Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 208 * 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 208 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 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 -1 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 -66293.18 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 -66293.18

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 30 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 8 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 208 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 165007,6303.734,-1300.683,38,1.1,38,-12.0 TGT_NAME HW

_CALLS 2 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.044,0.214

_SM_DEPTHo -0.37 KALMAN_X -246910.4,1140.6,389.4,10675.8,-6821.8

_SM_ANGLEo -49.3 KALMAN_Y -169406.9,-2651.3,-3399.9,341683.8,-14554.7

GPS2 165845,6303.687,-1300.578,11,1.8,11,-12.0 MHEAD_RNG_PITCHd_Wd 23.7,20957,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 657

Post-dive calculations and measurements:

FINISH 0.2,1.027321 XPDR_PINGS 2

SM_CCo 18528,68.18,0.731,2,0,1678,300.00 ALTIM_BOTTOM_PING 526.4,105.0

SM_GC -0.29,0.00,0.00,68.18,0.000,0.000,0.731,45,2908,1678,-10.88,0.23,300.00 _24V_AH 23.4,36.637

IRIDIUM_FIX 6235.17,-1300.03,211207,202055 _10V_AH 10.1,18.178

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44366,892

HUMID 2044 CFSIZE 260165632,246337536

INTERNAL_PRESSURE 8.848 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,45,2,0

TCM_TEMP 17.20 GPS 211207,221108,6305.557,-1258.324,37,1.3,37,-12.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 97.25 SBE_CT 653 24 367.07

Roll_motor 215 81 409.65 SBE_O2 626 19 278.37

VBD_pump_during_apogee 313 1201 8816.23 WL_BB2F 569 105 1399.23

VBD_pump_during_surface 68 730 1166.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 194.28 nil 0 0 0.00

Iridium_during_connect 70 160 264.90 nil 0 0 0.00

Iridium_during_xfer 204 223 1065.82

Transponder_ping 4 420 46.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.06

TT8 1676 19 335.35

LPSleep 14129 2 312.53

TT8_Active 609 19 121.87

TT8_Sampling 2118 39 851.63

TT8_CF8 610 45 282.29

TT8_Kalman 33 81 27.56

Analog_circuits 1696 12 205.58

GPS_charging 0 0 0.00

Compass 2091 8 169.00

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

21 -1.10 -146.6 0.0 0.0 0 131 0.00 0.00 -108.30 0.000 6 0.000 0.000 32 2897 3500

134 -1.10 -146.6 2.4 -3.5 5 156 12.10 2.62 0.00 0.000 4 0.160 0.063 2166 1496 3503

408 -1.10 -146.6 35.6 -7.3 17 412 0.00 2.67 0.00 0.000 6 0.000 0.079 2167 2901 3503

729 -1.10 -146.6 60.3 -7.9 33 734 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1493 3503

814 -1.10 -146.6 67.7 -9.1 37 818 0.00 2.70 0.00 0.000 6 0.000 0.080 2166 2905 3503

1141 -1.10 -146.6 92.9 -7.3 53 1142 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2905 3503

1449 -1.10 -146.6 114.0 -6.6 68 1454 0.00 2.62 0.00 0.000 4 0.000 0.072 2167 1500 3504

1489 -1.10 -146.6 116.6 -6.9 70 1493 0.00 2.67 0.00 0.000 6 0.000 0.080 2166 2901 3503

1815 -1.10 -146.6 139.6 -7.2 86 1819 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1498 3504

1863 -1.10 -146.6 143.3 -7.4 88 1868 0.00 2.67 0.00 0.000 6 0.000 0.081 2167 2902 3504

2178 -1.10 -146.6 165.0 -7.0 103 2180 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3504

2488 -1.10 -146.6 185.3 -6.6 118 2492 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1493 3504

2537 -1.10 -146.6 188.7 -6.8 120 2541 0.00 2.67 0.00 0.000 6 0.000 0.081 2167 2900 3504

2852 -1.10 -146.6 208.7 -6.4 135 2853 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3504

3161 -1.10 -146.6 228.4 -6.2 150 3165 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1492 3504

3223 -1.10 -146.6 232.4 -6.5 153 3228 0.00 2.70 0.00 0.000 6 0.000 0.081 2166 2906 3504

3548 -1.10 -146.6 254.5 -7.1 169 3553 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1496 3504

3581 -1.10 -146.6 256.9 -7.4 170 3588 0.00 2.70 0.00 0.000 6 0.000 0.080 2167 2901 3504

3897 -1.10 -146.6 279.6 -7.2 186 3901 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1489 3504

3935 -1.10 -146.6 282.5 -7.8 188 3940 0.00 2.67 0.00 0.000 6 0.000 0.078 2167 2902 3504

4261 -1.10 -146.6 306.2 -7.3 204 4265 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1491 3504

4287 -1.10 -146.6 308.2 -7.8 205 4292 0.00 2.67 0.00 0.000 6 0.000 0.079 2167 2904 3504

4603 -1.10 -146.6 332.9 -8.1 220 4607 0.00 2.62 0.00 0.000 4 0.000 0.071 2166 1490 3504

4641 -1.10 -146.6 336.0 -8.3 222 4646 0.00 2.67 0.00 0.000 6 0.000 0.078 2167 2900 3504

4967 -1.10 -146.6 362.1 -7.7 238 4971 0.00 2.58 0.00 0.000 4 0.000 0.069 2167 1498 3504

4998 -1.10 -146.6 364.7 -8.1 239 5005 0.00 2.65 0.00 0.000 6 0.000 0.078 2166 2900 3504

5314 -1.10 -146.6 386.9 -6.8 255 5315 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3504

5623 -1.10 -146.6 407.6 -6.8 270 5628 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1495 3504

5701 -1.10 -146.6 413.0 -7.5 273 5707 0.00 2.65 0.00 0.000 6 0.000 0.076 2167 2903 3504

6016 -1.10 -146.6 435.6 -7.5 289 6021 0.00 2.58 0.00 0.000 4 0.000 0.065 2166 1496 3504

6066 -1.10 -146.6 439.4 -7.7 291 6070 0.00 2.62 0.00 0.000 6 0.000 0.073 2167 2900 3504

6386 -1.10 -146.6 461.6 -6.5 307 6391 0.00 2.58 0.00 0.000 4 0.000 0.062 2167 1488 3504

6426 -1.10 -146.6 464.2 -6.7 309 6430 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2903 3504

6752 -1.10 -146.6 484.8 -6.2 325 6753 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3504

7061 -1.10 -146.6 503.9 -6.6 340 7065 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 1486 3504

7154 -1.10 -146.6 510.1 -6.7 344 7158 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2902 3504

7475 -1.10 -146.6 531.7 -6.4 360 7480 0.00 2.55 0.00 0.000 4 0.000 0.056 2167 1488 3504

7547 -1.10 -146.6 536.1 -6.8 363 7551 0.00 2.62 0.00 0.000 6 0.000 0.067 2166 2908 3504

7868 -1.10 -146.6 556.0 -6.5 379 7873 0.00 2.53 0.00 0.000 4 0.000 0.054 2167 1490 3505

7918 -1.10 -146.6 559.5 -7.3 381 7922 0.00 2.60 0.00 0.000 6 0.000 0.066 2167 2901 3504

8239 -1.10 -146.6 582.8 -7.2 397 8240 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3504

8548 -1.10 -146.6 603.3 -6.3 412 8552 0.00 2.53 0.00 0.000 4 0.000 0.052 2167 1489 3504

8642 -1.10 -146.6 609.1 -7.3 416 8646 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2908 3504

8838 end dive: BOTTOM_OBSTACLE_DETECTED

state 8838 begin apogee

8845 -0.42 0.0 622.1 6.6 426 8973 0.75 0.00 125.28 1.202 6 0.081 0.000 2321 2094 2901

8974 end apogee: CONTROL_FINISHED_OK

state 8974 begin climb

8976 1.10 146.6 626.5 0.0 432 9107 1.52 2.60 121.60 1.163 4 0.050 0.056 2651 704 2303

9186 1.10 146.6 620.6 6.1 442 9190 0.00 2.47 0.00 0.000 6 0.000 0.037 2651 2114 2303

9512 1.13 170.9 602.1 5.3 458 9540 0.00 2.65 21.62 1.124 4 0.000 0.055 2652 697 2204

9614 1.13 170.9 595.8 6.7 462 9620 0.00 2.45 0.00 0.000 6 0.000 0.037 2651 2100 2203

9930 1.15 182.6 577.9 5.7 478 9950 0.00 2.65 11.30 1.081 4 0.000 0.065 2651 3504 2156

10006 1.15 182.6 573.0 6.4 481 10010 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2093 2156

10321 1.15 182.6 553.5 6.4 496 10325 0.00 2.62 0.00 0.000 4 0.000 0.069 2651 3500 2154

10392 1.15 182.6 548.5 6.6 499 10397 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2075 2154

10713 1.15 182.6 525.1 7.2 515 10717 0.00 2.47 0.00 0.000 4 0.000 0.057 2651 699 2153

10857 1.15 182.6 514.8 6.9 521 10864 0.00 2.42 0.00 0.000 6 0.000 0.038 2652 2094 2153

11173 1.15 182.6 492.7 6.8 537 11177 0.00 2.62 0.00 0.000 4 0.000 0.070 2651 3505 2152

11261 1.15 182.6 486.7 7.4 541 11265 0.00 2.45 0.00 0.000 6 0.000 0.039 2651 2103 2152

11588 1.16 193.7 467.6 5.7 557 11603 0.00 2.67 10.23 1.041 4 0.000 0.068 2651 3507 2111

11636 1.17 199.0 464.5 5.9 558 11649 0.00 2.47 6.22 0.927 6 0.000 0.038 2651 2100 2089

11957 1.19 218.0 446.5 5.5 574 11981 0.00 2.65 17.23 1.063 4 0.000 0.057 2651 697 2012

12033 1.19 218.0 441.8 6.3 577 12038 0.00 2.47 0.00 0.000 6 0.000 0.039 2651 2097 2012

12348 1.19 218.0 422.6 6.2 592 12352 0.00 2.65 0.00 0.000 4 0.000 0.074 2652 3513 2012

12425 1.19 218.0 417.5 6.4 595 12432 0.00 2.53 0.00 0.000 6 0.000 0.043 2651 2102 2012

12741 1.19 218.0 397.8 6.3 611 12742 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2102 2012

13050 1.19 218.0 377.5 6.6 626 13054 0.00 2.65 0.00 0.000 4 0.000 0.072 2651 3515 2012

13121 1.19 218.0 372.3 6.9 629 13125 0.00 2.50 0.00 0.000 6 0.000 0.043 2651 2095 2012

13442 1.19 218.0 350.8 6.6 645 13447 0.00 2.65 0.00 0.000 4 0.000 0.074 2652 3512 2012

13474 1.19 218.0 348.8 6.4 646 13481 0.00 2.50 0.00 0.000 6 0.000 0.044 2652 2091 2012

13789 1.19 218.0 327.9 6.7 662 13794 0.00 2.67 0.00 0.000 4 0.000 0.072 2651 3515 2013

13833 1.19 218.0 324.6 7.7 664 13837 0.00 2.50 0.00 0.000 6 0.000 0.043 2652 2095 2013

14159 1.19 218.0 301.8 6.8 680 14164 0.00 2.62 0.00 0.000 4 0.000 0.073 2652 3508 2013

14208 1.19 218.0 298.2 7.2 682 14213 0.00 2.47 0.00 0.000 6 0.000 0.044 2652 2102 2013

14529 1.19 218.0 276.6 6.9 698 14534 0.00 2.65 0.00 0.000 4 0.000 0.074 2652 3508 2013

14568 1.19 218.0 273.9 6.3 700 14572 0.00 2.47 0.00 0.000 6 0.000 0.041 2652 2097 2014

14894 1.19 218.0 251.4 7.2 716 14898 0.00 2.65 0.00 0.000 4 0.000 0.072 2651 3509 2014

14948 1.19 218.0 247.4 7.2 718 14954 0.00 2.45 0.00 0.000 6 0.000 0.041 2651 2100 2014

15263 1.19 218.0 225.9 7.0 734 15268 0.00 2.62 0.00 0.000 4 0.000 0.072 2652 3507 2014

15325 1.19 218.0 221.5 7.4 737 15329 0.00 2.47 0.00 0.000 6 0.000 0.043 2652 2099 2014

15650 1.19 218.0 199.8 6.8 753 15655 0.00 2.62 0.00 0.000 4 0.000 0.071 2652 3509 2014

15695 1.19 218.0 196.5 7.4 755 15700 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2102 2014

16016 1.19 218.0 175.5 6.3 771 16021 0.00 2.65 0.00 0.000 4 0.000 0.072 2651 3512 2015

16071 1.19 218.0 171.7 6.7 773 16078 0.00 2.53 0.00 0.000 6 0.000 0.044 2652 2096 2015

16386 1.19 218.0 151.4 6.9 789 16391 0.00 2.65 0.00 0.000 4 0.000 0.074 2652 3508 2015

16441 1.19 218.0 147.2 8.1 791 16448 0.00 2.50 0.00 0.000 6 0.000 0.044 2652 2100 2015

16757 1.19 218.0 124.3 7.4 807 16758 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2100 2016

17066 1.19 218.0 101.5 6.9 822 17070 0.00 2.65 0.00 0.000 4 0.000 0.074 2652 3508 2016

17172 1.19 218.0 93.6 7.3 827 17177 0.00 2.50 0.00 0.000 6 0.000 0.047 2651 2100 2016

17499 1.19 218.0 70.9 7.2 843 17503 0.00 2.65 0.00 0.000 4 0.000 0.075 2652 3507 2016

17547 1.19 218.0 66.8 7.8 845 17551 0.00 2.50 0.00 0.000 6 0.000 0.046 2651 2093 2016

17869 1.19 218.0 45.3 6.2 861 17873 0.00 2.65 0.00 0.000 4 0.000 0.073 2652 3508 2016

17912 1.19 218.0 41.5 8.6 863 17916 0.00 2.50 0.00 0.000 6 0.000 0.046 2651 2094 2016

18239 1.19 218.0 17.7 6.4 879 18243 0.00 2.65 0.00 0.000 4 0.000 0.071 2652 3509 2016

18282 1.19 218.0 14.7 6.9 881 18287 0.00 2.47 0.00 0.000 6 0.000 0.045 2652 2099 2017

18483 end climb: SURFACE_DEPTH_REACHED

state 18484 begin surface coast

18507 end surface coast: CONTROL_FINISHED_OK

state 18507 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	208	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	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	-1	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	-66293.18	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	165007,6303.734,-1300.683,38,1.1,38,-12.0	TGT_NAME	HW
_CALLS	2	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.044,0.214
_SM_DEPTHo	-0.37	KALMAN_X	-246910.4,1140.6,389.4,10675.8,-6821.8
_SM_ANGLEo	-49.3	KALMAN_Y	-169406.9,-2651.3,-3399.9,341683.8,-14554.7
GPS2	165845,6303.687,-1300.578,11,1.8,11,-12.0	MHEAD_RNG_PITCHd_Wd	23.7,20957,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	657

FINISH	0.2,1.027321	XPDR_PINGS	2
SM_CCo	18528,68.18,0.731,2,0,1678,300.00	ALTIM_BOTTOM_PING	526.4,105.0
SM_GC	-0.29,0.00,0.00,68.18,0.000,0.000,0.731,45,2908,1678,-10.88,0.23,300.00	_24V_AH	23.4,36.637
IRIDIUM_FIX	6235.17,-1300.03,211207,202055	_10V_AH	10.1,18.178
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44366,892
HUMID	2044	CFSIZE	260165632,246337536
INTERNAL_PRESSURE	8.848	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,45,2,0
TCM_TEMP	17.20	GPS	211207,221108,6305.557,-1258.324,37,1.3,37,-12.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	97.25	SBE_CT	653	24	367.07
Roll_motor	215	81	409.65	SBE_O2	626	19	278.37
VBD_pump_during_apogee	313	1201	8816.23	WL_BB2F	569	105	1399.23
VBD_pump_during_surface	68	730	1166.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	194.28	nil	0	0	0.00
Iridium_during_connect	70	160	264.90	nil	0	0	0.00
Iridium_during_xfer	204	223	1065.82
Transponder_ping	4	420	46.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.06
TT8	1676	19	335.35
LPSleep	14129	2	312.53
TT8_Active	609	19	121.87
TT8_Sampling	2118	39	851.63
TT8_CF8	610	45	282.29
TT8_Kalman	33	81	27.56
Analog_circuits	1696	12	205.58
GPS_charging	0	0	0.00
Compass	2091	8	169.00
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
21	-1.10	-146.6	0.0	0.0	0	131	0.00	0.00	-108.30	0.000	6	0.000	0.000	32	2897	3500
134	-1.10	-146.6	2.4	-3.5	5	156	12.10	2.62	0.00	0.000	4	0.160	0.063	2166	1496	3503
408	-1.10	-146.6	35.6	-7.3	17	412	0.00	2.67	0.00	0.000	6	0.000	0.079	2167	2901	3503
729	-1.10	-146.6	60.3	-7.9	33	734	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1493	3503
814	-1.10	-146.6	67.7	-9.1	37	818	0.00	2.70	0.00	0.000	6	0.000	0.080	2166	2905	3503
1141	-1.10	-146.6	92.9	-7.3	53	1142	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2905	3503
1449	-1.10	-146.6	114.0	-6.6	68	1454	0.00	2.62	0.00	0.000	4	0.000	0.072	2167	1500	3504
1489	-1.10	-146.6	116.6	-6.9	70	1493	0.00	2.67	0.00	0.000	6	0.000	0.080	2166	2901	3503
1815	-1.10	-146.6	139.6	-7.2	86	1819	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1498	3504
1863	-1.10	-146.6	143.3	-7.4	88	1868	0.00	2.67	0.00	0.000	6	0.000	0.081	2167	2902	3504
2178	-1.10	-146.6	165.0	-7.0	103	2180	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3504
2488	-1.10	-146.6	185.3	-6.6	118	2492	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1493	3504
2537	-1.10	-146.6	188.7	-6.8	120	2541	0.00	2.67	0.00	0.000	6	0.000	0.081	2167	2900	3504
2852	-1.10	-146.6	208.7	-6.4	135	2853	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3504
3161	-1.10	-146.6	228.4	-6.2	150	3165	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1492	3504
3223	-1.10	-146.6	232.4	-6.5	153	3228	0.00	2.70	0.00	0.000	6	0.000	0.081	2166	2906	3504
3548	-1.10	-146.6	254.5	-7.1	169	3553	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1496	3504
3581	-1.10	-146.6	256.9	-7.4	170	3588	0.00	2.70	0.00	0.000	6	0.000	0.080	2167	2901	3504
3897	-1.10	-146.6	279.6	-7.2	186	3901	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1489	3504
3935	-1.10	-146.6	282.5	-7.8	188	3940	0.00	2.67	0.00	0.000	6	0.000	0.078	2167	2902	3504
4261	-1.10	-146.6	306.2	-7.3	204	4265	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1491	3504
4287	-1.10	-146.6	308.2	-7.8	205	4292	0.00	2.67	0.00	0.000	6	0.000	0.079	2167	2904	3504
4603	-1.10	-146.6	332.9	-8.1	220	4607	0.00	2.62	0.00	0.000	4	0.000	0.071	2166	1490	3504
4641	-1.10	-146.6	336.0	-8.3	222	4646	0.00	2.67	0.00	0.000	6	0.000	0.078	2167	2900	3504
4967	-1.10	-146.6	362.1	-7.7	238	4971	0.00	2.58	0.00	0.000	4	0.000	0.069	2167	1498	3504
4998	-1.10	-146.6	364.7	-8.1	239	5005	0.00	2.65	0.00	0.000	6	0.000	0.078	2166	2900	3504
5314	-1.10	-146.6	386.9	-6.8	255	5315	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3504
5623	-1.10	-146.6	407.6	-6.8	270	5628	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1495	3504
5701	-1.10	-146.6	413.0	-7.5	273	5707	0.00	2.65	0.00	0.000	6	0.000	0.076	2167	2903	3504
6016	-1.10	-146.6	435.6	-7.5	289	6021	0.00	2.58	0.00	0.000	4	0.000	0.065	2166	1496	3504
6066	-1.10	-146.6	439.4	-7.7	291	6070	0.00	2.62	0.00	0.000	6	0.000	0.073	2167	2900	3504
6386	-1.10	-146.6	461.6	-6.5	307	6391	0.00	2.58	0.00	0.000	4	0.000	0.062	2167	1488	3504
6426	-1.10	-146.6	464.2	-6.7	309	6430	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2903	3504
6752	-1.10	-146.6	484.8	-6.2	325	6753	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3504
7061	-1.10	-146.6	503.9	-6.6	340	7065	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	1486	3504
7154	-1.10	-146.6	510.1	-6.7	344	7158	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2902	3504
7475	-1.10	-146.6	531.7	-6.4	360	7480	0.00	2.55	0.00	0.000	4	0.000	0.056	2167	1488	3504
7547	-1.10	-146.6	536.1	-6.8	363	7551	0.00	2.62	0.00	0.000	6	0.000	0.067	2166	2908	3504
7868	-1.10	-146.6	556.0	-6.5	379	7873	0.00	2.53	0.00	0.000	4	0.000	0.054	2167	1490	3505
7918	-1.10	-146.6	559.5	-7.3	381	7922	0.00	2.60	0.00	0.000	6	0.000	0.066	2167	2901	3504
8239	-1.10	-146.6	582.8	-7.2	397	8240	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3504
8548	-1.10	-146.6	603.3	-6.3	412	8552	0.00	2.53	0.00	0.000	4	0.000	0.052	2167	1489	3504
8642	-1.10	-146.6	609.1	-7.3	416	8646	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2908	3504
8838	end dive: BOTTOM_OBSTACLE_DETECTED
state	8838	begin apogee
8845	-0.42	0.0	622.1	6.6	426	8973	0.75	0.00	125.28	1.202	6	0.081	0.000	2321	2094	2901
8974	end apogee: CONTROL_FINISHED_OK
state	8974	begin climb
8976	1.10	146.6	626.5	0.0	432	9107	1.52	2.60	121.60	1.163	4	0.050	0.056	2651	704	2303
9186	1.10	146.6	620.6	6.1	442	9190	0.00	2.47	0.00	0.000	6	0.000	0.037	2651	2114	2303
9512	1.13	170.9	602.1	5.3	458	9540	0.00	2.65	21.62	1.124	4	0.000	0.055	2652	697	2204
9614	1.13	170.9	595.8	6.7	462	9620	0.00	2.45	0.00	0.000	6	0.000	0.037	2651	2100	2203
9930	1.15	182.6	577.9	5.7	478	9950	0.00	2.65	11.30	1.081	4	0.000	0.065	2651	3504	2156
10006	1.15	182.6	573.0	6.4	481	10010	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2093	2156
10321	1.15	182.6	553.5	6.4	496	10325	0.00	2.62	0.00	0.000	4	0.000	0.069	2651	3500	2154
10392	1.15	182.6	548.5	6.6	499	10397	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2075	2154
10713	1.15	182.6	525.1	7.2	515	10717	0.00	2.47	0.00	0.000	4	0.000	0.057	2651	699	2153
10857	1.15	182.6	514.8	6.9	521	10864	0.00	2.42	0.00	0.000	6	0.000	0.038	2652	2094	2153
11173	1.15	182.6	492.7	6.8	537	11177	0.00	2.62	0.00	0.000	4	0.000	0.070	2651	3505	2152
11261	1.15	182.6	486.7	7.4	541	11265	0.00	2.45	0.00	0.000	6	0.000	0.039	2651	2103	2152
11588	1.16	193.7	467.6	5.7	557	11603	0.00	2.67	10.23	1.041	4	0.000	0.068	2651	3507	2111
11636	1.17	199.0	464.5	5.9	558	11649	0.00	2.47	6.22	0.927	6	0.000	0.038	2651	2100	2089
11957	1.19	218.0	446.5	5.5	574	11981	0.00	2.65	17.23	1.063	4	0.000	0.057	2651	697	2012
12033	1.19	218.0	441.8	6.3	577	12038	0.00	2.47	0.00	0.000	6	0.000	0.039	2651	2097	2012
12348	1.19	218.0	422.6	6.2	592	12352	0.00	2.65	0.00	0.000	4	0.000	0.074	2652	3513	2012
12425	1.19	218.0	417.5	6.4	595	12432	0.00	2.53	0.00	0.000	6	0.000	0.043	2651	2102	2012
12741	1.19	218.0	397.8	6.3	611	12742	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2102	2012
13050	1.19	218.0	377.5	6.6	626	13054	0.00	2.65	0.00	0.000	4	0.000	0.072	2651	3515	2012
13121	1.19	218.0	372.3	6.9	629	13125	0.00	2.50	0.00	0.000	6	0.000	0.043	2651	2095	2012
13442	1.19	218.0	350.8	6.6	645	13447	0.00	2.65	0.00	0.000	4	0.000	0.074	2652	3512	2012
13474	1.19	218.0	348.8	6.4	646	13481	0.00	2.50	0.00	0.000	6	0.000	0.044	2652	2091	2012
13789	1.19	218.0	327.9	6.7	662	13794	0.00	2.67	0.00	0.000	4	0.000	0.072	2651	3515	2013
13833	1.19	218.0	324.6	7.7	664	13837	0.00	2.50	0.00	0.000	6	0.000	0.043	2652	2095	2013
14159	1.19	218.0	301.8	6.8	680	14164	0.00	2.62	0.00	0.000	4	0.000	0.073	2652	3508	2013
14208	1.19	218.0	298.2	7.2	682	14213	0.00	2.47	0.00	0.000	6	0.000	0.044	2652	2102	2013
14529	1.19	218.0	276.6	6.9	698	14534	0.00	2.65	0.00	0.000	4	0.000	0.074	2652	3508	2013
14568	1.19	218.0	273.9	6.3	700	14572	0.00	2.47	0.00	0.000	6	0.000	0.041	2652	2097	2014
14894	1.19	218.0	251.4	7.2	716	14898	0.00	2.65	0.00	0.000	4	0.000	0.072	2651	3509	2014
14948	1.19	218.0	247.4	7.2	718	14954	0.00	2.45	0.00	0.000	6	0.000	0.041	2651	2100	2014
15263	1.19	218.0	225.9	7.0	734	15268	0.00	2.62	0.00	0.000	4	0.000	0.072	2652	3507	2014
15325	1.19	218.0	221.5	7.4	737	15329	0.00	2.47	0.00	0.000	6	0.000	0.043	2652	2099	2014
15650	1.19	218.0	199.8	6.8	753	15655	0.00	2.62	0.00	0.000	4	0.000	0.071	2652	3509	2014
15695	1.19	218.0	196.5	7.4	755	15700	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2102	2014
16016	1.19	218.0	175.5	6.3	771	16021	0.00	2.65	0.00	0.000	4	0.000	0.072	2651	3512	2015
16071	1.19	218.0	171.7	6.7	773	16078	0.00	2.53	0.00	0.000	6	0.000	0.044	2652	2096	2015
16386	1.19	218.0	151.4	6.9	789	16391	0.00	2.65	0.00	0.000	4	0.000	0.074	2652	3508	2015
16441	1.19	218.0	147.2	8.1	791	16448	0.00	2.50	0.00	0.000	6	0.000	0.044	2652	2100	2015
16757	1.19	218.0	124.3	7.4	807	16758	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2100	2016
17066	1.19	218.0	101.5	6.9	822	17070	0.00	2.65	0.00	0.000	4	0.000	0.074	2652	3508	2016
17172	1.19	218.0	93.6	7.3	827	17177	0.00	2.50	0.00	0.000	6	0.000	0.047	2651	2100	2016
17499	1.19	218.0	70.9	7.2	843	17503	0.00	2.65	0.00	0.000	4	0.000	0.075	2652	3507	2016
17547	1.19	218.0	66.8	7.8	845	17551	0.00	2.50	0.00	0.000	6	0.000	0.046	2651	2093	2016
17869	1.19	218.0	45.3	6.2	861	17873	0.00	2.65	0.00	0.000	4	0.000	0.073	2652	3508	2016
17912	1.19	218.0	41.5	8.6	863	17916	0.00	2.50	0.00	0.000	6	0.000	0.046	2651	2094	2016
18239	1.19	218.0	17.7	6.4	879	18243	0.00	2.65	0.00	0.000	4	0.000	0.071	2652	3509	2016
18282	1.19	218.0	14.7	6.9	881	18287	0.00	2.47	0.00	0.000	6	0.000	0.045	2652	2099	2017
18483	end climb: SURFACE_DEPTH_REACHED
state	18484	begin surface coast
18507	end surface coast: CONTROL_FINISHED_OK
state	18507	begin surface