Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 157 * 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 157 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -2 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 -65222.551 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 -65222.551

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 22 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 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 157 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 210432,6240.695,-1141.224,42,0.9,42,-11.1 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.005,0.218

_SM_DEPTHo 0.02 KALMAN_X -228385.4,250.6,187.7,63207.8,-2958.8

_SM_ANGLEo -57.0 KALMAN_Y -29933.7,320.2,659.0,152456.2,-7124.7

GPS2 211015,6240.678,-1141.227,15,1.8,15,-11.1 MHEAD_RNG_PITCHd_Wd 9.7,8620,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 673

Post-dive calculations and measurements:

FINISH -0.8,1.025728 XPDR_PINGS 2

SM_CCo 19509,10.55,0.611,1,0,1678,300.00 ALTIM_BOTTOM_PING 600.5,79.0

SM_GC -0.06,0.00,0.00,10.55,0.000,0.000,0.611,43,2893,1678,-10.89,-0.20,300.00 _24V_AH 23.4,29.317

IRIDIUM_FIX 6211.90,-1141.52,101207,191903 _10V_AH 10.1,13.886

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47415,942

HUMID 2062 CFSIZE 260165632,249495552

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,39,1,0

TCM_TEMP 17.20 GPS 111207,023831,6241.527,-1142.450,69,1.3,69,-11.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.50 SBE_CT 680 24 382.34

Roll_motor 177 111 461.80 SBE_O2 661 19 294.05

VBD_pump_during_apogee 368 1220 10533.92 WL_BB2F 550 105 1353.06

VBD_pump_during_surface 10 611 150.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.45 nil 0 0 0.00

Iridium_during_connect 34 160 130.61 nil 0 0 0.00

Iridium_during_xfer 165 223 863.91

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.72

TT8 1735 19 347.14

LPSleep 15022 2 332.27

TT8_Active 510 19 102.18

TT8_Sampling 2153 39 865.57

TT8_CF8 460 45 213.12

TT8_Kalman 33 81 27.57

Analog_circuits 1598 12 193.77

GPS_charging 0 0 0.00

Compass 2118 8 171.21

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -60.78 0.000 2 0.000 0.000 39 2898 3429

85 -1.10 -146.6 4.0 -9.6 3 108 12.00 1.73 -1.23 0.000 4 0.158 0.111 2163 3777 3501

359 -1.10 -146.6 37.7 -7.8 15 364 0.00 1.50 0.00 0.000 6 0.000 0.033 2163 2899 3501

686 -1.10 -146.6 64.3 -11.5 31 690 0.00 1.67 0.00 0.000 4 0.000 0.080 2163 3787 3501

926 -1.10 -146.6 83.9 -7.2 41 933 0.00 1.52 0.00 0.000 6 0.000 0.032 2163 2898 3501

1244 -1.10 -146.6 109.8 -7.7 57 1248 0.00 2.55 0.00 0.000 4 0.000 0.067 2163 1499 3501

1275 -1.10 -146.6 112.3 -6.8 58 1282 0.00 2.62 0.00 0.000 6 0.000 0.070 2163 2898 3501

1591 -1.10 -146.6 135.1 -7.3 74 1592 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3501

1900 -1.10 -146.6 158.9 -7.2 89 1904 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1490 3501

1938 -1.10 -146.6 161.6 -7.4 91 1943 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2900 3501

2264 -1.10 -146.6 183.6 -7.1 107 2265 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3501

2574 -1.10 -146.6 206.3 -7.1 122 2578 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1492 3501

2622 -1.10 -146.6 210.0 -7.4 124 2627 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2903 3501

2944 -1.10 -146.6 233.4 -7.2 140 2945 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3501

3253 -1.10 -146.6 256.0 -6.9 155 3257 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1500 3501

3279 -1.10 -146.6 258.1 -8.1 156 3283 0.00 2.60 0.00 0.000 6 0.000 0.064 2163 2900 3501

3600 -1.10 -146.6 279.4 -6.6 172 3605 0.00 2.58 0.00 0.000 4 0.000 0.065 2163 1493 3501

3627 -1.10 -146.6 281.3 -6.6 173 3631 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2904 3501

3948 -1.10 -146.6 304.0 -7.3 189 3952 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1496 3501

3980 -1.10 -146.6 306.3 -7.5 190 3987 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2891 3501

4296 -1.10 -146.6 329.8 -7.6 206 4297 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2890 3501

4605 -1.10 -146.6 352.0 -6.7 221 4609 0.00 2.55 0.00 0.000 4 0.000 0.064 2163 1495 3501

4659 -1.10 -146.6 355.7 -6.9 223 4665 0.00 2.58 0.00 0.000 6 0.000 0.066 2163 2900 3501

4974 -1.10 -146.6 374.2 -5.7 239 4978 0.00 2.55 0.00 0.000 4 0.000 0.064 2163 1499 3501

5001 -1.10 -146.6 375.8 -5.5 240 5005 0.00 2.58 0.00 0.000 6 0.000 0.066 2163 2901 3501

5328 -1.10 -146.6 394.7 -6.0 256 5333 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1492 3501

5367 -1.10 -146.6 397.2 -6.6 258 5372 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2903 3502

5692 -1.10 -146.6 417.9 -6.2 274 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3501

6002 -1.10 -146.6 437.0 -5.8 289 6006 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1490 3501

6041 -1.10 -146.6 439.3 -6.0 291 6045 0.00 2.60 0.00 0.000 6 0.000 0.066 2163 2900 3501

6366 -1.10 -146.6 460.1 -6.8 307 6370 0.00 2.55 0.00 0.000 4 0.000 0.063 2163 1498 3501

6405 -1.10 -146.6 462.5 -6.7 309 6409 0.00 2.58 0.00 0.000 6 0.000 0.067 2163 2900 3501

6730 -1.10 -146.6 484.7 -6.9 325 6731 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3501

7039 -1.10 -146.6 505.1 -6.2 340 7044 0.00 2.55 0.00 0.000 4 0.000 0.062 2163 1498 3501

7111 -1.10 -146.6 509.7 -6.5 343 7115 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2901 3501

7432 -1.10 -146.6 528.3 -6.1 359 7436 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1498 3501

7471 -1.10 -146.6 530.5 -6.2 361 7475 0.00 2.58 0.00 0.000 6 0.000 0.066 2163 2900 3501

7796 -1.10 -146.6 549.9 -5.9 377 7801 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1499 3501

7863 -1.10 -146.6 553.9 -6.1 380 7867 0.00 2.58 0.00 0.000 6 0.000 0.065 2163 2901 3501

8191 -1.10 -146.6 575.3 -6.6 396 8194 0.00 1.65 0.00 0.000 4 0.000 0.081 2163 3787 3501

8268 -1.10 -146.6 581.1 -7.8 399 8272 0.00 1.52 0.00 0.000 6 0.000 0.035 2163 2890 3501

8591 -1.10 -146.6 603.4 -7.1 415 8595 0.00 2.50 0.00 0.000 4 0.000 0.062 2163 1493 3501

8679 -1.10 -146.6 609.1 -6.4 419 8684 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2907 3501

9000 -1.10 -146.6 631.2 -6.9 435 9004 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1502 3501

9083 -1.10 -146.6 637.0 -6.6 439 9087 0.00 2.58 0.00 0.000 6 0.000 0.067 2163 2900 3501

9409 -1.10 -146.6 656.8 -6.0 455 9413 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1496 3501

9457 -1.10 -146.6 659.8 -6.4 457 9462 0.00 2.60 0.00 0.000 6 0.000 0.071 2163 2899 3501

9612 end dive: BOTTOM_OBSTACLE_DETECTED

state 9612 begin apogee

9618 -0.42 0.0 669.6 6.5 465 9747 0.77 0.00 125.32 1.220 6 0.093 0.000 2318 2114 2901

9747 end apogee: CONTROL_FINISHED_OK

state 9747 begin climb

9749 1.10 146.6 674.2 0.0 471 9877 1.55 0.00 122.43 1.180 6 0.057 0.000 2649 2113 2303

10197 1.13 169.3 655.9 5.4 493 10223 0.00 2.70 20.67 1.144 4 0.000 0.072 2649 3517 2210

10279 1.13 169.3 651.1 6.7 497 10284 0.00 2.55 0.00 0.000 6 0.000 0.042 2649 2090 2210

10605 1.13 169.8 631.3 6.0 513 10606 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2090 2209

10914 1.13 169.8 611.9 6.5 528 10915 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2091 2208

11223 1.13 169.8 591.9 6.5 543 11227 0.00 2.55 0.00 0.000 4 0.000 0.066 2649 694 2207

11311 1.13 169.8 585.6 7.5 547 11316 0.00 2.53 0.00 0.000 6 0.000 0.046 2649 2097 2207

11638 1.13 169.8 563.4 6.7 563 11642 0.00 2.62 0.00 0.000 4 0.000 0.072 2649 3509 2206

11776 1.13 169.8 553.9 6.8 569 11780 0.00 2.50 0.00 0.000 6 0.000 0.043 2649 2094 2206

12097 1.13 169.8 533.4 6.1 585 12098 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2094 2206

12407 1.18 206.2 517.5 5.0 600 12443 0.00 2.62 30.88 1.123 4 0.000 0.064 2649 695 2060

12492 1.18 206.2 512.6 6.0 603 12497 0.00 2.55 0.00 0.000 6 0.000 0.046 2649 2099 2060

12819 1.18 206.2 492.5 6.4 619 12824 0.00 2.65 0.00 0.000 4 0.000 0.072 2649 3516 2059

12903 1.18 206.2 487.0 6.6 623 12907 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2100 2059

13228 1.18 206.2 466.5 6.5 639 13229 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2100 2059

13538 1.18 206.2 445.0 6.9 654 13542 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3516 2059

13608 1.18 206.2 439.6 7.4 657 13613 0.00 2.53 0.00 0.000 6 0.000 0.043 2649 2101 2059

13929 1.18 206.2 417.0 7.0 673 13934 0.00 2.65 0.00 0.000 4 0.000 0.072 2649 3511 2059

13968 1.18 206.2 414.0 6.9 675 13972 0.00 2.47 0.00 0.000 6 0.000 0.042 2649 2099 2060

14293 1.18 206.2 392.1 6.4 691 14298 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3513 2060

14342 1.18 206.2 388.7 6.3 693 14347 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2100 2060

14664 1.18 206.2 368.6 6.1 709 14665 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2100 2060

14973 1.18 206.2 349.2 6.2 724 14977 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3512 2061

15060 1.18 206.2 343.4 6.1 728 15065 0.00 2.50 0.00 0.000 6 0.000 0.041 2649 2101 2061

15387 1.18 206.2 323.7 6.1 744 15392 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3514 2061

15426 1.18 206.2 321.0 7.4 746 15431 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2099 2061

15752 1.18 206.2 300.9 6.6 762 15756 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3515 2062

15818 1.18 206.2 296.4 6.8 765 15822 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2099 2062

16144 1.18 206.2 273.2 7.6 781 16149 0.00 2.65 0.00 0.000 4 0.000 0.072 2649 3516 2062

16187 1.18 206.2 270.0 6.8 783 16192 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2096 2062

16514 1.18 206.2 248.6 6.9 799 16515 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2096 2062

16824 1.27 282.1 231.0 3.9 814 16894 0.17 2.80 62.10 0.894 4 0.038 0.076 2706 3514 1749

16939 1.27 282.1 222.7 9.0 819 16943 0.00 2.55 0.00 0.000 6 0.000 0.045 2706 2098 1749

17253 1.27 282.1 192.3 10.4 834 17254 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2097 1749

17563 1.27 282.1 163.9 6.5 849 17567 0.00 2.55 0.00 0.000 4 0.000 0.064 2706 694 1749

17617 1.27 282.1 159.5 8.5 851 17622 0.00 2.50 0.00 0.000 6 0.000 0.047 2706 2099 1749

17940 1.27 282.1 133.9 9.5 867 17941 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2099 1749

18249 1.28 289.3 108.9 5.8 882 18263 0.00 2.62 7.50 0.730 4 0.000 0.063 2706 701 1721

18279 1.28 289.3 107.1 6.2 883 18284 0.00 2.53 0.00 0.000 6 0.000 0.049 2706 2105 1721

18601 1.28 289.3 83.8 10.0 899 18602 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2105 1721

18910 1.28 289.3 59.8 7.8 914 18911 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2105 1721

19219 1.28 289.3 27.6 11.7 929 19221 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2105 1721

19465 end climb: SURFACE_DEPTH_REACHED

state 19465 begin surface coast

19488 end surface coast: CONTROL_FINISHED_OK

state 19488 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	157	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-2	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	-65222.551	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	210432,6240.695,-1141.224,42,0.9,42,-11.1	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.005,0.218
_SM_DEPTHo	0.02	KALMAN_X	-228385.4,250.6,187.7,63207.8,-2958.8
_SM_ANGLEo	-57.0	KALMAN_Y	-29933.7,320.2,659.0,152456.2,-7124.7
GPS2	211015,6240.678,-1141.227,15,1.8,15,-11.1	MHEAD_RNG_PITCHd_Wd	9.7,8620,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	673

FINISH	-0.8,1.025728	XPDR_PINGS	2
SM_CCo	19509,10.55,0.611,1,0,1678,300.00	ALTIM_BOTTOM_PING	600.5,79.0
SM_GC	-0.06,0.00,0.00,10.55,0.000,0.000,0.611,43,2893,1678,-10.89,-0.20,300.00	_24V_AH	23.4,29.317
IRIDIUM_FIX	6211.90,-1141.52,101207,191903	_10V_AH	10.1,13.886
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47415,942
HUMID	2062	CFSIZE	260165632,249495552
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
TCM_TEMP	17.20	GPS	111207,023831,6241.527,-1142.450,69,1.3,69,-11.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.50	SBE_CT	680	24	382.34
Roll_motor	177	111	461.80	SBE_O2	661	19	294.05
VBD_pump_during_apogee	368	1220	10533.92	WL_BB2F	550	105	1353.06
VBD_pump_during_surface	10	611	150.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.45	nil	0	0	0.00
Iridium_during_connect	34	160	130.61	nil	0	0	0.00
Iridium_during_xfer	165	223	863.91
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.72
TT8	1735	19	347.14
LPSleep	15022	2	332.27
TT8_Active	510	19	102.18
TT8_Sampling	2153	39	865.57
TT8_CF8	460	45	213.12
TT8_Kalman	33	81	27.57
Analog_circuits	1598	12	193.77
GPS_charging	0	0	0.00
Compass	2118	8	171.21
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-60.78	0.000	2	0.000	0.000	39	2898	3429
85	-1.10	-146.6	4.0	-9.6	3	108	12.00	1.73	-1.23	0.000	4	0.158	0.111	2163	3777	3501
359	-1.10	-146.6	37.7	-7.8	15	364	0.00	1.50	0.00	0.000	6	0.000	0.033	2163	2899	3501
686	-1.10	-146.6	64.3	-11.5	31	690	0.00	1.67	0.00	0.000	4	0.000	0.080	2163	3787	3501
926	-1.10	-146.6	83.9	-7.2	41	933	0.00	1.52	0.00	0.000	6	0.000	0.032	2163	2898	3501
1244	-1.10	-146.6	109.8	-7.7	57	1248	0.00	2.55	0.00	0.000	4	0.000	0.067	2163	1499	3501
1275	-1.10	-146.6	112.3	-6.8	58	1282	0.00	2.62	0.00	0.000	6	0.000	0.070	2163	2898	3501
1591	-1.10	-146.6	135.1	-7.3	74	1592	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3501
1900	-1.10	-146.6	158.9	-7.2	89	1904	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1490	3501
1938	-1.10	-146.6	161.6	-7.4	91	1943	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2900	3501
2264	-1.10	-146.6	183.6	-7.1	107	2265	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3501
2574	-1.10	-146.6	206.3	-7.1	122	2578	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1492	3501
2622	-1.10	-146.6	210.0	-7.4	124	2627	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2903	3501
2944	-1.10	-146.6	233.4	-7.2	140	2945	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3501
3253	-1.10	-146.6	256.0	-6.9	155	3257	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1500	3501
3279	-1.10	-146.6	258.1	-8.1	156	3283	0.00	2.60	0.00	0.000	6	0.000	0.064	2163	2900	3501
3600	-1.10	-146.6	279.4	-6.6	172	3605	0.00	2.58	0.00	0.000	4	0.000	0.065	2163	1493	3501
3627	-1.10	-146.6	281.3	-6.6	173	3631	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2904	3501
3948	-1.10	-146.6	304.0	-7.3	189	3952	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1496	3501
3980	-1.10	-146.6	306.3	-7.5	190	3987	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2891	3501
4296	-1.10	-146.6	329.8	-7.6	206	4297	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2890	3501
4605	-1.10	-146.6	352.0	-6.7	221	4609	0.00	2.55	0.00	0.000	4	0.000	0.064	2163	1495	3501
4659	-1.10	-146.6	355.7	-6.9	223	4665	0.00	2.58	0.00	0.000	6	0.000	0.066	2163	2900	3501
4974	-1.10	-146.6	374.2	-5.7	239	4978	0.00	2.55	0.00	0.000	4	0.000	0.064	2163	1499	3501
5001	-1.10	-146.6	375.8	-5.5	240	5005	0.00	2.58	0.00	0.000	6	0.000	0.066	2163	2901	3501
5328	-1.10	-146.6	394.7	-6.0	256	5333	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1492	3501
5367	-1.10	-146.6	397.2	-6.6	258	5372	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2903	3502
5692	-1.10	-146.6	417.9	-6.2	274	5693	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3501
6002	-1.10	-146.6	437.0	-5.8	289	6006	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1490	3501
6041	-1.10	-146.6	439.3	-6.0	291	6045	0.00	2.60	0.00	0.000	6	0.000	0.066	2163	2900	3501
6366	-1.10	-146.6	460.1	-6.8	307	6370	0.00	2.55	0.00	0.000	4	0.000	0.063	2163	1498	3501
6405	-1.10	-146.6	462.5	-6.7	309	6409	0.00	2.58	0.00	0.000	6	0.000	0.067	2163	2900	3501
6730	-1.10	-146.6	484.7	-6.9	325	6731	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3501
7039	-1.10	-146.6	505.1	-6.2	340	7044	0.00	2.55	0.00	0.000	4	0.000	0.062	2163	1498	3501
7111	-1.10	-146.6	509.7	-6.5	343	7115	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2901	3501
7432	-1.10	-146.6	528.3	-6.1	359	7436	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1498	3501
7471	-1.10	-146.6	530.5	-6.2	361	7475	0.00	2.58	0.00	0.000	6	0.000	0.066	2163	2900	3501
7796	-1.10	-146.6	549.9	-5.9	377	7801	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1499	3501
7863	-1.10	-146.6	553.9	-6.1	380	7867	0.00	2.58	0.00	0.000	6	0.000	0.065	2163	2901	3501
8191	-1.10	-146.6	575.3	-6.6	396	8194	0.00	1.65	0.00	0.000	4	0.000	0.081	2163	3787	3501
8268	-1.10	-146.6	581.1	-7.8	399	8272	0.00	1.52	0.00	0.000	6	0.000	0.035	2163	2890	3501
8591	-1.10	-146.6	603.4	-7.1	415	8595	0.00	2.50	0.00	0.000	4	0.000	0.062	2163	1493	3501
8679	-1.10	-146.6	609.1	-6.4	419	8684	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2907	3501
9000	-1.10	-146.6	631.2	-6.9	435	9004	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1502	3501
9083	-1.10	-146.6	637.0	-6.6	439	9087	0.00	2.58	0.00	0.000	6	0.000	0.067	2163	2900	3501
9409	-1.10	-146.6	656.8	-6.0	455	9413	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1496	3501
9457	-1.10	-146.6	659.8	-6.4	457	9462	0.00	2.60	0.00	0.000	6	0.000	0.071	2163	2899	3501
9612	end dive: BOTTOM_OBSTACLE_DETECTED
state	9612	begin apogee
9618	-0.42	0.0	669.6	6.5	465	9747	0.77	0.00	125.32	1.220	6	0.093	0.000	2318	2114	2901
9747	end apogee: CONTROL_FINISHED_OK
state	9747	begin climb
9749	1.10	146.6	674.2	0.0	471	9877	1.55	0.00	122.43	1.180	6	0.057	0.000	2649	2113	2303
10197	1.13	169.3	655.9	5.4	493	10223	0.00	2.70	20.67	1.144	4	0.000	0.072	2649	3517	2210
10279	1.13	169.3	651.1	6.7	497	10284	0.00	2.55	0.00	0.000	6	0.000	0.042	2649	2090	2210
10605	1.13	169.8	631.3	6.0	513	10606	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2090	2209
10914	1.13	169.8	611.9	6.5	528	10915	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2091	2208
11223	1.13	169.8	591.9	6.5	543	11227	0.00	2.55	0.00	0.000	4	0.000	0.066	2649	694	2207
11311	1.13	169.8	585.6	7.5	547	11316	0.00	2.53	0.00	0.000	6	0.000	0.046	2649	2097	2207
11638	1.13	169.8	563.4	6.7	563	11642	0.00	2.62	0.00	0.000	4	0.000	0.072	2649	3509	2206
11776	1.13	169.8	553.9	6.8	569	11780	0.00	2.50	0.00	0.000	6	0.000	0.043	2649	2094	2206
12097	1.13	169.8	533.4	6.1	585	12098	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2094	2206
12407	1.18	206.2	517.5	5.0	600	12443	0.00	2.62	30.88	1.123	4	0.000	0.064	2649	695	2060
12492	1.18	206.2	512.6	6.0	603	12497	0.00	2.55	0.00	0.000	6	0.000	0.046	2649	2099	2060
12819	1.18	206.2	492.5	6.4	619	12824	0.00	2.65	0.00	0.000	4	0.000	0.072	2649	3516	2059
12903	1.18	206.2	487.0	6.6	623	12907	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2100	2059
13228	1.18	206.2	466.5	6.5	639	13229	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2100	2059
13538	1.18	206.2	445.0	6.9	654	13542	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3516	2059
13608	1.18	206.2	439.6	7.4	657	13613	0.00	2.53	0.00	0.000	6	0.000	0.043	2649	2101	2059
13929	1.18	206.2	417.0	7.0	673	13934	0.00	2.65	0.00	0.000	4	0.000	0.072	2649	3511	2059
13968	1.18	206.2	414.0	6.9	675	13972	0.00	2.47	0.00	0.000	6	0.000	0.042	2649	2099	2060
14293	1.18	206.2	392.1	6.4	691	14298	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3513	2060
14342	1.18	206.2	388.7	6.3	693	14347	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2100	2060
14664	1.18	206.2	368.6	6.1	709	14665	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2100	2060
14973	1.18	206.2	349.2	6.2	724	14977	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3512	2061
15060	1.18	206.2	343.4	6.1	728	15065	0.00	2.50	0.00	0.000	6	0.000	0.041	2649	2101	2061
15387	1.18	206.2	323.7	6.1	744	15392	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3514	2061
15426	1.18	206.2	321.0	7.4	746	15431	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2099	2061
15752	1.18	206.2	300.9	6.6	762	15756	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3515	2062
15818	1.18	206.2	296.4	6.8	765	15822	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2099	2062
16144	1.18	206.2	273.2	7.6	781	16149	0.00	2.65	0.00	0.000	4	0.000	0.072	2649	3516	2062
16187	1.18	206.2	270.0	6.8	783	16192	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2096	2062
16514	1.18	206.2	248.6	6.9	799	16515	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2096	2062
16824	1.27	282.1	231.0	3.9	814	16894	0.17	2.80	62.10	0.894	4	0.038	0.076	2706	3514	1749
16939	1.27	282.1	222.7	9.0	819	16943	0.00	2.55	0.00	0.000	6	0.000	0.045	2706	2098	1749
17253	1.27	282.1	192.3	10.4	834	17254	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2097	1749
17563	1.27	282.1	163.9	6.5	849	17567	0.00	2.55	0.00	0.000	4	0.000	0.064	2706	694	1749
17617	1.27	282.1	159.5	8.5	851	17622	0.00	2.50	0.00	0.000	6	0.000	0.047	2706	2099	1749
17940	1.27	282.1	133.9	9.5	867	17941	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2099	1749
18249	1.28	289.3	108.9	5.8	882	18263	0.00	2.62	7.50	0.730	4	0.000	0.063	2706	701	1721
18279	1.28	289.3	107.1	6.2	883	18284	0.00	2.53	0.00	0.000	6	0.000	0.049	2706	2105	1721
18601	1.28	289.3	83.8	10.0	899	18602	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2105	1721
18910	1.28	289.3	59.8	7.8	914	18911	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2105	1721
19219	1.28	289.3	27.6	11.7	929	19221	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2105	1721
19465	end climb: SURFACE_DEPTH_REACHED
state	19465	begin surface coast
19488	end surface coast: CONTROL_FINISHED_OK
state	19488	begin surface