Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 382 * 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 382 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -69922.25 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 2 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 -69922.25

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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 382 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 225232,6247.632,-1226.324,42,1.7,48,-11.6 TGT_NAME EE

_CALLS 4 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 27 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.38 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -51.5 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 231144,6247.730,-1226.148,10,1.5,10,-11.6 MHEAD_RNG_PITCHd_Wd 109.8,35257,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 703

Post-dive calculations and measurements:

FINISH -0.9,1.027339 XPDR_PINGS 2

SM_CCo 18991,62.33,0.805,1,0,1678,300.00 ALTIM_BOTTOM_PING 600.2,103.2

SM_GC -0.32,0.00,0.00,62.33,0.000,0.000,0.805,43,2896,1678,-10.89,-0.11,300.00 _24V_AH 23.2,64.276

IRIDIUM_FIX 6221.17,-1228.67,170108,030338 _10V_AH 10.1,29.411

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47457,914

HUMID 2064 CFSIZE 260165632,238243840

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,1,0

TCM_TEMP 17.20 GPS 170108,043107,6248.038,-1216.484,34,1.3,34,-11.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 97.25 SBE_CT 668 24 372.29

Roll_motor 173 95 386.14 SBE_O2 631 19 278.44

VBD_pump_during_apogee 319 1300 9641.13 WL_BB2F 569 105 1386.88

VBD_pump_during_surface 62 805 1164.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 355.65 nil 0 0 0.00

Iridium_during_connect 254 160 945.91 nil 0 0 0.00

Iridium_during_xfer 425 223 2202.38

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.56

TT8 1680 19 336.11

LPSleep 14789 2 327.13

TT8_Active 533 19 106.71

TT8_Sampling 2034 39 817.65

TT8_CF8 1185 45 548.51

TT8_Kalman 0 81 0.00

Analog_circuits 1561 12 189.27

GPS_charging 0 0 0.00

Compass 2009 8 162.39

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.10 -146.6 0.0 0.0 0 87 0.00 0.00 -61.03 0.000 2 0.000 0.000 41 2897 3342

90 -1.10 -146.6 3.0 -6.2 3 113 12.07 2.60 -2.92 0.000 4 0.160 0.075 2166 1491 3501

264 -1.10 -146.6 20.9 -6.5 10 270 0.00 2.67 0.00 0.000 6 0.000 0.079 2166 2902 3502

581 -1.10 -146.6 39.2 -7.4 26 585 0.00 1.67 0.00 0.000 4 0.000 0.086 2166 3787 3502

610 -1.10 -146.6 42.1 -9.9 27 614 0.00 1.58 0.00 0.000 6 0.000 0.036 2167 2877 3502

938 -1.10 -146.6 71.2 -8.3 43 941 0.00 1.73 0.00 0.000 4 0.000 0.081 2166 3784 3502

1038 -1.10 -146.6 77.6 -4.3 47 1042 0.00 1.55 0.00 0.000 6 0.000 0.037 2166 2901 3502

1360 -1.10 -146.6 101.7 -7.6 63 1364 0.00 2.60 0.00 0.000 4 0.000 0.070 2167 1491 3502

1409 -1.10 -146.6 105.6 -8.6 65 1414 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2899 3502

1725 -1.10 -146.6 129.6 -7.4 80 1726 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3502

2034 -1.10 -146.6 149.9 -6.6 95 2042 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1492 3502

2076 -1.10 -146.6 153.1 -7.5 96 2082 0.00 2.65 0.00 0.000 6 0.000 0.071 2166 2906 3502

2392 -1.10 -146.6 175.6 -7.2 112 2397 0.00 2.62 0.00 0.000 4 0.000 0.066 2167 1483 3502

2425 -1.10 -146.6 178.1 -7.2 113 2431 0.00 2.62 0.00 0.000 6 0.000 0.068 2166 2899 3502

2742 -1.10 -146.6 200.9 -7.3 129 2744 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3502

3050 -1.10 -146.6 225.0 -7.9 144 3054 0.00 2.60 0.00 0.000 4 0.000 0.064 2166 1482 3502

3076 -1.10 -146.6 227.2 -8.3 145 3081 0.00 2.62 0.00 0.000 6 0.000 0.069 2166 2900 3502

3398 -1.10 -146.6 251.8 -8.0 161 3399 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3502

3707 -1.10 -146.6 277.0 -8.1 176 3712 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1491 3502

3757 -1.10 -146.6 281.1 -8.2 178 3762 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2901 3502

4073 -1.10 -146.6 307.1 -8.6 193 4074 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3502

4382 -1.10 -146.6 335.0 -8.9 208 4387 0.00 2.58 0.00 0.000 4 0.000 0.062 2166 1487 3502

4432 -1.10 -146.6 339.2 -7.7 210 4437 0.00 2.62 0.00 0.000 6 0.000 0.067 2166 2908 3502

4748 -1.10 -146.6 359.1 -6.5 225 4752 0.00 2.60 0.00 0.000 4 0.000 0.062 2166 1486 3502

4787 -1.10 -146.6 361.7 -7.1 227 4791 0.00 2.62 0.00 0.000 6 0.000 0.067 2166 2903 3502

5113 -1.10 -146.6 385.0 -6.9 243 5117 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1490 3502

5157 -1.10 -146.6 388.1 -7.2 245 5161 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2901 3502

5478 -1.10 -146.6 409.3 -6.7 261 5483 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 1489 3502

5518 -1.10 -146.6 412.0 -6.8 263 5522 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2907 3502

5844 -1.10 -146.6 432.2 -6.2 279 5845 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2907 3502

6153 -1.10 -146.6 452.4 -6.7 294 6154 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2907 3502

6463 -1.10 -146.6 475.2 -7.8 309 6468 0.00 2.58 0.00 0.000 4 0.000 0.060 2166 1484 3502

6519 -1.10 -146.6 479.8 -8.3 311 6525 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2908 3502

6835 -1.10 -146.6 504.0 -7.7 327 6839 0.00 2.58 0.00 0.000 4 0.000 0.060 2166 1489 3502

6890 -1.10 -146.6 508.6 -8.5 329 6896 0.00 2.60 0.00 0.000 6 0.000 0.066 2166 2900 3502

7205 -1.10 -146.6 532.0 -7.3 345 7210 0.00 2.58 0.00 0.000 4 0.000 0.058 2166 1479 3502

7268 -1.10 -146.6 536.5 -7.8 348 7272 0.00 2.62 0.00 0.000 6 0.000 0.066 2166 2904 3502

7594 -1.10 -146.6 559.0 -6.8 364 7598 0.00 2.58 0.00 0.000 4 0.000 0.058 2166 1479 3502

7634 -1.10 -146.6 561.7 -6.8 366 7638 0.00 2.62 0.00 0.000 6 0.000 0.065 2167 2904 3502

7960 -1.10 -146.6 581.8 -6.3 382 7961 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3502

8269 -1.10 -146.6 599.8 -5.3 397 8276 0.00 2.55 0.00 0.000 4 0.000 0.057 2167 1483 3502

8366 -1.10 -146.6 605.8 -6.6 401 8370 0.00 2.62 0.00 0.000 6 0.000 0.064 2166 2906 3502

8687 -1.10 -146.6 624.2 -5.6 417 8691 0.00 2.55 0.00 0.000 4 0.000 0.054 2166 1480 3502

8731 -1.10 -146.6 627.1 -6.5 419 8735 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2900 3502

9052 -1.10 -146.6 646.6 -6.5 435 9055 0.00 1.67 0.00 0.000 4 0.000 0.087 2167 3790 3502

9085 -1.10 -146.6 649.0 -7.5 436 9089 0.00 1.55 0.00 0.000 6 0.000 0.037 2166 2895 3502

9406 -1.10 -146.6 672.6 -6.5 452 9407 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2895 3502

9716 -1.10 -146.6 690.9 -6.2 467 9717 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2892 3502

9775 end dive: BOTTOM_OBSTACLE_DETECTED

state 9775 begin apogee

9783 -0.42 0.0 694.6 6.2 470 9918 0.77 0.00 127.97 1.300 6 0.103 0.000 2318 2098 2901

9918 end apogee: CONTROL_FINISHED_OK

state 9918 begin climb

9921 1.10 146.6 700.6 0.0 477 10056 1.55 2.72 124.00 1.266 4 0.064 0.065 2646 3521 2303

10310 1.17 200.5 685.3 4.5 495 10364 0.00 2.53 47.05 1.257 6 0.000 0.040 2646 2094 2083

10683 1.17 200.5 660.2 8.3 513 10687 0.00 2.67 0.00 0.000 4 0.000 0.069 2646 3521 2082

10816 1.17 200.5 649.5 7.3 519 10821 0.00 2.53 0.00 0.000 6 0.000 0.040 2646 2097 2081

11138 1.17 200.5 629.6 6.7 535 11142 0.00 2.67 0.00 0.000 4 0.000 0.071 2646 3521 2080

11199 1.17 200.5 624.9 8.0 538 11204 0.00 2.53 0.00 0.000 6 0.000 0.044 2646 2102 2080

11526 1.20 224.0 605.6 5.4 554 11553 0.12 2.75 20.62 1.238 4 0.044 0.072 2685 3521 1987

11614 1.20 224.0 599.0 7.9 558 11619 0.00 2.53 0.00 0.000 6 0.000 0.042 2685 2100 1986

11935 1.20 224.0 573.2 8.5 574 11936 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1985

12245 1.20 224.0 548.8 7.5 589 12249 0.00 2.65 0.00 0.000 4 0.000 0.071 2685 3515 1985

12301 1.20 224.0 544.1 8.9 591 12307 0.00 2.53 0.00 0.000 6 0.000 0.043 2685 2093 1985

12617 1.20 224.0 516.8 8.6 607 12621 0.00 2.53 0.00 0.000 4 0.000 0.058 2685 695 1985

12656 1.20 224.0 513.3 8.9 609 12661 0.00 2.47 0.00 0.000 6 0.000 0.040 2685 2107 1985

12983 1.20 224.0 488.9 6.9 625 12987 0.00 2.60 0.00 0.000 4 0.000 0.072 2685 3510 1985

13010 1.20 224.0 486.9 7.0 626 13014 0.00 2.47 0.00 0.000 6 0.000 0.039 2685 2093 1985

13326 1.20 224.0 463.1 7.3 641 13327 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 1985

13635 1.20 224.0 438.9 8.5 656 13636 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 1985

13944 1.20 224.0 407.9 9.4 671 13949 0.00 2.65 0.00 0.000 4 0.000 0.071 2685 3510 1985

13972 1.20 224.0 405.5 8.6 672 13976 0.00 2.50 0.00 0.000 6 0.000 0.042 2685 2097 1985

14287 1.20 224.0 381.6 7.8 687 14292 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3512 1985

14331 1.20 224.0 378.0 8.4 689 14336 0.00 2.50 0.00 0.000 6 0.000 0.044 2685 2096 1985

14653 1.20 224.0 352.5 7.5 705 14654 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2096 1986

14962 1.20 224.0 327.9 7.9 720 14967 0.00 2.65 0.00 0.000 4 0.000 0.074 2685 3511 1986

15006 1.20 224.0 323.9 9.0 722 15010 0.00 2.50 0.00 0.000 6 0.000 0.044 2685 2093 1986

15327 1.20 224.0 298.5 8.2 738 15328 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 1986

15635 1.20 224.0 274.1 7.7 753 15640 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3510 1986

15668 1.20 224.0 271.4 8.4 754 15674 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2095 1986

15984 1.20 224.0 245.0 8.7 770 15985 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2095 1987

16293 1.20 224.0 219.8 8.3 785 16297 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3508 1987

16393 1.20 224.0 210.7 10.0 789 16399 0.00 2.50 0.00 0.000 6 0.000 0.046 2685 2097 1987

16708 1.20 224.0 183.8 8.2 805 16713 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3510 1987

16793 1.20 224.0 175.1 11.2 809 16797 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2099 1987

17126 1.20 224.0 141.2 9.9 825 17127 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2098 1987

17435 1.20 224.0 114.5 7.8 840 17436 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2098 1988

17744 1.20 224.0 88.9 7.7 855 17748 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3510 1988

17810 1.20 224.0 82.5 9.4 858 17814 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2091 1988

18131 1.20 224.0 57.2 6.3 874 18133 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2090 1988

18440 1.20 224.0 39.1 10.6 889 18441 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2090 1989

18749 1.20 224.0 15.4 11.5 904 18754 0.00 2.67 0.00 0.000 4 0.000 0.075 2685 3510 1989

18776 1.20 224.0 12.0 13.7 905 18781 0.00 2.53 0.00 0.000 6 0.000 0.048 2685 2097 1989

18945 end climb: SURFACE_DEPTH_REACHED

state 18945 begin surface coast

18967 end surface coast: CONTROL_FINISHED_OK

state 18967 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	382	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-69922.25	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	2	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	225232,6247.632,-1226.324,42,1.7,48,-11.6	TGT_NAME	EE
_CALLS	4	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	27	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.38	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-51.5	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	231144,6247.730,-1226.148,10,1.5,10,-11.6	MHEAD_RNG_PITCHd_Wd	109.8,35257,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	703

FINISH	-0.9,1.027339	XPDR_PINGS	2
SM_CCo	18991,62.33,0.805,1,0,1678,300.00	ALTIM_BOTTOM_PING	600.2,103.2
SM_GC	-0.32,0.00,0.00,62.33,0.000,0.000,0.805,43,2896,1678,-10.89,-0.11,300.00	_24V_AH	23.2,64.276
IRIDIUM_FIX	6221.17,-1228.67,170108,030338	_10V_AH	10.1,29.411
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47457,914
HUMID	2064	CFSIZE	260165632,238243840
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,1,0
TCM_TEMP	17.20	GPS	170108,043107,6248.038,-1216.484,34,1.3,34,-11.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	97.25	SBE_CT	668	24	372.29
Roll_motor	173	95	386.14	SBE_O2	631	19	278.44
VBD_pump_during_apogee	319	1300	9641.13	WL_BB2F	569	105	1386.88
VBD_pump_during_surface	62	805	1164.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	355.65	nil	0	0	0.00
Iridium_during_connect	254	160	945.91	nil	0	0	0.00
Iridium_during_xfer	425	223	2202.38
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.56
TT8	1680	19	336.11
LPSleep	14789	2	327.13
TT8_Active	533	19	106.71
TT8_Sampling	2034	39	817.65
TT8_CF8	1185	45	548.51
TT8_Kalman	0	81	0.00
Analog_circuits	1561	12	189.27
GPS_charging	0	0	0.00
Compass	2009	8	162.39
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.10	-146.6	0.0	0.0	0	87	0.00	0.00	-61.03	0.000	2	0.000	0.000	41	2897	3342
90	-1.10	-146.6	3.0	-6.2	3	113	12.07	2.60	-2.92	0.000	4	0.160	0.075	2166	1491	3501
264	-1.10	-146.6	20.9	-6.5	10	270	0.00	2.67	0.00	0.000	6	0.000	0.079	2166	2902	3502
581	-1.10	-146.6	39.2	-7.4	26	585	0.00	1.67	0.00	0.000	4	0.000	0.086	2166	3787	3502
610	-1.10	-146.6	42.1	-9.9	27	614	0.00	1.58	0.00	0.000	6	0.000	0.036	2167	2877	3502
938	-1.10	-146.6	71.2	-8.3	43	941	0.00	1.73	0.00	0.000	4	0.000	0.081	2166	3784	3502
1038	-1.10	-146.6	77.6	-4.3	47	1042	0.00	1.55	0.00	0.000	6	0.000	0.037	2166	2901	3502
1360	-1.10	-146.6	101.7	-7.6	63	1364	0.00	2.60	0.00	0.000	4	0.000	0.070	2167	1491	3502
1409	-1.10	-146.6	105.6	-8.6	65	1414	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2899	3502
1725	-1.10	-146.6	129.6	-7.4	80	1726	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3502
2034	-1.10	-146.6	149.9	-6.6	95	2042	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1492	3502
2076	-1.10	-146.6	153.1	-7.5	96	2082	0.00	2.65	0.00	0.000	6	0.000	0.071	2166	2906	3502
2392	-1.10	-146.6	175.6	-7.2	112	2397	0.00	2.62	0.00	0.000	4	0.000	0.066	2167	1483	3502
2425	-1.10	-146.6	178.1	-7.2	113	2431	0.00	2.62	0.00	0.000	6	0.000	0.068	2166	2899	3502
2742	-1.10	-146.6	200.9	-7.3	129	2744	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3502
3050	-1.10	-146.6	225.0	-7.9	144	3054	0.00	2.60	0.00	0.000	4	0.000	0.064	2166	1482	3502
3076	-1.10	-146.6	227.2	-8.3	145	3081	0.00	2.62	0.00	0.000	6	0.000	0.069	2166	2900	3502
3398	-1.10	-146.6	251.8	-8.0	161	3399	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3502
3707	-1.10	-146.6	277.0	-8.1	176	3712	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1491	3502
3757	-1.10	-146.6	281.1	-8.2	178	3762	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2901	3502
4073	-1.10	-146.6	307.1	-8.6	193	4074	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3502
4382	-1.10	-146.6	335.0	-8.9	208	4387	0.00	2.58	0.00	0.000	4	0.000	0.062	2166	1487	3502
4432	-1.10	-146.6	339.2	-7.7	210	4437	0.00	2.62	0.00	0.000	6	0.000	0.067	2166	2908	3502
4748	-1.10	-146.6	359.1	-6.5	225	4752	0.00	2.60	0.00	0.000	4	0.000	0.062	2166	1486	3502
4787	-1.10	-146.6	361.7	-7.1	227	4791	0.00	2.62	0.00	0.000	6	0.000	0.067	2166	2903	3502
5113	-1.10	-146.6	385.0	-6.9	243	5117	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1490	3502
5157	-1.10	-146.6	388.1	-7.2	245	5161	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2901	3502
5478	-1.10	-146.6	409.3	-6.7	261	5483	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	1489	3502
5518	-1.10	-146.6	412.0	-6.8	263	5522	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2907	3502
5844	-1.10	-146.6	432.2	-6.2	279	5845	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2907	3502
6153	-1.10	-146.6	452.4	-6.7	294	6154	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2907	3502
6463	-1.10	-146.6	475.2	-7.8	309	6468	0.00	2.58	0.00	0.000	4	0.000	0.060	2166	1484	3502
6519	-1.10	-146.6	479.8	-8.3	311	6525	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2908	3502
6835	-1.10	-146.6	504.0	-7.7	327	6839	0.00	2.58	0.00	0.000	4	0.000	0.060	2166	1489	3502
6890	-1.10	-146.6	508.6	-8.5	329	6896	0.00	2.60	0.00	0.000	6	0.000	0.066	2166	2900	3502
7205	-1.10	-146.6	532.0	-7.3	345	7210	0.00	2.58	0.00	0.000	4	0.000	0.058	2166	1479	3502
7268	-1.10	-146.6	536.5	-7.8	348	7272	0.00	2.62	0.00	0.000	6	0.000	0.066	2166	2904	3502
7594	-1.10	-146.6	559.0	-6.8	364	7598	0.00	2.58	0.00	0.000	4	0.000	0.058	2166	1479	3502
7634	-1.10	-146.6	561.7	-6.8	366	7638	0.00	2.62	0.00	0.000	6	0.000	0.065	2167	2904	3502
7960	-1.10	-146.6	581.8	-6.3	382	7961	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3502
8269	-1.10	-146.6	599.8	-5.3	397	8276	0.00	2.55	0.00	0.000	4	0.000	0.057	2167	1483	3502
8366	-1.10	-146.6	605.8	-6.6	401	8370	0.00	2.62	0.00	0.000	6	0.000	0.064	2166	2906	3502
8687	-1.10	-146.6	624.2	-5.6	417	8691	0.00	2.55	0.00	0.000	4	0.000	0.054	2166	1480	3502
8731	-1.10	-146.6	627.1	-6.5	419	8735	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2900	3502
9052	-1.10	-146.6	646.6	-6.5	435	9055	0.00	1.67	0.00	0.000	4	0.000	0.087	2167	3790	3502
9085	-1.10	-146.6	649.0	-7.5	436	9089	0.00	1.55	0.00	0.000	6	0.000	0.037	2166	2895	3502
9406	-1.10	-146.6	672.6	-6.5	452	9407	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2895	3502
9716	-1.10	-146.6	690.9	-6.2	467	9717	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2892	3502
9775	end dive: BOTTOM_OBSTACLE_DETECTED
state	9775	begin apogee
9783	-0.42	0.0	694.6	6.2	470	9918	0.77	0.00	127.97	1.300	6	0.103	0.000	2318	2098	2901
9918	end apogee: CONTROL_FINISHED_OK
state	9918	begin climb
9921	1.10	146.6	700.6	0.0	477	10056	1.55	2.72	124.00	1.266	4	0.064	0.065	2646	3521	2303
10310	1.17	200.5	685.3	4.5	495	10364	0.00	2.53	47.05	1.257	6	0.000	0.040	2646	2094	2083
10683	1.17	200.5	660.2	8.3	513	10687	0.00	2.67	0.00	0.000	4	0.000	0.069	2646	3521	2082
10816	1.17	200.5	649.5	7.3	519	10821	0.00	2.53	0.00	0.000	6	0.000	0.040	2646	2097	2081
11138	1.17	200.5	629.6	6.7	535	11142	0.00	2.67	0.00	0.000	4	0.000	0.071	2646	3521	2080
11199	1.17	200.5	624.9	8.0	538	11204	0.00	2.53	0.00	0.000	6	0.000	0.044	2646	2102	2080
11526	1.20	224.0	605.6	5.4	554	11553	0.12	2.75	20.62	1.238	4	0.044	0.072	2685	3521	1987
11614	1.20	224.0	599.0	7.9	558	11619	0.00	2.53	0.00	0.000	6	0.000	0.042	2685	2100	1986
11935	1.20	224.0	573.2	8.5	574	11936	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1985
12245	1.20	224.0	548.8	7.5	589	12249	0.00	2.65	0.00	0.000	4	0.000	0.071	2685	3515	1985
12301	1.20	224.0	544.1	8.9	591	12307	0.00	2.53	0.00	0.000	6	0.000	0.043	2685	2093	1985
12617	1.20	224.0	516.8	8.6	607	12621	0.00	2.53	0.00	0.000	4	0.000	0.058	2685	695	1985
12656	1.20	224.0	513.3	8.9	609	12661	0.00	2.47	0.00	0.000	6	0.000	0.040	2685	2107	1985
12983	1.20	224.0	488.9	6.9	625	12987	0.00	2.60	0.00	0.000	4	0.000	0.072	2685	3510	1985
13010	1.20	224.0	486.9	7.0	626	13014	0.00	2.47	0.00	0.000	6	0.000	0.039	2685	2093	1985
13326	1.20	224.0	463.1	7.3	641	13327	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	1985
13635	1.20	224.0	438.9	8.5	656	13636	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	1985
13944	1.20	224.0	407.9	9.4	671	13949	0.00	2.65	0.00	0.000	4	0.000	0.071	2685	3510	1985
13972	1.20	224.0	405.5	8.6	672	13976	0.00	2.50	0.00	0.000	6	0.000	0.042	2685	2097	1985
14287	1.20	224.0	381.6	7.8	687	14292	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3512	1985
14331	1.20	224.0	378.0	8.4	689	14336	0.00	2.50	0.00	0.000	6	0.000	0.044	2685	2096	1985
14653	1.20	224.0	352.5	7.5	705	14654	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2096	1986
14962	1.20	224.0	327.9	7.9	720	14967	0.00	2.65	0.00	0.000	4	0.000	0.074	2685	3511	1986
15006	1.20	224.0	323.9	9.0	722	15010	0.00	2.50	0.00	0.000	6	0.000	0.044	2685	2093	1986
15327	1.20	224.0	298.5	8.2	738	15328	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	1986
15635	1.20	224.0	274.1	7.7	753	15640	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3510	1986
15668	1.20	224.0	271.4	8.4	754	15674	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2095	1986
15984	1.20	224.0	245.0	8.7	770	15985	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2095	1987
16293	1.20	224.0	219.8	8.3	785	16297	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3508	1987
16393	1.20	224.0	210.7	10.0	789	16399	0.00	2.50	0.00	0.000	6	0.000	0.046	2685	2097	1987
16708	1.20	224.0	183.8	8.2	805	16713	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3510	1987
16793	1.20	224.0	175.1	11.2	809	16797	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2099	1987
17126	1.20	224.0	141.2	9.9	825	17127	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2098	1987
17435	1.20	224.0	114.5	7.8	840	17436	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2098	1988
17744	1.20	224.0	88.9	7.7	855	17748	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3510	1988
17810	1.20	224.0	82.5	9.4	858	17814	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2091	1988
18131	1.20	224.0	57.2	6.3	874	18133	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2090	1988
18440	1.20	224.0	39.1	10.6	889	18441	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2090	1989
18749	1.20	224.0	15.4	11.5	904	18754	0.00	2.67	0.00	0.000	4	0.000	0.075	2685	3510	1989
18776	1.20	224.0	12.0	13.7	905	18781	0.00	2.53	0.00	0.000	6	0.000	0.048	2685	2097	1989
18945	end climb: SURFACE_DEPTH_REACHED
state	18945	begin surface coast
18967	end surface coast: CONTROL_FINISHED_OK
state	18967	begin surface