Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 401 * 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 401 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 -70274.32 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 -70274.32

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 22 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 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 401 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 014325,6230.187,-1050.446,40,1.2,40,-10.6 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.26 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -55.0 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 015227,6230.169,-1050.661,16,2.0,16,-10.6 MHEAD_RNG_PITCHd_Wd 101.6,17672,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 655

Post-dive calculations and measurements:

FINISH 1.0,1.027401 XPDR_PINGS 4

SM_CCo 18252,0.00,0.000,0,0,1648,307.36 ALTIM_BOTTOM_PING 600.1,57.6

SM_GC -0.25,12.10,0.00,0.00,0.040,0.000,0.000,45,2900,1648,-10.80,0.00,307.36 _24V_AH 23.1,67.101

IRIDIUM_FIX 6207.28,-1046.62,210108,050545 _10V_AH 10.1,31.023

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44226,872

HUMID 2066 CFSIZE 260165632,237031424

INTERNAL_PRESSURE 8.80893 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,0,0

TCM_TEMP 18.80 GPS 210108,065831,6232.346,-1050.973,39,1.9,44,-10.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 95.87 SBE_CT 642 24 356.01

Roll_motor 185 92 396.88 SBE_O2 601 19 264.11

VBD_pump_during_apogee 390 1326 11978.65 WL_BB2F 535 105 1298.25

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 79 103 189.61 nil 0 0 0.00

Iridium_during_connect 108 160 401.12 nil 0 0 0.00

Iridium_during_xfer 165 223 851.92

Transponder_ping 6 420 60.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.10

TT8 1633 19 326.72

LPSleep 13898 2 307.42

TT8_Active 526 19 105.27

TT8_Sampling 2053 39 825.41

TT8_CF8 694 45 321.17

TT8_Kalman 0 81 0.00

Analog_circuits 1579 12 191.38

GPS_charging 0 0 0.00

Compass 2012 8 162.61

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 -61.17 0.000 2 0.000 0.000 46 2910 3358

90 -1.10 -146.6 3.1 -8.2 3 113 11.95 2.58 -2.67 0.000 4 0.156 0.072 2167 1493 3502

348 -1.10 -146.6 30.3 -9.4 14 353 0.00 2.62 0.00 0.000 6 0.000 0.070 2167 2895 3503

666 -1.10 -146.6 59.0 -7.2 29 670 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1491 3503

730 -1.10 -146.6 63.0 -5.4 32 735 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2902 3503

1058 -1.10 -146.6 85.7 -7.0 48 1060 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

1366 -1.10 -146.6 108.5 -7.2 63 1370 0.00 2.60 0.00 0.000 4 0.000 0.063 2167 1486 3503

1399 -1.10 -146.6 111.5 -8.8 64 1405 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2898 3503

1716 -1.10 -146.6 137.8 -7.1 80 1718 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2898 3503

2024 -1.10 -146.6 159.4 -7.7 95 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2898 3503

2333 -1.10 -146.6 181.2 -7.6 110 2337 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1484 3503

2401 -1.10 -146.6 186.5 -8.0 113 2406 0.00 2.65 0.00 0.000 6 0.000 0.068 2167 2908 3503

2728 -1.10 -146.6 213.3 -8.3 129 2729 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2908 3503

3038 -1.10 -146.6 236.9 -7.4 144 3042 0.00 2.60 0.00 0.000 4 0.000 0.060 2167 1480 3503

3087 -1.10 -146.6 241.0 -8.3 146 3092 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2902 3503

3403 -1.10 -146.6 265.4 -8.0 161 3404 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

3713 -1.10 -146.6 293.3 -8.8 176 3717 0.00 2.58 0.00 0.000 4 0.000 0.058 2167 1485 3503

3752 -1.10 -146.6 296.6 -8.3 178 3756 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2904 3503

4079 -1.10 -146.6 325.6 -9.0 194 4080 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3503

4387 -1.10 -146.6 352.7 -8.2 209 4392 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 1484 3503

4437 -1.10 -146.6 356.9 -8.1 211 4442 0.00 2.62 0.00 0.000 6 0.000 0.064 2167 2900 3503

4754 -1.10 -146.6 380.7 -7.4 226 4755 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

5062 -1.10 -146.6 401.3 -6.1 241 5067 0.00 2.55 0.00 0.000 4 0.000 0.058 2167 1481 3503

5140 -1.10 -146.6 406.3 -7.1 244 5146 0.00 2.65 0.00 0.000 6 0.000 0.067 2167 2906 3503

5457 -1.10 -146.6 423.9 -5.6 260 5461 0.00 2.55 0.00 0.000 4 0.000 0.057 2167 1488 3503

5534 -1.10 -146.6 428.7 -6.0 263 5540 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2900 3503

5850 -1.10 -146.6 446.5 -5.6 279 5854 0.00 2.55 0.00 0.000 4 0.000 0.055 2166 1483 3503

5890 -1.10 -146.6 448.3 -4.5 280 5896 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2899 3503

6206 -1.10 -146.6 459.7 -4.3 296 6207 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6515 -1.10 -146.6 480.1 -8.5 311 6519 0.00 1.70 0.00 0.000 4 0.000 0.093 2167 3789 3503

6683 -1.10 -146.6 494.6 -8.3 318 6687 0.00 1.55 0.00 0.000 6 0.000 0.040 2167 2907 3503

7004 -1.10 -146.6 519.0 -7.5 334 7009 0.00 2.50 0.00 0.000 4 0.000 0.050 2167 1484 3503

7077 -1.10 -146.6 524.4 -7.9 337 7081 0.00 2.60 0.00 0.000 6 0.000 0.059 2167 2903 3503

7393 -1.10 -146.6 541.2 -5.6 352 7397 0.00 1.70 0.00 0.000 4 0.000 0.088 2167 3785 3503

7445 -1.10 -146.6 544.9 -7.7 354 7449 0.00 1.55 0.00 0.000 6 0.000 0.038 2167 2899 3503

7772 -1.10 -146.6 568.9 -7.3 370 7776 0.00 2.50 0.00 0.000 4 0.000 0.051 2167 1480 3503

7906 -1.10 -146.6 578.6 -7.0 376 7910 0.00 2.60 0.00 0.000 6 0.000 0.061 2167 2900 3503

8231 -1.10 -146.6 600.1 -6.3 392 8235 0.00 2.53 0.00 0.000 4 0.000 0.049 2167 1480 3503

8298 -1.10 -146.6 604.8 -7.0 395 8302 0.00 2.60 0.00 0.000 6 0.000 0.060 2167 2900 3503

8619 -1.10 -146.6 626.7 -7.8 411 8623 0.00 2.53 0.00 0.000 4 0.000 0.050 2167 1482 3502

8658 -1.10 -146.6 629.6 -6.3 413 8662 0.00 2.60 0.00 0.000 6 0.000 0.063 2167 2901 3502

8920 end dive: BOTTOM_OBSTACLE_DETECTED

state 8920 begin apogee

8929 -0.42 0.0 648.7 6.6 426 9062 0.73 0.00 127.00 1.327 6 0.081 0.000 2315 2095 2901

9063 end apogee: CONTROL_FINISHED_OK

state 9063 begin climb

9066 1.10 146.6 653.6 0.0 433 9198 1.55 2.72 122.85 1.288 4 0.058 0.064 2646 3510 2303

9455 1.10 146.8 637.5 6.0 450 9461 0.00 2.50 0.00 0.000 6 0.000 0.038 2646 2096 2301

9771 1.13 169.9 625.0 5.4 466 9797 0.00 2.72 20.77 1.271 4 0.000 0.066 2646 3515 2208

9944 1.15 181.9 616.2 5.7 474 9965 0.00 2.50 11.50 1.206 6 0.000 0.039 2646 2098 2159

10274 1.19 214.7 599.8 5.1 490 10309 0.10 2.72 29.02 1.302 4 0.052 0.066 2679 3521 2025

10354 1.19 214.7 594.1 6.9 493 10360 0.00 2.53 0.00 0.000 6 0.000 0.038 2679 2093 2024

10670 1.19 214.7 572.4 6.9 509 10671 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2093 2023

10980 1.21 234.0 553.1 5.5 524 11004 0.00 2.75 17.40 1.262 4 0.000 0.068 2679 3511 1946

11049 1.21 234.0 548.4 6.5 527 11053 0.00 2.50 0.00 0.000 6 0.000 0.041 2679 2094 1945

11377 1.21 234.0 523.5 7.9 543 11381 0.00 2.67 0.00 0.000 4 0.000 0.071 2679 3516 1944

11404 1.21 234.0 521.1 8.4 544 11408 0.00 2.50 0.00 0.000 6 0.000 0.041 2679 2102 1945

11719 1.21 234.0 493.6 10.3 559 11724 0.00 2.65 0.00 0.000 4 0.000 0.069 2679 3519 1944

11759 1.21 234.0 489.8 9.3 561 11763 0.00 2.50 0.00 0.000 6 0.000 0.041 2679 2099 1944

12085 1.21 234.0 460.0 8.9 577 12090 0.00 2.65 0.00 0.000 4 0.000 0.069 2678 3521 1943

12129 1.21 234.0 456.2 8.1 579 12134 0.00 2.50 0.00 0.000 6 0.000 0.042 2679 2101 1943

12451 1.21 234.0 432.8 6.5 595 12452 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2101 1943

12760 1.21 234.0 411.9 6.3 610 12764 0.00 2.53 0.00 0.000 4 0.000 0.060 2679 698 1944

12822 1.21 234.0 407.8 7.0 613 12826 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2109 1944

13148 1.24 259.4 389.2 5.3 629 13172 0.00 0.00 22.40 1.137 6 0.000 0.000 2679 2109 1843

13477 1.24 259.4 370.8 6.1 645 13481 0.00 2.62 0.00 0.000 4 0.000 0.074 2679 3515 1843

13554 1.24 259.4 365.3 7.3 648 13561 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2103 1843

13870 1.24 259.4 343.5 7.0 664 13875 0.00 2.65 0.00 0.000 4 0.000 0.072 2679 3516 1843

13903 1.24 259.4 340.7 8.0 665 13910 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2100 1843

14219 1.24 259.4 317.4 7.4 681 14224 0.00 2.65 0.00 0.000 4 0.000 0.072 2679 3510 1844

14253 1.24 259.4 314.8 7.9 682 14259 0.00 2.53 0.00 0.000 6 0.000 0.044 2679 2094 1844

14568 1.24 259.4 292.3 7.0 698 14572 0.00 2.65 0.00 0.000 4 0.000 0.070 2679 3509 1844

14612 1.24 259.4 289.0 8.3 700 14616 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2094 1844

14933 1.24 259.4 264.5 8.1 716 14938 0.00 2.65 0.00 0.000 4 0.000 0.068 2679 3510 1845

14983 1.24 259.4 260.0 8.7 718 14987 0.00 2.50 0.00 0.000 6 0.000 0.045 2678 2101 1845

15298 1.24 259.4 235.2 7.5 733 15302 0.00 2.62 0.00 0.000 4 0.000 0.070 2679 3511 1846

15331 1.24 259.4 232.5 7.6 734 15337 0.00 2.50 0.00 0.000 6 0.000 0.043 2679 2099 1846

15646 1.24 259.4 208.1 7.8 750 15651 0.00 2.62 0.00 0.000 4 0.000 0.071 2679 3509 1846

15691 1.24 259.4 204.3 8.2 752 15695 0.00 2.50 0.00 0.000 6 0.000 0.044 2679 2094 1846

16012 1.24 259.4 179.3 8.0 768 16016 0.00 2.65 0.00 0.000 4 0.000 0.071 2678 3509 1847

16055 1.24 259.4 175.2 8.7 770 16060 0.00 2.50 0.00 0.000 6 0.000 0.046 2679 2100 1847

16377 1.24 259.4 150.1 7.8 786 16381 0.00 2.67 0.00 0.000 4 0.000 0.074 2679 3515 1847

16404 1.24 259.4 148.3 7.1 787 16408 0.00 2.50 0.00 0.000 6 0.000 0.045 2679 2096 1847

16720 1.24 259.4 126.6 8.9 802 16721 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2096 1847

17029 1.24 259.4 101.2 10.2 817 17034 0.00 2.65 0.00 0.000 4 0.000 0.071 2679 3508 1847

17073 1.24 259.4 96.5 10.2 819 17078 0.00 2.53 0.00 0.000 6 0.000 0.048 2679 2094 1847

17395 1.24 259.4 67.5 8.0 835 17399 0.00 2.65 0.00 0.000 4 0.000 0.070 2679 3511 1847

17450 1.24 259.4 63.2 8.2 837 17457 0.00 2.47 0.00 0.000 6 0.000 0.049 2679 2101 1847

17766 1.24 259.4 35.7 9.4 853 17767 0.00 0.00 0.00 0.000 6 0.000 0.000 2679 2102 1848

18077 1.24 259.4 8.5 9.1 868 18082 0.00 2.62 0.00 0.000 4 0.000 0.071 2679 3510 1848

18117 1.34 342.9 6.6 3.7 870 18163 0.10 2.50 39.85 0.841 2 0.051 0.050 2712 2100 1651

18164 end climb: SURFACE_DEPTH_REACHED

state 18164 begin surface coast

18167 end surface coast: CONTROL_FINISHED_OK

state 18168 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	401	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	-70274.32	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	014325,6230.187,-1050.446,40,1.2,40,-10.6	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.26	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-55.0	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	015227,6230.169,-1050.661,16,2.0,16,-10.6	MHEAD_RNG_PITCHd_Wd	101.6,17672,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	655

FINISH	1.0,1.027401	XPDR_PINGS	4
SM_CCo	18252,0.00,0.000,0,0,1648,307.36	ALTIM_BOTTOM_PING	600.1,57.6
SM_GC	-0.25,12.10,0.00,0.00,0.040,0.000,0.000,45,2900,1648,-10.80,0.00,307.36	_24V_AH	23.1,67.101
IRIDIUM_FIX	6207.28,-1046.62,210108,050545	_10V_AH	10.1,31.023
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44226,872
HUMID	2066	CFSIZE	260165632,237031424
INTERNAL_PRESSURE	8.80893	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,0,0
TCM_TEMP	18.80	GPS	210108,065831,6232.346,-1050.973,39,1.9,44,-10.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	95.87	SBE_CT	642	24	356.01
Roll_motor	185	92	396.88	SBE_O2	601	19	264.11
VBD_pump_during_apogee	390	1326	11978.65	WL_BB2F	535	105	1298.25
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	79	103	189.61	nil	0	0	0.00
Iridium_during_connect	108	160	401.12	nil	0	0	0.00
Iridium_during_xfer	165	223	851.92
Transponder_ping	6	420	60.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.10
TT8	1633	19	326.72
LPSleep	13898	2	307.42
TT8_Active	526	19	105.27
TT8_Sampling	2053	39	825.41
TT8_CF8	694	45	321.17
TT8_Kalman	0	81	0.00
Analog_circuits	1579	12	191.38
GPS_charging	0	0	0.00
Compass	2012	8	162.61
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	-61.17	0.000	2	0.000	0.000	46	2910	3358
90	-1.10	-146.6	3.1	-8.2	3	113	11.95	2.58	-2.67	0.000	4	0.156	0.072	2167	1493	3502
348	-1.10	-146.6	30.3	-9.4	14	353	0.00	2.62	0.00	0.000	6	0.000	0.070	2167	2895	3503
666	-1.10	-146.6	59.0	-7.2	29	670	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1491	3503
730	-1.10	-146.6	63.0	-5.4	32	735	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2902	3503
1058	-1.10	-146.6	85.7	-7.0	48	1060	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
1366	-1.10	-146.6	108.5	-7.2	63	1370	0.00	2.60	0.00	0.000	4	0.000	0.063	2167	1486	3503
1399	-1.10	-146.6	111.5	-8.8	64	1405	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2898	3503
1716	-1.10	-146.6	137.8	-7.1	80	1718	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2898	3503
2024	-1.10	-146.6	159.4	-7.7	95	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2898	3503
2333	-1.10	-146.6	181.2	-7.6	110	2337	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1484	3503
2401	-1.10	-146.6	186.5	-8.0	113	2406	0.00	2.65	0.00	0.000	6	0.000	0.068	2167	2908	3503
2728	-1.10	-146.6	213.3	-8.3	129	2729	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2908	3503
3038	-1.10	-146.6	236.9	-7.4	144	3042	0.00	2.60	0.00	0.000	4	0.000	0.060	2167	1480	3503
3087	-1.10	-146.6	241.0	-8.3	146	3092	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2902	3503
3403	-1.10	-146.6	265.4	-8.0	161	3404	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
3713	-1.10	-146.6	293.3	-8.8	176	3717	0.00	2.58	0.00	0.000	4	0.000	0.058	2167	1485	3503
3752	-1.10	-146.6	296.6	-8.3	178	3756	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2904	3503
4079	-1.10	-146.6	325.6	-9.0	194	4080	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3503
4387	-1.10	-146.6	352.7	-8.2	209	4392	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	1484	3503
4437	-1.10	-146.6	356.9	-8.1	211	4442	0.00	2.62	0.00	0.000	6	0.000	0.064	2167	2900	3503
4754	-1.10	-146.6	380.7	-7.4	226	4755	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
5062	-1.10	-146.6	401.3	-6.1	241	5067	0.00	2.55	0.00	0.000	4	0.000	0.058	2167	1481	3503
5140	-1.10	-146.6	406.3	-7.1	244	5146	0.00	2.65	0.00	0.000	6	0.000	0.067	2167	2906	3503
5457	-1.10	-146.6	423.9	-5.6	260	5461	0.00	2.55	0.00	0.000	4	0.000	0.057	2167	1488	3503
5534	-1.10	-146.6	428.7	-6.0	263	5540	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2900	3503
5850	-1.10	-146.6	446.5	-5.6	279	5854	0.00	2.55	0.00	0.000	4	0.000	0.055	2166	1483	3503
5890	-1.10	-146.6	448.3	-4.5	280	5896	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2899	3503
6206	-1.10	-146.6	459.7	-4.3	296	6207	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6515	-1.10	-146.6	480.1	-8.5	311	6519	0.00	1.70	0.00	0.000	4	0.000	0.093	2167	3789	3503
6683	-1.10	-146.6	494.6	-8.3	318	6687	0.00	1.55	0.00	0.000	6	0.000	0.040	2167	2907	3503
7004	-1.10	-146.6	519.0	-7.5	334	7009	0.00	2.50	0.00	0.000	4	0.000	0.050	2167	1484	3503
7077	-1.10	-146.6	524.4	-7.9	337	7081	0.00	2.60	0.00	0.000	6	0.000	0.059	2167	2903	3503
7393	-1.10	-146.6	541.2	-5.6	352	7397	0.00	1.70	0.00	0.000	4	0.000	0.088	2167	3785	3503
7445	-1.10	-146.6	544.9	-7.7	354	7449	0.00	1.55	0.00	0.000	6	0.000	0.038	2167	2899	3503
7772	-1.10	-146.6	568.9	-7.3	370	7776	0.00	2.50	0.00	0.000	4	0.000	0.051	2167	1480	3503
7906	-1.10	-146.6	578.6	-7.0	376	7910	0.00	2.60	0.00	0.000	6	0.000	0.061	2167	2900	3503
8231	-1.10	-146.6	600.1	-6.3	392	8235	0.00	2.53	0.00	0.000	4	0.000	0.049	2167	1480	3503
8298	-1.10	-146.6	604.8	-7.0	395	8302	0.00	2.60	0.00	0.000	6	0.000	0.060	2167	2900	3503
8619	-1.10	-146.6	626.7	-7.8	411	8623	0.00	2.53	0.00	0.000	4	0.000	0.050	2167	1482	3502
8658	-1.10	-146.6	629.6	-6.3	413	8662	0.00	2.60	0.00	0.000	6	0.000	0.063	2167	2901	3502
8920	end dive: BOTTOM_OBSTACLE_DETECTED
state	8920	begin apogee
8929	-0.42	0.0	648.7	6.6	426	9062	0.73	0.00	127.00	1.327	6	0.081	0.000	2315	2095	2901
9063	end apogee: CONTROL_FINISHED_OK
state	9063	begin climb
9066	1.10	146.6	653.6	0.0	433	9198	1.55	2.72	122.85	1.288	4	0.058	0.064	2646	3510	2303
9455	1.10	146.8	637.5	6.0	450	9461	0.00	2.50	0.00	0.000	6	0.000	0.038	2646	2096	2301
9771	1.13	169.9	625.0	5.4	466	9797	0.00	2.72	20.77	1.271	4	0.000	0.066	2646	3515	2208
9944	1.15	181.9	616.2	5.7	474	9965	0.00	2.50	11.50	1.206	6	0.000	0.039	2646	2098	2159
10274	1.19	214.7	599.8	5.1	490	10309	0.10	2.72	29.02	1.302	4	0.052	0.066	2679	3521	2025
10354	1.19	214.7	594.1	6.9	493	10360	0.00	2.53	0.00	0.000	6	0.000	0.038	2679	2093	2024
10670	1.19	214.7	572.4	6.9	509	10671	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2093	2023
10980	1.21	234.0	553.1	5.5	524	11004	0.00	2.75	17.40	1.262	4	0.000	0.068	2679	3511	1946
11049	1.21	234.0	548.4	6.5	527	11053	0.00	2.50	0.00	0.000	6	0.000	0.041	2679	2094	1945
11377	1.21	234.0	523.5	7.9	543	11381	0.00	2.67	0.00	0.000	4	0.000	0.071	2679	3516	1944
11404	1.21	234.0	521.1	8.4	544	11408	0.00	2.50	0.00	0.000	6	0.000	0.041	2679	2102	1945
11719	1.21	234.0	493.6	10.3	559	11724	0.00	2.65	0.00	0.000	4	0.000	0.069	2679	3519	1944
11759	1.21	234.0	489.8	9.3	561	11763	0.00	2.50	0.00	0.000	6	0.000	0.041	2679	2099	1944
12085	1.21	234.0	460.0	8.9	577	12090	0.00	2.65	0.00	0.000	4	0.000	0.069	2678	3521	1943
12129	1.21	234.0	456.2	8.1	579	12134	0.00	2.50	0.00	0.000	6	0.000	0.042	2679	2101	1943
12451	1.21	234.0	432.8	6.5	595	12452	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2101	1943
12760	1.21	234.0	411.9	6.3	610	12764	0.00	2.53	0.00	0.000	4	0.000	0.060	2679	698	1944
12822	1.21	234.0	407.8	7.0	613	12826	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2109	1944
13148	1.24	259.4	389.2	5.3	629	13172	0.00	0.00	22.40	1.137	6	0.000	0.000	2679	2109	1843
13477	1.24	259.4	370.8	6.1	645	13481	0.00	2.62	0.00	0.000	4	0.000	0.074	2679	3515	1843
13554	1.24	259.4	365.3	7.3	648	13561	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2103	1843
13870	1.24	259.4	343.5	7.0	664	13875	0.00	2.65	0.00	0.000	4	0.000	0.072	2679	3516	1843
13903	1.24	259.4	340.7	8.0	665	13910	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2100	1843
14219	1.24	259.4	317.4	7.4	681	14224	0.00	2.65	0.00	0.000	4	0.000	0.072	2679	3510	1844
14253	1.24	259.4	314.8	7.9	682	14259	0.00	2.53	0.00	0.000	6	0.000	0.044	2679	2094	1844
14568	1.24	259.4	292.3	7.0	698	14572	0.00	2.65	0.00	0.000	4	0.000	0.070	2679	3509	1844
14612	1.24	259.4	289.0	8.3	700	14616	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2094	1844
14933	1.24	259.4	264.5	8.1	716	14938	0.00	2.65	0.00	0.000	4	0.000	0.068	2679	3510	1845
14983	1.24	259.4	260.0	8.7	718	14987	0.00	2.50	0.00	0.000	6	0.000	0.045	2678	2101	1845
15298	1.24	259.4	235.2	7.5	733	15302	0.00	2.62	0.00	0.000	4	0.000	0.070	2679	3511	1846
15331	1.24	259.4	232.5	7.6	734	15337	0.00	2.50	0.00	0.000	6	0.000	0.043	2679	2099	1846
15646	1.24	259.4	208.1	7.8	750	15651	0.00	2.62	0.00	0.000	4	0.000	0.071	2679	3509	1846
15691	1.24	259.4	204.3	8.2	752	15695	0.00	2.50	0.00	0.000	6	0.000	0.044	2679	2094	1846
16012	1.24	259.4	179.3	8.0	768	16016	0.00	2.65	0.00	0.000	4	0.000	0.071	2678	3509	1847
16055	1.24	259.4	175.2	8.7	770	16060	0.00	2.50	0.00	0.000	6	0.000	0.046	2679	2100	1847
16377	1.24	259.4	150.1	7.8	786	16381	0.00	2.67	0.00	0.000	4	0.000	0.074	2679	3515	1847
16404	1.24	259.4	148.3	7.1	787	16408	0.00	2.50	0.00	0.000	6	0.000	0.045	2679	2096	1847
16720	1.24	259.4	126.6	8.9	802	16721	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2096	1847
17029	1.24	259.4	101.2	10.2	817	17034	0.00	2.65	0.00	0.000	4	0.000	0.071	2679	3508	1847
17073	1.24	259.4	96.5	10.2	819	17078	0.00	2.53	0.00	0.000	6	0.000	0.048	2679	2094	1847
17395	1.24	259.4	67.5	8.0	835	17399	0.00	2.65	0.00	0.000	4	0.000	0.070	2679	3511	1847
17450	1.24	259.4	63.2	8.2	837	17457	0.00	2.47	0.00	0.000	6	0.000	0.049	2679	2101	1847
17766	1.24	259.4	35.7	9.4	853	17767	0.00	0.00	0.00	0.000	6	0.000	0.000	2679	2102	1848
18077	1.24	259.4	8.5	9.1	868	18082	0.00	2.62	0.00	0.000	4	0.000	0.071	2679	3510	1848
18117	1.34	342.9	6.6	3.7	870	18163	0.10	2.50	39.85	0.841	2	0.051	0.050	2712	2100	1651
18164	end climb: SURFACE_DEPTH_REACHED
state	18164	begin surface coast
18167	end surface coast: CONTROL_FINISHED_OK
state	18168	begin surface