Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 384 * 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 384 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 -69979.086 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 -69979.086

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 384 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 094427,6248.597,-1207.858,43,1.9,43,-11.4 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.43 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -55.9 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 095105,6248.653,-1207.700,16,2.8,35,-11.4 MHEAD_RNG_PITCHd_Wd 120.8,20404,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 644

Post-dive calculations and measurements:

FINISH -1.2,1.027377 XPDR_PINGS 2

SM_CCo 19159,43.95,0.795,1,0,1678,300.00 ALTIM_BOTTOM_PING 550.1,102.0

SM_GC -0.63,0.00,0.00,43.95,0.000,0.000,0.795,44,2895,1678,-10.88,-0.14,300.00 _24V_AH 23.2,64.561

IRIDIUM_FIX 6221.17,-1213.89,170108,080828 _10V_AH 10.1,29.584

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47383,917

HUMID 2061 CFSIZE 260165632,238108672

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,1,0

TCM_TEMP 17.30 GPS 170108,151301,6248.441,-1156.960,38,1.6,38,-11.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 157 94.57 SBE_CT 659 24 367.30

Roll_motor 195 86 393.56 SBE_O2 654 19 288.60

VBD_pump_during_apogee 348 1270 10266.05 WL_BB2F 559 105 1362.13

VBD_pump_during_surface 43 794 810.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 88.70 nil 0 0 0.00

Iridium_during_connect 37 160 139.50 nil 0 0 0.00

Iridium_during_xfer 173 223 895.73

Transponder_ping 5 420 48.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 18.26

TT8 1718 19 343.67

LPSleep 14641 2 323.85

TT8_Active 546 19 109.33

TT8_Sampling 2111 39 848.83

TT8_CF8 599 45 277.47

TT8_Kalman 0 81 0.00

Analog_circuits 1617 12 196.09

GPS_charging 0 0 0.00

Compass 2057 8 166.26

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.10 -146.6 0.0 0.0 0 93 0.00 0.00 -65.68 0.000 6 0.000 0.000 48 2908 3500

96 -1.10 -146.6 3.0 -8.1 3 112 11.90 1.73 0.00 0.000 4 0.157 0.086 2164 3786 3502

241 -1.10 -146.6 28.8 -9.3 8 247 0.00 1.58 0.00 0.000 6 0.000 0.043 2164 2905 3502

557 -1.10 -146.6 48.9 -5.2 24 559 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2905 3502

866 -1.10 -146.6 70.1 -8.0 39 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2905 3502

1176 -1.10 -146.6 94.3 -7.2 54 1180 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1489 3502

1242 -1.10 -146.6 99.2 -7.2 57 1247 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2898 3502

1564 -1.10 -146.6 121.2 -6.5 73 1565 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2898 3502

1873 -1.10 -146.6 147.4 -9.3 88 1878 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1483 3502

1906 -1.10 -146.6 150.6 -8.9 89 1913 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2899 3503

2223 -1.10 -146.6 176.1 -8.9 105 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2531 -1.10 -146.6 199.3 -6.6 120 2533 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2840 -1.10 -146.6 222.4 -7.8 135 2845 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1489 3503

2876 -1.10 -146.6 225.3 -8.1 136 2882 0.00 2.65 0.00 0.000 6 0.000 0.072 2164 2900 3503

3191 -1.10 -146.6 253.6 -8.8 152 3193 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

3500 -1.10 -146.6 277.2 -7.3 167 3504 0.00 1.65 0.00 0.000 4 0.000 0.084 2164 3786 3503

3528 -1.10 -146.6 279.2 -7.6 168 3532 0.00 1.52 0.00 0.000 6 0.000 0.038 2164 2906 3503

3855 -1.10 -146.6 302.8 -7.4 184 3859 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1488 3503

3904 -1.10 -146.6 306.7 -7.4 186 3909 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2900 3503

4220 -1.10 -146.6 329.7 -6.8 201 4221 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

4530 -1.10 -146.6 352.0 -7.5 216 4531 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

4839 -1.10 -146.6 373.6 -6.7 231 4843 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1486 3503

4866 -1.10 -146.6 375.5 -6.7 232 4870 0.00 2.65 0.00 0.000 6 0.000 0.073 2164 2903 3503

5182 -1.10 -146.6 393.7 -5.6 247 5183 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3503

5491 -1.10 -146.6 411.1 -5.8 262 5495 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1488 3503

5531 -1.10 -146.6 413.4 -5.6 264 5535 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2900 3503

5857 -1.10 -146.6 433.7 -6.5 280 5858 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

6166 -1.10 -146.6 455.4 -6.7 295 6170 0.00 2.58 0.00 0.000 4 0.000 0.060 2164 1483 3503

6238 -1.10 -146.6 460.7 -7.2 298 6242 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2901 3503

6554 -1.10 -146.6 483.8 -7.6 313 6557 0.00 1.65 0.00 0.000 4 0.000 0.084 2164 3786 3503

6671 -1.10 -146.6 492.8 -7.6 318 6675 0.00 1.52 0.00 0.000 6 0.000 0.037 2164 2898 3503

6998 -1.10 -146.6 514.7 -6.6 334 7002 0.00 2.53 0.00 0.000 4 0.000 0.061 2164 1496 3503

7042 -1.10 -146.6 517.8 -6.8 336 7047 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2900 3503

7364 -1.10 -146.6 538.7 -6.4 352 7365 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

7673 -1.10 -146.6 557.6 -6.0 367 7678 0.00 2.55 0.00 0.000 4 0.000 0.057 2164 1490 3503

7741 -1.10 -146.6 561.8 -6.0 370 7745 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2909 3503

8062 -1.10 -146.6 579.5 -5.4 386 8066 0.00 2.55 0.00 0.000 4 0.000 0.059 2164 1495 3503

8095 -1.10 -146.6 581.6 -5.4 387 8101 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2899 3503

8411 -1.10 -146.6 599.1 -5.5 403 8415 0.00 1.67 0.00 0.000 4 0.000 0.085 2164 3778 3503

8501 -1.10 -146.6 605.0 -6.5 407 8505 0.00 1.50 0.00 0.000 6 0.000 0.037 2164 2901 3503

8833 -1.10 -146.6 625.8 -6.3 423 8837 0.00 2.53 0.00 0.000 4 0.000 0.058 2164 1492 3503

8933 -1.10 -146.6 632.3 -6.4 427 8939 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2906 3503

9102 end dive: BOTTOM_OBSTACLE_DETECTED

state 9102 begin apogee

9110 -0.42 0.0 643.2 6.3 436 9244 0.77 0.00 126.47 1.271 6 0.098 0.000 2318 2111 2901

9245 end apogee: CONTROL_FINISHED_OK

state 9245 begin climb

9248 1.10 146.6 648.8 0.0 443 9379 1.55 2.67 121.90 1.256 4 0.061 0.060 2648 700 2303

9573 1.12 158.1 638.0 5.7 458 9590 0.00 2.50 11.12 1.116 6 0.000 0.039 2648 2117 2256

9899 1.12 158.1 619.5 6.3 473 9903 0.00 2.58 0.00 0.000 4 0.000 0.071 2648 3505 2255

10006 1.12 158.1 612.2 6.6 478 10010 0.00 2.50 0.00 0.000 6 0.000 0.040 2648 2088 2255

10332 1.14 174.6 592.8 5.5 494 10353 0.00 2.78 15.27 1.196 4 0.000 0.070 2648 3510 2189

10380 1.14 174.6 589.9 6.0 496 10385 0.00 2.50 0.00 0.000 6 0.000 0.041 2648 2102 2188

10701 1.14 174.6 570.4 6.1 512 10706 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3505 2187

10764 1.14 174.6 566.5 6.5 515 10768 0.00 2.50 0.00 0.000 6 0.000 0.043 2648 2095 2187

11090 1.15 186.0 547.7 5.7 531 11106 0.00 2.70 10.88 1.155 4 0.000 0.068 2648 3505 2142

11175 1.15 188.2 542.5 5.9 534 11180 0.00 2.50 0.00 0.000 6 0.000 0.043 2648 2100 2141

11502 1.15 188.2 522.1 6.2 550 11506 0.00 2.62 0.00 0.000 4 0.000 0.068 2648 3506 2141

11529 1.15 188.2 520.4 6.6 551 11533 0.00 2.50 0.00 0.000 6 0.000 0.043 2648 2096 2141

11845 1.15 188.2 499.8 6.6 566 11849 0.00 2.60 0.00 0.000 4 0.000 0.067 2648 3505 2140

11911 1.15 188.2 495.3 6.9 569 11915 0.00 2.47 0.00 0.000 6 0.000 0.041 2648 2098 2140

12232 1.15 188.2 475.5 6.1 585 12236 0.00 2.62 0.00 0.000 4 0.000 0.067 2648 3509 2140

12298 1.15 188.2 471.1 6.7 588 12302 0.00 2.47 0.00 0.000 6 0.000 0.043 2648 2099 2140

12619 1.16 190.2 451.8 5.9 604 12629 0.00 2.62 5.18 0.921 4 0.000 0.064 2648 3506 2125

12691 1.16 190.2 446.8 6.5 607 12695 0.00 2.50 0.00 0.000 6 0.000 0.041 2648 2094 2125

13006 1.16 190.2 426.3 6.4 622 13007 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2095 2125

13316 1.16 190.8 408.0 6.0 637 13320 0.00 2.60 0.00 0.000 4 0.000 0.066 2648 3505 2125

13366 1.16 190.8 404.8 6.1 639 13370 0.00 2.47 0.00 0.000 6 0.000 0.041 2648 2099 2125

13681 1.16 191.5 385.7 6.0 654 13685 0.00 2.60 0.00 0.000 4 0.000 0.064 2648 3508 2125

13736 1.17 197.6 382.2 5.8 656 13750 0.00 2.47 8.27 0.982 6 0.000 0.041 2648 2100 2095

14074 1.17 197.6 360.6 6.7 673 14078 0.00 2.60 0.00 0.000 4 0.000 0.065 2648 3505 2095

14140 1.17 197.6 355.8 7.3 676 14144 0.00 2.45 0.00 0.000 6 0.000 0.041 2648 2101 2095

14467 1.17 197.6 332.8 7.2 692 14471 0.00 2.60 0.00 0.000 4 0.000 0.067 2648 3506 2095

14511 1.17 197.6 329.3 7.8 694 14515 0.00 2.45 0.00 0.000 6 0.000 0.040 2648 2099 2095

14832 1.17 197.6 306.2 7.0 710 14836 0.00 2.62 0.00 0.000 4 0.000 0.069 2648 3510 2095

14876 1.17 197.6 303.1 7.6 712 14880 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2096 2095

15196 1.17 197.6 280.9 7.2 728 15201 0.00 2.62 0.00 0.000 4 0.000 0.070 2648 3510 2096

15259 1.17 197.6 276.5 6.7 731 15263 0.00 2.47 0.00 0.000 6 0.000 0.044 2648 2103 2096

15585 1.17 197.6 254.1 7.0 747 15590 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3507 2096

15641 1.17 197.6 249.9 7.2 749 15647 0.00 2.47 0.00 0.000 6 0.000 0.043 2648 2095 2097

15956 1.17 197.6 227.3 6.6 765 15961 0.00 2.62 0.00 0.000 4 0.000 0.069 2648 3505 2096

15990 1.17 197.6 224.9 6.7 766 15996 0.00 2.47 0.00 0.000 6 0.000 0.042 2648 2100 2097

16305 1.17 197.6 204.7 6.2 782 16309 0.00 2.60 0.00 0.000 4 0.000 0.071 2649 3505 2097

16332 1.17 197.6 202.9 6.9 783 16336 0.00 2.45 0.00 0.000 6 0.000 0.040 2648 2100 2097

16653 1.17 197.6 184.1 6.2 799 16657 0.00 2.62 0.00 0.000 4 0.000 0.070 2648 3508 2097

16697 1.17 200.3 181.3 5.9 801 16706 0.00 2.47 4.57 0.742 6 0.000 0.041 2648 2101 2084

17018 1.18 205.4 162.9 5.9 816 17031 0.00 2.65 6.28 0.803 4 0.000 0.069 2648 3505 2063

17066 1.18 208.3 160.0 5.9 818 17075 0.00 2.50 4.05 0.673 6 0.000 0.044 2648 2102 2051

17392 1.18 208.3 139.8 6.4 834 17396 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3505 2051

17436 1.18 208.3 136.8 7.4 836 17440 0.00 2.47 0.00 0.000 6 0.000 0.042 2648 2097 2051

17757 1.18 210.7 116.7 5.9 852 17766 0.00 2.65 3.55 0.616 4 0.000 0.068 2648 3502 2042

17803 1.23 247.4 114.0 5.0 854 17839 0.12 2.47 30.62 0.890 6 0.044 0.047 2688 2099 1892

18153 1.23 247.4 86.9 8.7 870 18158 0.00 2.65 0.00 0.000 4 0.000 0.070 2688 3511 1892

18186 1.23 247.4 83.4 9.0 871 18193 0.00 2.50 0.00 0.000 6 0.000 0.049 2688 2102 1892

18502 1.23 247.4 56.9 8.5 887 18507 0.00 2.62 0.00 0.000 4 0.000 0.071 2689 3505 1892

18530 1.23 247.4 54.3 8.6 888 18535 0.00 2.50 0.00 0.000 6 0.000 0.048 2688 2099 1891

18848 1.23 247.4 25.7 8.2 903 18849 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2099 1892

19111 end climb: SURFACE_DEPTH_REACHED

state 19111 begin surface coast

19135 end surface coast: CONTROL_FINISHED_OK

state 19135 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	384	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	-69979.086	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	094427,6248.597,-1207.858,43,1.9,43,-11.4	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.43	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-55.9	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	095105,6248.653,-1207.700,16,2.8,35,-11.4	MHEAD_RNG_PITCHd_Wd	120.8,20404,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	644

FINISH	-1.2,1.027377	XPDR_PINGS	2
SM_CCo	19159,43.95,0.795,1,0,1678,300.00	ALTIM_BOTTOM_PING	550.1,102.0
SM_GC	-0.63,0.00,0.00,43.95,0.000,0.000,0.795,44,2895,1678,-10.88,-0.14,300.00	_24V_AH	23.2,64.561
IRIDIUM_FIX	6221.17,-1213.89,170108,080828	_10V_AH	10.1,29.584
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47383,917
HUMID	2061	CFSIZE	260165632,238108672
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
TCM_TEMP	17.30	GPS	170108,151301,6248.441,-1156.960,38,1.6,38,-11.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	157	94.57	SBE_CT	659	24	367.30
Roll_motor	195	86	393.56	SBE_O2	654	19	288.60
VBD_pump_during_apogee	348	1270	10266.05	WL_BB2F	559	105	1362.13
VBD_pump_during_surface	43	794	810.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	88.70	nil	0	0	0.00
Iridium_during_connect	37	160	139.50	nil	0	0	0.00
Iridium_during_xfer	173	223	895.73
Transponder_ping	5	420	48.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	18.26
TT8	1718	19	343.67
LPSleep	14641	2	323.85
TT8_Active	546	19	109.33
TT8_Sampling	2111	39	848.83
TT8_CF8	599	45	277.47
TT8_Kalman	0	81	0.00
Analog_circuits	1617	12	196.09
GPS_charging	0	0	0.00
Compass	2057	8	166.26
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.10	-146.6	0.0	0.0	0	93	0.00	0.00	-65.68	0.000	6	0.000	0.000	48	2908	3500
96	-1.10	-146.6	3.0	-8.1	3	112	11.90	1.73	0.00	0.000	4	0.157	0.086	2164	3786	3502
241	-1.10	-146.6	28.8	-9.3	8	247	0.00	1.58	0.00	0.000	6	0.000	0.043	2164	2905	3502
557	-1.10	-146.6	48.9	-5.2	24	559	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2905	3502
866	-1.10	-146.6	70.1	-8.0	39	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2905	3502
1176	-1.10	-146.6	94.3	-7.2	54	1180	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1489	3502
1242	-1.10	-146.6	99.2	-7.2	57	1247	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2898	3502
1564	-1.10	-146.6	121.2	-6.5	73	1565	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2898	3502
1873	-1.10	-146.6	147.4	-9.3	88	1878	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1483	3502
1906	-1.10	-146.6	150.6	-8.9	89	1913	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2899	3503
2223	-1.10	-146.6	176.1	-8.9	105	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2531	-1.10	-146.6	199.3	-6.6	120	2533	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2840	-1.10	-146.6	222.4	-7.8	135	2845	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1489	3503
2876	-1.10	-146.6	225.3	-8.1	136	2882	0.00	2.65	0.00	0.000	6	0.000	0.072	2164	2900	3503
3191	-1.10	-146.6	253.6	-8.8	152	3193	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
3500	-1.10	-146.6	277.2	-7.3	167	3504	0.00	1.65	0.00	0.000	4	0.000	0.084	2164	3786	3503
3528	-1.10	-146.6	279.2	-7.6	168	3532	0.00	1.52	0.00	0.000	6	0.000	0.038	2164	2906	3503
3855	-1.10	-146.6	302.8	-7.4	184	3859	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1488	3503
3904	-1.10	-146.6	306.7	-7.4	186	3909	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2900	3503
4220	-1.10	-146.6	329.7	-6.8	201	4221	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
4530	-1.10	-146.6	352.0	-7.5	216	4531	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
4839	-1.10	-146.6	373.6	-6.7	231	4843	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1486	3503
4866	-1.10	-146.6	375.5	-6.7	232	4870	0.00	2.65	0.00	0.000	6	0.000	0.073	2164	2903	3503
5182	-1.10	-146.6	393.7	-5.6	247	5183	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3503
5491	-1.10	-146.6	411.1	-5.8	262	5495	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1488	3503
5531	-1.10	-146.6	413.4	-5.6	264	5535	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2900	3503
5857	-1.10	-146.6	433.7	-6.5	280	5858	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
6166	-1.10	-146.6	455.4	-6.7	295	6170	0.00	2.58	0.00	0.000	4	0.000	0.060	2164	1483	3503
6238	-1.10	-146.6	460.7	-7.2	298	6242	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2901	3503
6554	-1.10	-146.6	483.8	-7.6	313	6557	0.00	1.65	0.00	0.000	4	0.000	0.084	2164	3786	3503
6671	-1.10	-146.6	492.8	-7.6	318	6675	0.00	1.52	0.00	0.000	6	0.000	0.037	2164	2898	3503
6998	-1.10	-146.6	514.7	-6.6	334	7002	0.00	2.53	0.00	0.000	4	0.000	0.061	2164	1496	3503
7042	-1.10	-146.6	517.8	-6.8	336	7047	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2900	3503
7364	-1.10	-146.6	538.7	-6.4	352	7365	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
7673	-1.10	-146.6	557.6	-6.0	367	7678	0.00	2.55	0.00	0.000	4	0.000	0.057	2164	1490	3503
7741	-1.10	-146.6	561.8	-6.0	370	7745	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2909	3503
8062	-1.10	-146.6	579.5	-5.4	386	8066	0.00	2.55	0.00	0.000	4	0.000	0.059	2164	1495	3503
8095	-1.10	-146.6	581.6	-5.4	387	8101	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2899	3503
8411	-1.10	-146.6	599.1	-5.5	403	8415	0.00	1.67	0.00	0.000	4	0.000	0.085	2164	3778	3503
8501	-1.10	-146.6	605.0	-6.5	407	8505	0.00	1.50	0.00	0.000	6	0.000	0.037	2164	2901	3503
8833	-1.10	-146.6	625.8	-6.3	423	8837	0.00	2.53	0.00	0.000	4	0.000	0.058	2164	1492	3503
8933	-1.10	-146.6	632.3	-6.4	427	8939	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2906	3503
9102	end dive: BOTTOM_OBSTACLE_DETECTED
state	9102	begin apogee
9110	-0.42	0.0	643.2	6.3	436	9244	0.77	0.00	126.47	1.271	6	0.098	0.000	2318	2111	2901
9245	end apogee: CONTROL_FINISHED_OK
state	9245	begin climb
9248	1.10	146.6	648.8	0.0	443	9379	1.55	2.67	121.90	1.256	4	0.061	0.060	2648	700	2303
9573	1.12	158.1	638.0	5.7	458	9590	0.00	2.50	11.12	1.116	6	0.000	0.039	2648	2117	2256
9899	1.12	158.1	619.5	6.3	473	9903	0.00	2.58	0.00	0.000	4	0.000	0.071	2648	3505	2255
10006	1.12	158.1	612.2	6.6	478	10010	0.00	2.50	0.00	0.000	6	0.000	0.040	2648	2088	2255
10332	1.14	174.6	592.8	5.5	494	10353	0.00	2.78	15.27	1.196	4	0.000	0.070	2648	3510	2189
10380	1.14	174.6	589.9	6.0	496	10385	0.00	2.50	0.00	0.000	6	0.000	0.041	2648	2102	2188
10701	1.14	174.6	570.4	6.1	512	10706	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3505	2187
10764	1.14	174.6	566.5	6.5	515	10768	0.00	2.50	0.00	0.000	6	0.000	0.043	2648	2095	2187
11090	1.15	186.0	547.7	5.7	531	11106	0.00	2.70	10.88	1.155	4	0.000	0.068	2648	3505	2142
11175	1.15	188.2	542.5	5.9	534	11180	0.00	2.50	0.00	0.000	6	0.000	0.043	2648	2100	2141
11502	1.15	188.2	522.1	6.2	550	11506	0.00	2.62	0.00	0.000	4	0.000	0.068	2648	3506	2141
11529	1.15	188.2	520.4	6.6	551	11533	0.00	2.50	0.00	0.000	6	0.000	0.043	2648	2096	2141
11845	1.15	188.2	499.8	6.6	566	11849	0.00	2.60	0.00	0.000	4	0.000	0.067	2648	3505	2140
11911	1.15	188.2	495.3	6.9	569	11915	0.00	2.47	0.00	0.000	6	0.000	0.041	2648	2098	2140
12232	1.15	188.2	475.5	6.1	585	12236	0.00	2.62	0.00	0.000	4	0.000	0.067	2648	3509	2140
12298	1.15	188.2	471.1	6.7	588	12302	0.00	2.47	0.00	0.000	6	0.000	0.043	2648	2099	2140
12619	1.16	190.2	451.8	5.9	604	12629	0.00	2.62	5.18	0.921	4	0.000	0.064	2648	3506	2125
12691	1.16	190.2	446.8	6.5	607	12695	0.00	2.50	0.00	0.000	6	0.000	0.041	2648	2094	2125
13006	1.16	190.2	426.3	6.4	622	13007	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2095	2125
13316	1.16	190.8	408.0	6.0	637	13320	0.00	2.60	0.00	0.000	4	0.000	0.066	2648	3505	2125
13366	1.16	190.8	404.8	6.1	639	13370	0.00	2.47	0.00	0.000	6	0.000	0.041	2648	2099	2125
13681	1.16	191.5	385.7	6.0	654	13685	0.00	2.60	0.00	0.000	4	0.000	0.064	2648	3508	2125
13736	1.17	197.6	382.2	5.8	656	13750	0.00	2.47	8.27	0.982	6	0.000	0.041	2648	2100	2095
14074	1.17	197.6	360.6	6.7	673	14078	0.00	2.60	0.00	0.000	4	0.000	0.065	2648	3505	2095
14140	1.17	197.6	355.8	7.3	676	14144	0.00	2.45	0.00	0.000	6	0.000	0.041	2648	2101	2095
14467	1.17	197.6	332.8	7.2	692	14471	0.00	2.60	0.00	0.000	4	0.000	0.067	2648	3506	2095
14511	1.17	197.6	329.3	7.8	694	14515	0.00	2.45	0.00	0.000	6	0.000	0.040	2648	2099	2095
14832	1.17	197.6	306.2	7.0	710	14836	0.00	2.62	0.00	0.000	4	0.000	0.069	2648	3510	2095
14876	1.17	197.6	303.1	7.6	712	14880	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2096	2095
15196	1.17	197.6	280.9	7.2	728	15201	0.00	2.62	0.00	0.000	4	0.000	0.070	2648	3510	2096
15259	1.17	197.6	276.5	6.7	731	15263	0.00	2.47	0.00	0.000	6	0.000	0.044	2648	2103	2096
15585	1.17	197.6	254.1	7.0	747	15590	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3507	2096
15641	1.17	197.6	249.9	7.2	749	15647	0.00	2.47	0.00	0.000	6	0.000	0.043	2648	2095	2097
15956	1.17	197.6	227.3	6.6	765	15961	0.00	2.62	0.00	0.000	4	0.000	0.069	2648	3505	2096
15990	1.17	197.6	224.9	6.7	766	15996	0.00	2.47	0.00	0.000	6	0.000	0.042	2648	2100	2097
16305	1.17	197.6	204.7	6.2	782	16309	0.00	2.60	0.00	0.000	4	0.000	0.071	2649	3505	2097
16332	1.17	197.6	202.9	6.9	783	16336	0.00	2.45	0.00	0.000	6	0.000	0.040	2648	2100	2097
16653	1.17	197.6	184.1	6.2	799	16657	0.00	2.62	0.00	0.000	4	0.000	0.070	2648	3508	2097
16697	1.17	200.3	181.3	5.9	801	16706	0.00	2.47	4.57	0.742	6	0.000	0.041	2648	2101	2084
17018	1.18	205.4	162.9	5.9	816	17031	0.00	2.65	6.28	0.803	4	0.000	0.069	2648	3505	2063
17066	1.18	208.3	160.0	5.9	818	17075	0.00	2.50	4.05	0.673	6	0.000	0.044	2648	2102	2051
17392	1.18	208.3	139.8	6.4	834	17396	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3505	2051
17436	1.18	208.3	136.8	7.4	836	17440	0.00	2.47	0.00	0.000	6	0.000	0.042	2648	2097	2051
17757	1.18	210.7	116.7	5.9	852	17766	0.00	2.65	3.55	0.616	4	0.000	0.068	2648	3502	2042
17803	1.23	247.4	114.0	5.0	854	17839	0.12	2.47	30.62	0.890	6	0.044	0.047	2688	2099	1892
18153	1.23	247.4	86.9	8.7	870	18158	0.00	2.65	0.00	0.000	4	0.000	0.070	2688	3511	1892
18186	1.23	247.4	83.4	9.0	871	18193	0.00	2.50	0.00	0.000	6	0.000	0.049	2688	2102	1892
18502	1.23	247.4	56.9	8.5	887	18507	0.00	2.62	0.00	0.000	4	0.000	0.071	2689	3505	1892
18530	1.23	247.4	54.3	8.6	888	18535	0.00	2.50	0.00	0.000	6	0.000	0.048	2688	2099	1891
18848	1.23	247.4	25.7	8.2	903	18849	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2099	1892
19111	end climb: SURFACE_DEPTH_REACHED
state	19111	begin surface coast
19135	end surface coast: CONTROL_FINISHED_OK
state	19135	begin surface