Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 391 * 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 391 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 27 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 -3 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 -70094.07 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 -70094.07

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 27 USE_BATHY -3

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 391 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 002156,6236.216,-1057.068,38,1.9,38,-10.7 TGT_NAME CE

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.56 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -52.7 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 002814,6236.296,-1056.996,11,1.4,16,-10.7 MHEAD_RNG_PITCHd_Wd 127.5,25863,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 623

Post-dive calculations and measurements:

FINISH -1.1,1.027343 XPDR_PINGS 3

SM_CCo 17534,0.00,0.000,0,0,1623,313.49 ALTIM_BOTTOM_PING 600.6,33.1

SM_GC -0.17,11.55,0.00,0.00,0.028,0.000,0.000,46,2893,1623,-10.78,-0.20,313.49 _24V_AH 23.2,65.594

IRIDIUM_FIX 6211.90,-1102.12,180108,232300 _10V_AH 10.1,30.202

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44209,839

HUMID 2052 CFSIZE 260165632,237658112

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,0,0

TCM_TEMP 17.20 GPS 190108,052307,6237.721,-1053.939,46,0.9,57,-10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 97.90 SBE_CT 612 24 340.79

Roll_motor 177 94 388.72 SBE_O2 589 19 259.73

VBD_pump_during_apogee 397 1264 11662.62 WL_BB2F 531 105 1295.78

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 98.67 nil 0 0 0.00

Iridium_during_connect 36 160 136.75 nil 0 0 0.00

Iridium_during_xfer 168 223 869.55

Transponder_ping 6 420 58.46

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.24

TT8 1589 19 317.77

LPSleep 13301 2 294.22

TT8_Active 522 19 104.44

TT8_Sampling 1946 39 782.62

TT8_CF8 595 45 275.54

TT8_Kalman 0 81 0.00

Analog_circuits 1529 12 185.41

GPS_charging 0 0 0.00

Compass 1907 8 154.14

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.10 -146.6 0.0 0.0 0 100 0.00 0.00 -72.45 0.000 6 0.000 0.000 36 2906 3500

104 -1.10 -146.6 1.7 -5.5 3 124 12.12 1.75 0.00 0.000 4 0.162 0.092 2166 3786 3502

377 -1.10 -146.6 40.8 -5.3 15 381 0.00 1.58 0.00 0.000 6 0.000 0.048 2166 2896 3502

705 -1.10 -146.6 63.4 -6.0 31 708 0.00 1.73 0.00 0.000 4 0.000 0.091 2166 3782 3502

783 -1.10 -146.6 69.1 -7.0 34 786 0.00 1.58 0.00 0.000 6 0.000 0.044 2166 2888 3502

1104 -1.10 -146.6 95.1 -8.6 50 1109 0.00 2.58 0.00 0.000 4 0.000 0.071 2166 1491 3502

1137 -1.10 -146.6 98.3 -8.5 51 1144 0.00 2.62 0.00 0.000 6 0.000 0.073 2166 2898 3502

1455 -1.10 -146.6 117.9 -4.5 67 1457 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2898 3502

1762 -1.10 -146.6 139.6 -9.6 82 1767 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1490 3502

1803 -1.10 -146.6 143.9 -10.7 84 1807 0.00 2.65 0.00 0.000 6 0.000 0.071 2166 2901 3502

2129 -1.10 -146.6 167.8 -6.5 100 2133 0.00 1.70 0.00 0.000 4 0.000 0.093 2166 3779 3502

2169 -1.10 -146.6 171.1 -8.3 101 2174 0.00 1.55 0.00 0.000 6 0.000 0.040 2166 2899 3502

2484 -1.10 -146.6 196.9 -7.9 117 2488 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1486 3502

2541 -1.10 -146.6 201.2 -7.9 119 2547 0.00 2.67 0.00 0.000 6 0.000 0.072 2166 2911 3502

2856 -1.10 -146.6 222.4 -6.2 135 2857 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2911 3503

3165 -1.10 -146.6 244.8 -7.9 150 3170 0.00 2.60 0.00 0.000 4 0.000 0.064 2166 1490 3502

3199 -1.10 -146.6 247.6 -8.4 151 3205 0.00 2.65 0.00 0.000 6 0.000 0.073 2166 2902 3502

3514 -1.10 -146.6 272.6 -8.0 167 3515 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2902 3502

3823 -1.10 -146.6 295.7 -7.2 182 3827 0.00 1.70 0.00 0.000 4 0.000 0.092 2166 3779 3503

3846 -1.10 -146.6 297.4 -7.6 183 3850 0.00 1.55 0.00 0.000 6 0.000 0.040 2166 2897 3503

4179 -1.10 -146.6 322.6 -7.4 199 4183 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1482 3502

4240 -1.10 -146.6 326.8 -6.5 202 4245 0.00 2.65 0.00 0.000 6 0.000 0.072 2166 2898 3503

4567 -1.10 -146.6 347.6 -5.8 218 4568 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2898 3503

4876 -1.10 -146.6 366.5 -6.2 233 4877 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2898 3503

5185 -1.10 -146.6 383.9 -5.7 248 5190 0.00 2.58 0.00 0.000 4 0.000 0.063 2166 1485 3502

5226 -1.10 -146.6 386.3 -5.9 250 5230 0.00 2.62 0.00 0.000 6 0.000 0.067 2166 2902 3502

5552 -1.10 -146.6 406.2 -6.5 266 5556 0.00 1.67 0.00 0.000 4 0.000 0.093 2166 3783 3502

5608 -1.10 -146.6 410.5 -7.5 268 5611 0.00 1.55 0.00 0.000 6 0.000 0.038 2166 2896 3502

5929 -1.10 -146.6 433.7 -6.9 284 5934 0.00 2.55 0.00 0.000 4 0.000 0.062 2166 1482 3503

5969 -1.10 -146.6 436.5 -6.6 286 5974 0.00 2.65 0.00 0.000 6 0.000 0.070 2166 2908 3502

6295 -1.10 -146.6 459.3 -7.3 302 6297 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2908 3503

6605 -1.10 -146.6 482.6 -7.6 317 6606 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2908 3502

6914 -1.10 -146.6 505.0 -7.8 332 6918 0.00 2.58 0.00 0.000 4 0.000 0.058 2166 1478 3503

6969 -1.10 -146.6 509.8 -8.5 334 6975 0.00 2.62 0.00 0.000 6 0.000 0.065 2166 2905 3502

7285 -1.10 -146.6 537.7 -9.3 350 7288 0.00 1.67 0.00 0.000 4 0.000 0.090 2166 3790 3503

7335 -1.10 -146.6 542.4 -9.1 352 7339 0.00 1.55 0.00 0.000 6 0.000 0.038 2166 2896 3503

7662 -1.10 -146.6 568.0 -7.3 368 7666 0.00 2.53 0.00 0.000 4 0.000 0.055 2166 1482 3502

7706 -1.10 -146.6 571.0 -6.6 370 7711 0.00 2.62 0.00 0.000 6 0.000 0.065 2166 2900 3502

8028 -1.10 -146.6 592.3 -6.2 386 8029 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3502

8338 -1.10 -146.6 610.0 -5.4 401 8342 0.00 2.55 0.00 0.000 4 0.000 0.055 2166 1482 3502

8381 -1.10 -146.6 612.8 -6.1 403 8386 0.00 2.60 0.00 0.000 6 0.000 0.064 2166 2902 3502

8555 end dive: TARGET_DEPTH_EXCEEDED

state 8555 begin apogee

8563 -0.42 0.0 623.7 6.5 412 8693 0.75 0.00 126.43 1.264 6 0.091 0.000 2316 2094 2901

8693 end apogee: CONTROL_FINISHED_OK

state 8693 begin climb

8697 1.10 146.6 628.6 0.0 418 8828 1.55 2.62 123.03 1.222 4 0.054 0.059 2649 691 2303

9049 1.10 146.6 616.3 6.2 434 9054 0.00 2.53 0.00 0.000 6 0.000 0.039 2649 2120 2301

9371 1.11 150.5 596.6 5.9 450 9381 0.00 2.65 4.75 0.917 4 0.000 0.060 2649 690 2287

9397 1.11 150.5 594.9 6.6 451 9402 0.00 2.47 0.00 0.000 6 0.000 0.039 2649 2099 2287

9714 1.12 164.5 576.1 5.6 466 9735 0.00 2.72 13.27 1.180 4 0.000 0.071 2649 3501 2230

9878 1.13 171.6 566.3 5.8 473 9894 0.00 2.50 7.50 1.085 6 0.000 0.042 2650 2099 2201

10204 1.16 196.0 549.2 5.3 489 10233 0.00 2.75 22.02 1.236 4 0.000 0.071 2649 3500 2101

10314 1.16 196.0 543.0 6.1 494 10318 0.00 2.50 0.00 0.000 6 0.000 0.044 2650 2099 2101

10640 1.20 226.3 525.6 5.2 510 10673 0.10 2.72 26.55 1.233 4 0.057 0.074 2676 3500 1978

10731 1.20 226.3 519.5 7.6 514 10736 0.00 2.53 0.00 0.000 6 0.000 0.044 2677 2098 1977

11052 1.20 226.3 496.4 7.1 530 11056 0.00 2.65 0.00 0.000 4 0.000 0.074 2677 3501 1976

11114 1.20 226.3 491.9 7.1 533 11118 0.00 2.50 0.00 0.000 6 0.000 0.045 2676 2099 1977

11440 1.20 226.3 465.5 8.7 549 11444 0.00 2.65 0.00 0.000 4 0.000 0.074 2676 3502 1976

11528 1.20 226.3 457.0 9.5 553 11533 0.00 2.50 0.00 0.000 6 0.000 0.044 2676 2090 1976

11850 1.20 226.3 430.9 7.6 569 11854 0.00 2.67 0.00 0.000 4 0.000 0.074 2676 3504 1976

11878 1.20 226.3 428.7 8.2 570 11883 0.00 2.47 0.00 0.000 6 0.000 0.042 2676 2102 1976

12194 1.20 226.3 404.3 7.8 585 12198 0.00 2.65 0.00 0.000 4 0.000 0.074 2677 3508 1977

12221 1.20 226.3 401.9 8.4 586 12225 0.00 2.50 0.00 0.000 6 0.000 0.043 2676 2099 1977

12537 1.20 226.3 375.8 8.2 601 12541 0.00 2.65 0.00 0.000 4 0.000 0.071 2676 3508 1977

12558 1.20 226.3 373.9 8.7 602 12562 0.00 2.50 0.00 0.000 6 0.000 0.044 2676 2090 1977

12879 1.20 226.3 348.4 8.0 618 12883 0.00 2.65 0.00 0.000 4 0.000 0.071 2676 3508 1977

12918 1.20 226.3 345.2 8.4 620 12922 0.00 2.47 0.00 0.000 6 0.000 0.044 2676 2100 1977

13244 1.20 226.3 320.1 7.3 636 13249 0.00 2.62 0.00 0.000 4 0.000 0.072 2676 3502 1978

13295 1.20 226.3 315.9 8.0 638 13299 0.00 2.50 0.00 0.000 6 0.000 0.045 2677 2095 1978

13610 1.20 226.3 291.9 7.6 653 13614 0.00 2.62 0.00 0.000 4 0.000 0.071 2676 3505 1979

13637 1.20 226.3 289.7 7.8 654 13641 0.00 2.47 0.00 0.000 6 0.000 0.044 2676 2100 1979

13953 1.20 226.3 266.4 7.4 669 13957 0.00 2.62 0.00 0.000 4 0.000 0.072 2676 3501 1980

14002 1.20 226.3 262.7 7.1 671 14006 0.00 2.47 0.00 0.000 6 0.000 0.045 2676 2100 1980

14318 1.20 226.3 240.7 7.0 686 14322 0.00 2.62 0.00 0.000 4 0.000 0.072 2676 3501 1980

14340 1.20 226.3 239.1 7.1 687 14344 0.00 2.50 0.00 0.000 6 0.000 0.047 2677 2097 1980

14660 1.20 226.3 218.9 6.2 703 14662 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2097 1980

14970 1.20 226.3 198.2 7.5 718 14974 0.00 2.62 0.00 0.000 4 0.000 0.071 2677 3501 1981

15032 1.20 226.3 193.3 7.9 721 15037 0.00 2.50 0.00 0.000 6 0.000 0.048 2676 2092 1981

15359 1.20 226.3 168.3 7.9 737 15360 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2092 1981

15670 1.20 226.3 140.3 8.3 752 15675 0.00 2.65 0.00 0.000 4 0.000 0.073 2677 3501 1981

15714 1.20 226.3 135.0 12.2 754 15719 0.00 2.50 0.00 0.000 6 0.000 0.049 2676 2100 1982

16036 1.20 226.3 111.8 8.9 770 16040 0.00 2.53 0.00 0.000 4 0.000 0.058 2677 695 1982

16091 1.22 240.5 108.4 5.6 772 16111 0.00 2.45 13.70 0.851 6 0.000 0.044 2676 2089 1920

16428 1.22 240.5 72.9 10.9 789 16429 0.00 0.00 0.00 0.000 6 0.000 0.000 2677 2090 1920

16737 1.22 240.5 44.1 8.1 804 16742 0.00 2.67 0.00 0.000 4 0.000 0.076 2677 3514 1920

16764 1.25 262.7 42.5 5.4 805 16789 0.00 2.50 19.50 0.831 6 0.000 0.044 2676 2101 1829

17106 1.31 312.8 29.7 4.6 822 17153 0.00 2.62 40.95 0.833 4 0.000 0.061 2676 693 1626

17165 1.31 312.8 25.0 8.1 825 17170 0.00 2.53 0.00 0.000 6 0.000 0.043 2676 2102 1625

17428 end climb: SURFACE_DEPTH_REACHED

state 17428 begin surface coast

17450 end surface coast: CONTROL_FINISHED_OK

state 17450 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	391	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	27	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	-3	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	-70094.07	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	002156,6236.216,-1057.068,38,1.9,38,-10.7	TGT_NAME	CE
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.56	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-52.7	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	002814,6236.296,-1056.996,11,1.4,16,-10.7	MHEAD_RNG_PITCHd_Wd	127.5,25863,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	623

FINISH	-1.1,1.027343	XPDR_PINGS	3
SM_CCo	17534,0.00,0.000,0,0,1623,313.49	ALTIM_BOTTOM_PING	600.6,33.1
SM_GC	-0.17,11.55,0.00,0.00,0.028,0.000,0.000,46,2893,1623,-10.78,-0.20,313.49	_24V_AH	23.2,65.594
IRIDIUM_FIX	6211.90,-1102.12,180108,232300	_10V_AH	10.1,30.202
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44209,839
HUMID	2052	CFSIZE	260165632,237658112
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,0,0
TCM_TEMP	17.20	GPS	190108,052307,6237.721,-1053.939,46,0.9,57,-10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	97.90	SBE_CT	612	24	340.79
Roll_motor	177	94	388.72	SBE_O2	589	19	259.73
VBD_pump_during_apogee	397	1264	11662.62	WL_BB2F	531	105	1295.78
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	98.67	nil	0	0	0.00
Iridium_during_connect	36	160	136.75	nil	0	0	0.00
Iridium_during_xfer	168	223	869.55
Transponder_ping	6	420	58.46
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.24
TT8	1589	19	317.77
LPSleep	13301	2	294.22
TT8_Active	522	19	104.44
TT8_Sampling	1946	39	782.62
TT8_CF8	595	45	275.54
TT8_Kalman	0	81	0.00
Analog_circuits	1529	12	185.41
GPS_charging	0	0	0.00
Compass	1907	8	154.14
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.10	-146.6	0.0	0.0	0	100	0.00	0.00	-72.45	0.000	6	0.000	0.000	36	2906	3500
104	-1.10	-146.6	1.7	-5.5	3	124	12.12	1.75	0.00	0.000	4	0.162	0.092	2166	3786	3502
377	-1.10	-146.6	40.8	-5.3	15	381	0.00	1.58	0.00	0.000	6	0.000	0.048	2166	2896	3502
705	-1.10	-146.6	63.4	-6.0	31	708	0.00	1.73	0.00	0.000	4	0.000	0.091	2166	3782	3502
783	-1.10	-146.6	69.1	-7.0	34	786	0.00	1.58	0.00	0.000	6	0.000	0.044	2166	2888	3502
1104	-1.10	-146.6	95.1	-8.6	50	1109	0.00	2.58	0.00	0.000	4	0.000	0.071	2166	1491	3502
1137	-1.10	-146.6	98.3	-8.5	51	1144	0.00	2.62	0.00	0.000	6	0.000	0.073	2166	2898	3502
1455	-1.10	-146.6	117.9	-4.5	67	1457	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2898	3502
1762	-1.10	-146.6	139.6	-9.6	82	1767	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1490	3502
1803	-1.10	-146.6	143.9	-10.7	84	1807	0.00	2.65	0.00	0.000	6	0.000	0.071	2166	2901	3502
2129	-1.10	-146.6	167.8	-6.5	100	2133	0.00	1.70	0.00	0.000	4	0.000	0.093	2166	3779	3502
2169	-1.10	-146.6	171.1	-8.3	101	2174	0.00	1.55	0.00	0.000	6	0.000	0.040	2166	2899	3502
2484	-1.10	-146.6	196.9	-7.9	117	2488	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1486	3502
2541	-1.10	-146.6	201.2	-7.9	119	2547	0.00	2.67	0.00	0.000	6	0.000	0.072	2166	2911	3502
2856	-1.10	-146.6	222.4	-6.2	135	2857	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2911	3503
3165	-1.10	-146.6	244.8	-7.9	150	3170	0.00	2.60	0.00	0.000	4	0.000	0.064	2166	1490	3502
3199	-1.10	-146.6	247.6	-8.4	151	3205	0.00	2.65	0.00	0.000	6	0.000	0.073	2166	2902	3502
3514	-1.10	-146.6	272.6	-8.0	167	3515	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2902	3502
3823	-1.10	-146.6	295.7	-7.2	182	3827	0.00	1.70	0.00	0.000	4	0.000	0.092	2166	3779	3503
3846	-1.10	-146.6	297.4	-7.6	183	3850	0.00	1.55	0.00	0.000	6	0.000	0.040	2166	2897	3503
4179	-1.10	-146.6	322.6	-7.4	199	4183	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1482	3502
4240	-1.10	-146.6	326.8	-6.5	202	4245	0.00	2.65	0.00	0.000	6	0.000	0.072	2166	2898	3503
4567	-1.10	-146.6	347.6	-5.8	218	4568	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2898	3503
4876	-1.10	-146.6	366.5	-6.2	233	4877	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2898	3503
5185	-1.10	-146.6	383.9	-5.7	248	5190	0.00	2.58	0.00	0.000	4	0.000	0.063	2166	1485	3502
5226	-1.10	-146.6	386.3	-5.9	250	5230	0.00	2.62	0.00	0.000	6	0.000	0.067	2166	2902	3502
5552	-1.10	-146.6	406.2	-6.5	266	5556	0.00	1.67	0.00	0.000	4	0.000	0.093	2166	3783	3502
5608	-1.10	-146.6	410.5	-7.5	268	5611	0.00	1.55	0.00	0.000	6	0.000	0.038	2166	2896	3502
5929	-1.10	-146.6	433.7	-6.9	284	5934	0.00	2.55	0.00	0.000	4	0.000	0.062	2166	1482	3503
5969	-1.10	-146.6	436.5	-6.6	286	5974	0.00	2.65	0.00	0.000	6	0.000	0.070	2166	2908	3502
6295	-1.10	-146.6	459.3	-7.3	302	6297	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2908	3503
6605	-1.10	-146.6	482.6	-7.6	317	6606	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2908	3502
6914	-1.10	-146.6	505.0	-7.8	332	6918	0.00	2.58	0.00	0.000	4	0.000	0.058	2166	1478	3503
6969	-1.10	-146.6	509.8	-8.5	334	6975	0.00	2.62	0.00	0.000	6	0.000	0.065	2166	2905	3502
7285	-1.10	-146.6	537.7	-9.3	350	7288	0.00	1.67	0.00	0.000	4	0.000	0.090	2166	3790	3503
7335	-1.10	-146.6	542.4	-9.1	352	7339	0.00	1.55	0.00	0.000	6	0.000	0.038	2166	2896	3503
7662	-1.10	-146.6	568.0	-7.3	368	7666	0.00	2.53	0.00	0.000	4	0.000	0.055	2166	1482	3502
7706	-1.10	-146.6	571.0	-6.6	370	7711	0.00	2.62	0.00	0.000	6	0.000	0.065	2166	2900	3502
8028	-1.10	-146.6	592.3	-6.2	386	8029	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3502
8338	-1.10	-146.6	610.0	-5.4	401	8342	0.00	2.55	0.00	0.000	4	0.000	0.055	2166	1482	3502
8381	-1.10	-146.6	612.8	-6.1	403	8386	0.00	2.60	0.00	0.000	6	0.000	0.064	2166	2902	3502
8555	end dive: TARGET_DEPTH_EXCEEDED
state	8555	begin apogee
8563	-0.42	0.0	623.7	6.5	412	8693	0.75	0.00	126.43	1.264	6	0.091	0.000	2316	2094	2901
8693	end apogee: CONTROL_FINISHED_OK
state	8693	begin climb
8697	1.10	146.6	628.6	0.0	418	8828	1.55	2.62	123.03	1.222	4	0.054	0.059	2649	691	2303
9049	1.10	146.6	616.3	6.2	434	9054	0.00	2.53	0.00	0.000	6	0.000	0.039	2649	2120	2301
9371	1.11	150.5	596.6	5.9	450	9381	0.00	2.65	4.75	0.917	4	0.000	0.060	2649	690	2287
9397	1.11	150.5	594.9	6.6	451	9402	0.00	2.47	0.00	0.000	6	0.000	0.039	2649	2099	2287
9714	1.12	164.5	576.1	5.6	466	9735	0.00	2.72	13.27	1.180	4	0.000	0.071	2649	3501	2230
9878	1.13	171.6	566.3	5.8	473	9894	0.00	2.50	7.50	1.085	6	0.000	0.042	2650	2099	2201
10204	1.16	196.0	549.2	5.3	489	10233	0.00	2.75	22.02	1.236	4	0.000	0.071	2649	3500	2101
10314	1.16	196.0	543.0	6.1	494	10318	0.00	2.50	0.00	0.000	6	0.000	0.044	2650	2099	2101
10640	1.20	226.3	525.6	5.2	510	10673	0.10	2.72	26.55	1.233	4	0.057	0.074	2676	3500	1978
10731	1.20	226.3	519.5	7.6	514	10736	0.00	2.53	0.00	0.000	6	0.000	0.044	2677	2098	1977
11052	1.20	226.3	496.4	7.1	530	11056	0.00	2.65	0.00	0.000	4	0.000	0.074	2677	3501	1976
11114	1.20	226.3	491.9	7.1	533	11118	0.00	2.50	0.00	0.000	6	0.000	0.045	2676	2099	1977
11440	1.20	226.3	465.5	8.7	549	11444	0.00	2.65	0.00	0.000	4	0.000	0.074	2676	3502	1976
11528	1.20	226.3	457.0	9.5	553	11533	0.00	2.50	0.00	0.000	6	0.000	0.044	2676	2090	1976
11850	1.20	226.3	430.9	7.6	569	11854	0.00	2.67	0.00	0.000	4	0.000	0.074	2676	3504	1976
11878	1.20	226.3	428.7	8.2	570	11883	0.00	2.47	0.00	0.000	6	0.000	0.042	2676	2102	1976
12194	1.20	226.3	404.3	7.8	585	12198	0.00	2.65	0.00	0.000	4	0.000	0.074	2677	3508	1977
12221	1.20	226.3	401.9	8.4	586	12225	0.00	2.50	0.00	0.000	6	0.000	0.043	2676	2099	1977
12537	1.20	226.3	375.8	8.2	601	12541	0.00	2.65	0.00	0.000	4	0.000	0.071	2676	3508	1977
12558	1.20	226.3	373.9	8.7	602	12562	0.00	2.50	0.00	0.000	6	0.000	0.044	2676	2090	1977
12879	1.20	226.3	348.4	8.0	618	12883	0.00	2.65	0.00	0.000	4	0.000	0.071	2676	3508	1977
12918	1.20	226.3	345.2	8.4	620	12922	0.00	2.47	0.00	0.000	6	0.000	0.044	2676	2100	1977
13244	1.20	226.3	320.1	7.3	636	13249	0.00	2.62	0.00	0.000	4	0.000	0.072	2676	3502	1978
13295	1.20	226.3	315.9	8.0	638	13299	0.00	2.50	0.00	0.000	6	0.000	0.045	2677	2095	1978
13610	1.20	226.3	291.9	7.6	653	13614	0.00	2.62	0.00	0.000	4	0.000	0.071	2676	3505	1979
13637	1.20	226.3	289.7	7.8	654	13641	0.00	2.47	0.00	0.000	6	0.000	0.044	2676	2100	1979
13953	1.20	226.3	266.4	7.4	669	13957	0.00	2.62	0.00	0.000	4	0.000	0.072	2676	3501	1980
14002	1.20	226.3	262.7	7.1	671	14006	0.00	2.47	0.00	0.000	6	0.000	0.045	2676	2100	1980
14318	1.20	226.3	240.7	7.0	686	14322	0.00	2.62	0.00	0.000	4	0.000	0.072	2676	3501	1980
14340	1.20	226.3	239.1	7.1	687	14344	0.00	2.50	0.00	0.000	6	0.000	0.047	2677	2097	1980
14660	1.20	226.3	218.9	6.2	703	14662	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2097	1980
14970	1.20	226.3	198.2	7.5	718	14974	0.00	2.62	0.00	0.000	4	0.000	0.071	2677	3501	1981
15032	1.20	226.3	193.3	7.9	721	15037	0.00	2.50	0.00	0.000	6	0.000	0.048	2676	2092	1981
15359	1.20	226.3	168.3	7.9	737	15360	0.00	0.00	0.00	0.000	6	0.000	0.000	2676	2092	1981
15670	1.20	226.3	140.3	8.3	752	15675	0.00	2.65	0.00	0.000	4	0.000	0.073	2677	3501	1981
15714	1.20	226.3	135.0	12.2	754	15719	0.00	2.50	0.00	0.000	6	0.000	0.049	2676	2100	1982
16036	1.20	226.3	111.8	8.9	770	16040	0.00	2.53	0.00	0.000	4	0.000	0.058	2677	695	1982
16091	1.22	240.5	108.4	5.6	772	16111	0.00	2.45	13.70	0.851	6	0.000	0.044	2676	2089	1920
16428	1.22	240.5	72.9	10.9	789	16429	0.00	0.00	0.00	0.000	6	0.000	0.000	2677	2090	1920
16737	1.22	240.5	44.1	8.1	804	16742	0.00	2.67	0.00	0.000	4	0.000	0.076	2677	3514	1920
16764	1.25	262.7	42.5	5.4	805	16789	0.00	2.50	19.50	0.831	6	0.000	0.044	2676	2101	1829
17106	1.31	312.8	29.7	4.6	822	17153	0.00	2.62	40.95	0.833	4	0.000	0.061	2676	693	1626
17165	1.31	312.8	25.0	8.1	825	17170	0.00	2.53	0.00	0.000	6	0.000	0.043	2676	2102	1625
17428	end climb: SURFACE_DEPTH_REACHED
state	17428	begin surface coast
17450	end surface coast: CONTROL_FINISHED_OK
state	17450	begin surface