	2028	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1490	3502
2072	-1.10	-146.6	156.9	-7.2	99	2077	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2898	3502
2394	-1.10	-146.6	179.7	-6.7	115	2398	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1484	3502
2454	-1.10	-146.6	184.2	-7.5	118	2459	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2908	3502
2780	-1.10	-146.6	206.7	-7.1	134	2785	0.00	2.60	0.00	0.000	4	0.000	0.065	2163	1491	3502
2812	-1.10	-146.6	209.2	-7.7	135	2820	0.00	2.62	0.00	0.000	6	0.000	0.064	2163	2899	3502
3128	-1.10	-146.6	232.3	-7.4	151	3133	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1491	3502
3160	-1.10	-146.6	234.9	-7.5	152	3167	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2901	3502
3476	-1.10	-146.6	260.1	-8.1	168	3480	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1484	3502
3519	-1.10	-146.6	263.4	-8.0	170	3523	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2909	3502
3846	-1.10	-146.6	287.2	-6.9	186	3851	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1491	3502
3895	-1.10	-146.6	290.6	-6.3	188	3900	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2892	3502
4217	-1.10	-146.6	309.6	-5.6	204	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2892	3502
4526	-1.10	-146.6	328.6	-5.7	219	4531	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1489	3502
4581	-1.10	-146.6	332.0	-5.8	221	4588	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2906	3502
4896	-1.10	-146.6	351.6	-6.7	237	4900	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1489	3502
4950	-1.10	-146.6	355.2	-6.3	239	4957	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2904	3502
5266	-1.10	-146.6	374.9	-6.3	255	5273	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1485	3502
5317	-1.10	-146.6	378.5	-6.9	257	5322	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2901	3502
5646	-1.10	-146.6	401.2	-6.8	273	5648	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3502
5953	-1.10	-146.6	422.8	-7.0	288	5957	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1490	3502
6014	-1.10	-146.6	427.1	-7.4	291	6019	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2907	3502
6340	-1.10	-146.6	446.6	-5.4	307	6341	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3502
6649	-1.10	-146.6	460.0	-4.2	322	6653	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1489	3502
6698	-1.10	-146.6	461.9	-4.0	324	6702	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2899	3502
7020	-1.10	-146.6	475.2	-5.0	340	7024	0.00	2.55	0.00	0.000	4	0.000	0.060	2163	1490	3502
7046	-1.10	-146.6	476.7	-5.4	341	7050	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2899	3502
7367	-1.10	-146.6	498.8	-8.7	357	7371	0.00	2.58	0.00	0.000	4	0.000	0.060	2163	1482	3502
7416	-1.10	-146.6	503.8	-10.2	359	7420	0.00	2.62	0.00	0.000	6	0.000	0.064	2163	2901	3502
7737	-1.10	-146.6	531.4	-5.9	375	7741	0.00	2.58	0.00	0.000	4	0.000	0.060	2163	1483	3502
7798	-1.10	-146.6	534.2	-4.5	378	7802	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2899	3502
8124	-1.10	-146.6	547.3	-3.7	394	8125	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
8432	-1.10	-146.6	562.4	-6.7	409	8436	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1489	3502
8548	-1.10	-146.6	571.1	-8.7	414	8552	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2903	3502
8870	-1.10	-146.6	595.8	-7.2	430	8871	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
9178	-1.10	-146.6	618.5	-7.9	445	9183	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1488	3502
9205	-1.10	-146.6	620.6	-7.9	446	9209	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2901	3502
9236	end dive: BOTTOM_OBSTACLE_DETECTED
state	9236	begin apogee
9242	-0.42	0.0	622.5	6.3	448	9369	0.75	0.00	123.93	1.198	6	0.084	0.000	2315	2098	2901
9370	end apogee: CONTROL_FINISHED_OK
state	9370	begin climb
9371	1.10	146.6	626.6	0.0	454	9502	1.58	2.75	121.18	1.159	4	0.061	0.073	2648	3505	2303
9519	1.16	189.9	623.1	4.8	461	9565	0.00	2.53	37.55	1.102	6	0.000	0.040	2649	2091	2126
9886	1.16	189.9	601.7	6.5	479	9890	0.00	2.58	0.00	0.000	4	0.000	0.064	2649	690	2125
9907	1.16	189.9	599.6	9.4	480	9911	0.00	2.55	0.00	0.000	6	0.000	0.044	2649	2103	2125
10234	1.26	276.7	577.1	3.6	496	10316	0.17	2.70	71.62	1.159	4	0.035	0.061	2706	697	1773
10399	1.26	276.7	565.6	9.7	503	10406	0.05	2.55	0.00	0.000	6	0.066	0.048	2686	2100	1772
10715	1.26	276.7	533.3	11.0	519	10716	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2100	1771
11024	1.26	276.7	505.6	8.7	534	11028	0.00	2.65	0.00	0.000	4	0.000	0.076	2686	3512	1770
11050	1.26	276.7	503.3	8.7	535	11054	0.00	2.53	0.00	0.000	6	0.000	0.048	2686	2096	1770
11371	1.26	276.7	472.5	10.8	551	11376	0.00	2.70	0.00	0.000	4	0.000	0.076	2686	3516	1769
11426	1.26	276.7	466.3	11.0	553	11433	0.00	2.55	0.00	0.000	6	0.000	0.048	2686	2089	1769
11742	1.26	276.7	433.1	10.5	569	11743	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2089	1769
12051	1.26	276.7	400.7	10.1	584	12055	0.00	2.70	0.00	0.000	4	0.000	0.076	2686	3515	1769
12076	1.26	276.7	398.0	10.1	585	12081	0.00	2.55	0.00	0.000	6	0.000	0.046	2687	2100	1769
12398	1.26	276.7	370.2	8.2	601	12403	0.00	2.67	0.00	0.000	4	0.000	0.076	2686	3511	1769
12419	1.26	276.7	368.2	9.0	602	12424	0.00	2.53	0.00	0.000	6	0.000	0.048	2686	2093	1769
12746	1.26	276.7	341.9	8.7	618	12747	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2093	1770
13055	1.26	276.7	315.3	8.8	633	13060	0.00	2.70	0.00	0.000	4	0.000	0.077	2686	3518	1771
13098	1.26	276.7	311.3	9.3	635	13103	0.00	2.55	0.00	0.000	6	0.000	0.049	2686	2103	1770
13425	1.26	276.7	282.6	8.5	651	13427	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2103	1771
13735	1.26	276.7	254.6	9.0	666	13739	0.00	2.67	0.00	0.000	4	0.000	0.077	2686	3518	1771
13766	1.26	276.7	251.4	9.1	667	13773	0.00	2.55	0.00	0.000	6	0.000	0.048	2686	2101	1771
14082	1.26	276.7	223.2	8.8	683	14083	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2101	1772
14391	1.26	276.7	195.1	8.6	698	14396	0.00	2.65	0.00	0.000	4	0.000	0.075	2686	3512	1772
14436	1.26	276.7	190.8	9.5	700	14440	0.00	2.55	0.00	0.000	6	0.000	0.050	2686	2091	1772
14756	1.26	276.7	162.1	8.5	716	14757	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2091	1772
15067	1.26	276.7	134.7	8.4	731	15071	0.00	2.67	0.00	0.000	4	0.000	0.074	2686	3512	1772
15098	1.26	276.7	131.8	8.3	732	15106	0.00	2.55	0.00	0.000	6	0.000	0.051	2686	2100	1772
15415	1.26	276.7	102.5	9.6	748	15416	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2100	1773
15725	1.26	276.7	73.3	9.9	763	15730	0.00	2.67	0.00	0.000	4	0.000	0.076	2686	3514	1773
15758	1.26	276.7	70.1	8.8	764	15765	0.00	2.55	0.00	0.000	6	0.000	0.049	2686	2097	1773
16073	1.26	276.7	42.2	8.9	780	16074	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2097	1773
16383	1.26	276.7	13.6	9.4	795	16384	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2097	1773
16525	end climb: SURFACE_DEPTH_REACHED
state	16525	begin surface coast
16547	end surface coast: CONTROL_FINISHED_OK
state	16547	begin surface