Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 383 * 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 383 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 -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 -69942.305 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 -69942.305

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 21 USE_BATHY -2

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 383 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 043107,6248.038,-1216.484,34,1.3,34,-11.5 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.47 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -54.9 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 043732,6248.159,-1216.269,14,1.7,19,-11.5 MHEAD_RNG_PITCHd_Wd 113.9,27153,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 668

Post-dive calculations and measurements:

FINISH -1.2,1.026354 XPDR_PINGS 2

SM_CCo 18230,62.47,0.793,2,0,1678,300.00 ALTIM_BOTTOM_PING 575.1,93.4

SM_GC -0.29,0.00,0.00,62.47,0.000,0.000,0.793,48,2906,1678,-10.87,0.17,300.00 _24V_AH 23.2,64.419

IRIDIUM_FIX 6221.17,-1224.08,170108,030328 _10V_AH 10.1,29.495

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44247,874

HUMID 2062 CFSIZE 260165632,238190592

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,32,2,0

TCM_TEMP 17.00 GPS 170108,094427,6248.597,-1207.858,43,1.9,43,-11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 94.93 SBE_CT 643 24 358.33

Roll_motor 174 87 354.03 SBE_O2 610 19 269.26

VBD_pump_during_apogee 322 1275 9534.57 WL_BB2F 543 105 1324.77

VBD_pump_during_surface 62 793 1149.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.09 nil 0 0 0.00

Iridium_during_connect 36 160 135.40 nil 0 0 0.00

Iridium_during_xfer 173 223 898.83

Transponder_ping 5 420 51.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 19 50 9.81

TT8 1626 19 325.20

LPSleep 13974 2 309.11

TT8_Active 546 19 109.19

TT8_Sampling 1958 39 787.25

TT8_CF8 593 45 274.38

TT8_Kalman 0 81 0.00

Analog_circuits 1543 12 187.04

GPS_charging 0 0 0.00

Compass 1926 8 155.68

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 22 begin dive

26 -1.10 -146.6 0.0 0.0 0 94 0.00 0.00 -66.97 0.000 6 0.000 0.000 43 2898 3499

98 -1.10 -146.6 1.9 -5.2 3 111 11.93 0.00 0.00 0.000 6 0.156 0.000 2163 2898 3501

430 -1.10 -146.6 41.5 -8.6 19 433 0.00 1.67 0.00 0.000 4 0.000 0.087 2163 3783 3502

485 -1.10 -146.6 47.2 -10.3 21 489 0.00 1.52 0.00 0.000 6 0.000 0.038 2163 2905 3502

807 -1.10 -146.6 73.0 -7.3 37 811 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1492 3502

839 -1.10 -146.6 75.6 -7.6 38 846 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2899 3502

1157 -1.10 -146.6 98.2 -4.5 54 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

1464 -1.10 -146.6 118.4 -8.5 69 1468 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1488 3502

1508 -1.10 -146.6 121.4 -6.6 71 1512 0.00 2.62 0.00 0.000 6 0.000 0.067 2163 2903 3502

1829 -1.10 -146.6 144.4 -6.1 87 1833 0.00 1.67 0.00 0.000 4 0.000 0.085 2164 3792 3502

1907 -1.10 -146.6 151.1 -10.0 90 1910 0.00 1.52 0.00 0.000 6 0.000 0.035 2164 2906 3502

2230 -1.10 -146.6 175.2 -6.8 106 2234 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1487 3502

2269 -1.10 -146.6 177.9 -6.4 108 2273 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2901 3502

2595 -1.10 -146.6 195.3 -5.9 124 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3502

2905 -1.10 -146.6 215.9 -7.3 139 2909 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1496 3502

2932 -1.10 -146.6 218.1 -7.1 140 2936 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2901 3502

3253 -1.10 -146.6 241.3 -6.5 156 3256 0.00 1.67 0.00 0.000 4 0.000 0.085 2164 3794 3502

3337 -1.10 -146.6 246.6 -6.2 159 3343 0.00 1.55 0.00 0.000 6 0.000 0.035 2164 2907 3502

3652 -1.10 -146.6 267.3 -7.7 175 3656 0.00 2.55 0.00 0.000 4 0.000 0.064 2163 1490 3503

3685 -1.10 -146.6 270.1 -8.2 176 3690 0.00 2.60 0.00 0.000 6 0.000 0.066 2164 2909 3502

4002 -1.10 -146.6 294.9 -7.7 191 4003 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3502

4311 -1.10 -146.6 317.3 -7.2 206 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3502

4620 -1.10 -146.6 339.3 -7.8 221 4621 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3502

4929 -1.10 -146.6 364.9 -8.5 236 4934 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1489 3502

4979 -1.10 -146.6 369.5 -8.8 238 4984 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2909 3502

5295 -1.10 -146.6 395.6 -7.9 253 5296 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3502

5605 -1.10 -146.6 420.0 -7.9 268 5609 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1487 3502

5667 -1.10 -146.6 424.9 -8.2 271 5672 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2903 3502

6001 -1.10 -146.6 450.8 -8.2 287 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3502

6309 -1.10 -146.6 474.7 -7.5 302 6313 0.00 2.58 0.00 0.000 4 0.000 0.058 2164 1482 3502

6347 -1.10 -146.6 477.5 -7.2 303 6353 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2901 3503

6662 -1.10 -146.6 499.6 -7.1 319 6667 0.00 2.53 0.00 0.000 4 0.000 0.058 2164 1488 3502

6708 -1.10 -146.6 502.9 -7.0 321 6712 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2900 3502

7037 -1.10 -146.6 525.2 -6.6 337 7041 0.00 2.55 0.00 0.000 4 0.000 0.057 2164 1486 3502

7081 -1.10 -146.6 528.4 -7.1 339 7085 0.00 2.60 0.00 0.000 6 0.000 0.066 2164 2899 3502

7402 -1.10 -146.6 547.9 -5.8 355 7405 0.00 1.65 0.00 0.000 4 0.000 0.085 2164 3783 3502

7457 -1.10 -146.6 551.3 -6.0 357 7461 0.00 1.52 0.00 0.000 6 0.000 0.037 2164 2901 3502

7779 -1.10 -146.6 569.7 -5.6 373 7783 0.00 2.53 0.00 0.000 4 0.000 0.058 2164 1489 3502

7880 -1.10 -146.6 575.5 -6.0 377 7887 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2900 3502

8196 -1.10 -146.6 592.6 -5.8 393 8200 0.00 1.67 0.00 0.000 4 0.000 0.087 2164 3790 3502

8325 -1.10 -146.6 601.1 -7.9 398 8331 0.00 1.55 0.00 0.000 6 0.000 0.038 2164 2905 3502

8640 -1.10 -146.6 624.6 -8.1 414 8645 0.00 2.53 0.00 0.000 4 0.000 0.058 2164 1489 3502

8748 -1.10 -146.6 632.5 -7.1 419 8752 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2900 3502

9075 -1.10 -146.6 653.9 -5.8 435 9079 0.00 2.55 0.00 0.000 4 0.000 0.058 2164 1484 3502

9101 -1.10 -146.6 655.7 -6.3 436 9106 0.00 2.62 0.00 0.000 6 0.000 0.071 2163 2902 3502

9146 end dive: BOTTOM_OBSTACLE_DETECTED

state 9147 begin apogee

9155 -0.42 0.0 658.6 6.7 438 9289 0.77 0.00 127.30 1.276 6 0.104 0.000 2316 2099 2901

9290 end apogee: CONTROL_FINISHED_OK

state 9290 begin climb

9293 1.10 146.6 661.5 0.0 445 9424 1.55 2.72 122.97 1.243 4 0.059 0.070 2648 3516 2303

9681 1.10 146.6 645.8 6.4 462 9687 0.00 2.55 0.00 0.000 6 0.000 0.042 2648 2088 2301

9997 1.13 169.7 628.8 5.4 478 10023 0.00 2.78 20.60 1.216 4 0.000 0.071 2648 3522 2209

10131 1.13 169.7 620.4 7.0 484 10135 0.00 2.55 0.00 0.000 6 0.000 0.044 2648 2100 2208

10452 1.17 200.9 600.6 5.1 500 10481 0.00 0.00 27.70 1.240 6 0.000 0.000 2648 2100 2082

10781 1.17 200.9 581.7 6.0 516 10786 0.00 2.65 0.00 0.000 4 0.000 0.069 2648 3516 2080

10848 1.17 200.9 577.2 6.7 519 10853 0.00 2.53 0.00 0.000 6 0.000 0.042 2648 2100 2080

11169 1.17 200.9 554.8 7.1 535 11174 0.00 2.65 0.00 0.000 4 0.000 0.068 2648 3515 2079

11209 1.17 200.9 551.8 7.7 537 11213 0.00 2.50 0.00 0.000 6 0.000 0.041 2648 2099 2079

11536 1.17 200.9 529.9 6.7 553 11540 0.00 2.65 0.00 0.000 4 0.000 0.069 2648 3521 2078

11568 1.17 200.9 527.6 7.1 554 11574 0.00 2.53 0.00 0.000 6 0.000 0.042 2648 2100 2078

11884 1.19 221.2 509.3 5.4 570 11909 0.00 2.78 17.77 1.173 4 0.000 0.070 2648 3531 1999

11950 1.20 225.8 505.3 5.9 573 11962 0.10 2.55 5.85 0.977 6 0.050 0.042 2680 2096 1980

12278 1.20 225.8 483.4 6.1 589 12282 0.00 2.65 0.00 0.000 4 0.000 0.068 2680 3516 1980

12310 1.20 225.8 481.5 6.2 590 12317 0.00 2.50 0.00 0.000 6 0.000 0.041 2680 2098 1980

12627 1.20 225.8 460.7 7.1 606 12628 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2098 1980

12935 1.20 225.8 435.9 8.4 621 12940 0.00 2.65 0.00 0.000 4 0.000 0.070 2680 3518 1980

12975 1.20 225.8 432.4 9.1 623 12979 0.00 2.50 0.00 0.000 6 0.000 0.043 2680 2101 1980

13301 1.20 225.8 404.6 8.5 639 13303 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2101 1980

13610 1.20 225.8 379.3 8.0 654 13615 0.00 2.62 0.00 0.000 4 0.000 0.069 2680 3515 1981

13655 1.20 225.8 375.6 8.5 656 13659 0.00 2.50 0.00 0.000 6 0.000 0.044 2680 2100 1981

13976 1.20 225.8 349.2 8.3 672 13977 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2100 1981

14284 1.20 225.8 322.4 8.7 687 14289 0.00 2.65 0.00 0.000 4 0.000 0.070 2680 3521 1982

14340 1.20 225.8 317.1 9.8 689 14346 0.00 2.50 0.00 0.000 6 0.000 0.045 2680 2103 1982

14656 1.20 225.8 289.9 8.2 705 14660 0.00 2.62 0.00 0.000 4 0.000 0.069 2680 3518 1982

14700 1.20 225.8 285.6 9.4 707 14704 0.00 2.53 0.00 0.000 6 0.000 0.046 2680 2093 1982

15021 1.20 225.8 258.2 8.6 723 15025 0.00 2.65 0.00 0.000 4 0.000 0.066 2680 3520 1983

15070 1.20 225.8 253.7 8.6 725 15075 0.00 2.53 0.00 0.000 6 0.000 0.045 2680 2099 1983

15386 1.20 225.8 225.1 9.3 740 15390 0.00 2.62 0.00 0.000 4 0.000 0.067 2680 3519 1983

15441 1.20 225.8 219.8 9.1 742 15447 0.00 2.50 0.00 0.000 6 0.000 0.043 2680 2096 1983

15756 1.20 225.8 192.5 8.6 758 15758 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2095 1983

16065 1.20 225.8 167.5 7.4 773 16070 0.00 2.65 0.00 0.000 4 0.000 0.067 2680 3524 1984

16116 1.20 225.8 163.7 6.8 775 16120 0.00 2.53 0.00 0.000 6 0.000 0.044 2680 2102 1984

16432 1.20 225.8 141.2 7.0 790 16433 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2101 1983

16741 1.20 225.8 115.6 8.9 805 16745 0.00 2.62 0.00 0.000 4 0.000 0.066 2680 3516 1984

16790 1.20 225.8 110.8 10.3 807 16795 0.00 2.53 0.00 0.000 6 0.000 0.047 2680 2098 1984

17106 1.20 225.8 82.3 7.7 822 17108 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2098 1984

17416 1.20 225.8 59.3 9.2 837 17420 0.00 2.65 0.00 0.000 4 0.000 0.067 2681 3524 1984

17443 1.20 225.8 56.6 10.2 838 17447 0.00 2.53 0.00 0.000 6 0.000 0.047 2680 2094 1984

17760 1.20 225.8 36.1 6.5 853 17765 0.00 2.65 0.00 0.000 4 0.000 0.068 2680 3518 1984

17788 1.20 225.8 33.8 8.5 854 17793 0.00 2.53 0.00 0.000 6 0.000 0.047 2680 2101 1984

18104 1.20 225.8 8.5 8.9 869 18105 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2100 1985

18185 end climb: SURFACE_DEPTH_REACHED

state 18186 begin surface coast

18206 end surface coast: CONTROL_FINISHED_OK

state 18206 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	383	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	-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	-69942.305	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	043107,6248.038,-1216.484,34,1.3,34,-11.5	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.47	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-54.9	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	043732,6248.159,-1216.269,14,1.7,19,-11.5	MHEAD_RNG_PITCHd_Wd	113.9,27153,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	668

FINISH	-1.2,1.026354	XPDR_PINGS	2
SM_CCo	18230,62.47,0.793,2,0,1678,300.00	ALTIM_BOTTOM_PING	575.1,93.4
SM_GC	-0.29,0.00,0.00,62.47,0.000,0.000,0.793,48,2906,1678,-10.87,0.17,300.00	_24V_AH	23.2,64.419
IRIDIUM_FIX	6221.17,-1224.08,170108,030328	_10V_AH	10.1,29.495
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44247,874
HUMID	2062	CFSIZE	260165632,238190592
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,32,2,0
TCM_TEMP	17.00	GPS	170108,094427,6248.597,-1207.858,43,1.9,43,-11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	94.93	SBE_CT	643	24	358.33
Roll_motor	174	87	354.03	SBE_O2	610	19	269.26
VBD_pump_during_apogee	322	1275	9534.57	WL_BB2F	543	105	1324.77
VBD_pump_during_surface	62	793	1149.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.09	nil	0	0	0.00
Iridium_during_connect	36	160	135.40	nil	0	0	0.00
Iridium_during_xfer	173	223	898.83
Transponder_ping	5	420	51.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	19	50	9.81
TT8	1626	19	325.20
LPSleep	13974	2	309.11
TT8_Active	546	19	109.19
TT8_Sampling	1958	39	787.25
TT8_CF8	593	45	274.38
TT8_Kalman	0	81	0.00
Analog_circuits	1543	12	187.04
GPS_charging	0	0	0.00
Compass	1926	8	155.68
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	22	begin dive
26	-1.10	-146.6	0.0	0.0	0	94	0.00	0.00	-66.97	0.000	6	0.000	0.000	43	2898	3499
98	-1.10	-146.6	1.9	-5.2	3	111	11.93	0.00	0.00	0.000	6	0.156	0.000	2163	2898	3501
430	-1.10	-146.6	41.5	-8.6	19	433	0.00	1.67	0.00	0.000	4	0.000	0.087	2163	3783	3502
485	-1.10	-146.6	47.2	-10.3	21	489	0.00	1.52	0.00	0.000	6	0.000	0.038	2163	2905	3502
807	-1.10	-146.6	73.0	-7.3	37	811	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1492	3502
839	-1.10	-146.6	75.6	-7.6	38	846	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2899	3502
1157	-1.10	-146.6	98.2	-4.5	54	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
1464	-1.10	-146.6	118.4	-8.5	69	1468	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1488	3502
1508	-1.10	-146.6	121.4	-6.6	71	1512	0.00	2.62	0.00	0.000	6	0.000	0.067	2163	2903	3502
1829	-1.10	-146.6	144.4	-6.1	87	1833	0.00	1.67	0.00	0.000	4	0.000	0.085	2164	3792	3502
1907	-1.10	-146.6	151.1	-10.0	90	1910	0.00	1.52	0.00	0.000	6	0.000	0.035	2164	2906	3502
2230	-1.10	-146.6	175.2	-6.8	106	2234	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1487	3502
2269	-1.10	-146.6	177.9	-6.4	108	2273	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2901	3502
2595	-1.10	-146.6	195.3	-5.9	124	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3502
2905	-1.10	-146.6	215.9	-7.3	139	2909	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1496	3502
2932	-1.10	-146.6	218.1	-7.1	140	2936	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2901	3502
3253	-1.10	-146.6	241.3	-6.5	156	3256	0.00	1.67	0.00	0.000	4	0.000	0.085	2164	3794	3502
3337	-1.10	-146.6	246.6	-6.2	159	3343	0.00	1.55	0.00	0.000	6	0.000	0.035	2164	2907	3502
3652	-1.10	-146.6	267.3	-7.7	175	3656	0.00	2.55	0.00	0.000	4	0.000	0.064	2163	1490	3503
3685	-1.10	-146.6	270.1	-8.2	176	3690	0.00	2.60	0.00	0.000	6	0.000	0.066	2164	2909	3502
4002	-1.10	-146.6	294.9	-7.7	191	4003	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3502
4311	-1.10	-146.6	317.3	-7.2	206	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3502
4620	-1.10	-146.6	339.3	-7.8	221	4621	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3502
4929	-1.10	-146.6	364.9	-8.5	236	4934	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1489	3502
4979	-1.10	-146.6	369.5	-8.8	238	4984	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2909	3502
5295	-1.10	-146.6	395.6	-7.9	253	5296	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3502
5605	-1.10	-146.6	420.0	-7.9	268	5609	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1487	3502
5667	-1.10	-146.6	424.9	-8.2	271	5672	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2903	3502
6001	-1.10	-146.6	450.8	-8.2	287	6003	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3502
6309	-1.10	-146.6	474.7	-7.5	302	6313	0.00	2.58	0.00	0.000	4	0.000	0.058	2164	1482	3502
6347	-1.10	-146.6	477.5	-7.2	303	6353	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2901	3503
6662	-1.10	-146.6	499.6	-7.1	319	6667	0.00	2.53	0.00	0.000	4	0.000	0.058	2164	1488	3502
6708	-1.10	-146.6	502.9	-7.0	321	6712	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2900	3502
7037	-1.10	-146.6	525.2	-6.6	337	7041	0.00	2.55	0.00	0.000	4	0.000	0.057	2164	1486	3502
7081	-1.10	-146.6	528.4	-7.1	339	7085	0.00	2.60	0.00	0.000	6	0.000	0.066	2164	2899	3502
7402	-1.10	-146.6	547.9	-5.8	355	7405	0.00	1.65	0.00	0.000	4	0.000	0.085	2164	3783	3502
7457	-1.10	-146.6	551.3	-6.0	357	7461	0.00	1.52	0.00	0.000	6	0.000	0.037	2164	2901	3502
7779	-1.10	-146.6	569.7	-5.6	373	7783	0.00	2.53	0.00	0.000	4	0.000	0.058	2164	1489	3502
7880	-1.10	-146.6	575.5	-6.0	377	7887	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2900	3502
8196	-1.10	-146.6	592.6	-5.8	393	8200	0.00	1.67	0.00	0.000	4	0.000	0.087	2164	3790	3502
8325	-1.10	-146.6	601.1	-7.9	398	8331	0.00	1.55	0.00	0.000	6	0.000	0.038	2164	2905	3502
8640	-1.10	-146.6	624.6	-8.1	414	8645	0.00	2.53	0.00	0.000	4	0.000	0.058	2164	1489	3502
8748	-1.10	-146.6	632.5	-7.1	419	8752	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2900	3502
9075	-1.10	-146.6	653.9	-5.8	435	9079	0.00	2.55	0.00	0.000	4	0.000	0.058	2164	1484	3502
9101	-1.10	-146.6	655.7	-6.3	436	9106	0.00	2.62	0.00	0.000	6	0.000	0.071	2163	2902	3502
9146	end dive: BOTTOM_OBSTACLE_DETECTED
state	9147	begin apogee
9155	-0.42	0.0	658.6	6.7	438	9289	0.77	0.00	127.30	1.276	6	0.104	0.000	2316	2099	2901
9290	end apogee: CONTROL_FINISHED_OK
state	9290	begin climb
9293	1.10	146.6	661.5	0.0	445	9424	1.55	2.72	122.97	1.243	4	0.059	0.070	2648	3516	2303
9681	1.10	146.6	645.8	6.4	462	9687	0.00	2.55	0.00	0.000	6	0.000	0.042	2648	2088	2301
9997	1.13	169.7	628.8	5.4	478	10023	0.00	2.78	20.60	1.216	4	0.000	0.071	2648	3522	2209
10131	1.13	169.7	620.4	7.0	484	10135	0.00	2.55	0.00	0.000	6	0.000	0.044	2648	2100	2208
10452	1.17	200.9	600.6	5.1	500	10481	0.00	0.00	27.70	1.240	6	0.000	0.000	2648	2100	2082
10781	1.17	200.9	581.7	6.0	516	10786	0.00	2.65	0.00	0.000	4	0.000	0.069	2648	3516	2080
10848	1.17	200.9	577.2	6.7	519	10853	0.00	2.53	0.00	0.000	6	0.000	0.042	2648	2100	2080
11169	1.17	200.9	554.8	7.1	535	11174	0.00	2.65	0.00	0.000	4	0.000	0.068	2648	3515	2079
11209	1.17	200.9	551.8	7.7	537	11213	0.00	2.50	0.00	0.000	6	0.000	0.041	2648	2099	2079
11536	1.17	200.9	529.9	6.7	553	11540	0.00	2.65	0.00	0.000	4	0.000	0.069	2648	3521	2078
11568	1.17	200.9	527.6	7.1	554	11574	0.00	2.53	0.00	0.000	6	0.000	0.042	2648	2100	2078
11884	1.19	221.2	509.3	5.4	570	11909	0.00	2.78	17.77	1.173	4	0.000	0.070	2648	3531	1999
11950	1.20	225.8	505.3	5.9	573	11962	0.10	2.55	5.85	0.977	6	0.050	0.042	2680	2096	1980
12278	1.20	225.8	483.4	6.1	589	12282	0.00	2.65	0.00	0.000	4	0.000	0.068	2680	3516	1980
12310	1.20	225.8	481.5	6.2	590	12317	0.00	2.50	0.00	0.000	6	0.000	0.041	2680	2098	1980
12627	1.20	225.8	460.7	7.1	606	12628	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2098	1980
12935	1.20	225.8	435.9	8.4	621	12940	0.00	2.65	0.00	0.000	4	0.000	0.070	2680	3518	1980
12975	1.20	225.8	432.4	9.1	623	12979	0.00	2.50	0.00	0.000	6	0.000	0.043	2680	2101	1980
13301	1.20	225.8	404.6	8.5	639	13303	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2101	1980
13610	1.20	225.8	379.3	8.0	654	13615	0.00	2.62	0.00	0.000	4	0.000	0.069	2680	3515	1981
13655	1.20	225.8	375.6	8.5	656	13659	0.00	2.50	0.00	0.000	6	0.000	0.044	2680	2100	1981
13976	1.20	225.8	349.2	8.3	672	13977	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2100	1981
14284	1.20	225.8	322.4	8.7	687	14289	0.00	2.65	0.00	0.000	4	0.000	0.070	2680	3521	1982
14340	1.20	225.8	317.1	9.8	689	14346	0.00	2.50	0.00	0.000	6	0.000	0.045	2680	2103	1982
14656	1.20	225.8	289.9	8.2	705	14660	0.00	2.62	0.00	0.000	4	0.000	0.069	2680	3518	1982
14700	1.20	225.8	285.6	9.4	707	14704	0.00	2.53	0.00	0.000	6	0.000	0.046	2680	2093	1982
15021	1.20	225.8	258.2	8.6	723	15025	0.00	2.65	0.00	0.000	4	0.000	0.066	2680	3520	1983
15070	1.20	225.8	253.7	8.6	725	15075	0.00	2.53	0.00	0.000	6	0.000	0.045	2680	2099	1983
15386	1.20	225.8	225.1	9.3	740	15390	0.00	2.62	0.00	0.000	4	0.000	0.067	2680	3519	1983
15441	1.20	225.8	219.8	9.1	742	15447	0.00	2.50	0.00	0.000	6	0.000	0.043	2680	2096	1983
15756	1.20	225.8	192.5	8.6	758	15758	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2095	1983
16065	1.20	225.8	167.5	7.4	773	16070	0.00	2.65	0.00	0.000	4	0.000	0.067	2680	3524	1984
16116	1.20	225.8	163.7	6.8	775	16120	0.00	2.53	0.00	0.000	6	0.000	0.044	2680	2102	1984
16432	1.20	225.8	141.2	7.0	790	16433	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2101	1983
16741	1.20	225.8	115.6	8.9	805	16745	0.00	2.62	0.00	0.000	4	0.000	0.066	2680	3516	1984
16790	1.20	225.8	110.8	10.3	807	16795	0.00	2.53	0.00	0.000	6	0.000	0.047	2680	2098	1984
17106	1.20	225.8	82.3	7.7	822	17108	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2098	1984
17416	1.20	225.8	59.3	9.2	837	17420	0.00	2.65	0.00	0.000	4	0.000	0.067	2681	3524	1984
17443	1.20	225.8	56.6	10.2	838	17447	0.00	2.53	0.00	0.000	6	0.000	0.047	2680	2094	1984
17760	1.20	225.8	36.1	6.5	853	17765	0.00	2.65	0.00	0.000	4	0.000	0.068	2680	3518	1984
17788	1.20	225.8	33.8	8.5	854	17793	0.00	2.53	0.00	0.000	6	0.000	0.047	2680	2101	1984
18104	1.20	225.8	8.5	8.9	869	18105	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2100	1985
18185	end climb: SURFACE_DEPTH_REACHED
state	18186	begin surface coast
18206	end surface coast: CONTROL_FINISHED_OK
state	18206	begin surface