Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 89 * 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 89 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 1775 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 120 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 -63860.027 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 1 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 -63860.027

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

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 1775 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 89 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 201825,6132.888,-900.541,26,1.4,44,-9.2 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.045,0.214

_SM_DEPTHo 0.21 KALMAN_X -90651.8,978.8,285.7,66405.5,-1.6

_SM_ANGLEo -59.1 KALMAN_Y 93461.1,-318.5,666.1,-95820.0,-1828.0

GPS2 202251,6132.907,-900.459,15,1.4,15,-9.2 MHEAD_RNG_PITCHd_Wd 357.2,39317,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 669

Post-dive calculations and measurements:

FINISH -0.7,1.026954 XPDR_PINGS 2

SM_CCo 18283,55.53,0.755,1,0,1677,300.00 _24V_AH 23.5,19.671

SM_GC 0.13,0.00,0.00,55.53,0.000,0.000,0.755,44,2879,1677,-10.88,-0.59,300.00 _10V_AH 10.1,7.981

IRIDIUM_FIX 6103.81,-902.57,251107,191929 DATA_FILE_SIZE 44315,881

TT8_MAMPS 0.029146 CFSIZE 260165632,253919232

HUMID 2051 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,51,1,0

INTERNAL_PRESSURE 8.88706 GPS 261107,013056,6135.300,-855.847,41,1.1,41,-9.2

TCM_TEMP 17.60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.73 SBE_CT 625 24 352.82

Roll_motor 190 93 419.07 SBE_O2 624 19 278.68

VBD_pump_during_apogee 322 1217 9211.49 WL_BB2F 554 105 1367.08

VBD_pump_during_surface 55 754 984.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.73 nil 0 0 0.00

Iridium_during_connect 26 160 99.91 nil 0 0 0.00

Iridium_during_xfer 113 223 596.66

Transponder_ping 5 420 56.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.60

TT8 1693 19 338.64

LPSleep 13858 2 306.55

TT8_Active 536 19 107.22

TT8_Sampling 2196 39 882.83

TT8_CF8 343 45 159.11

TT8_Kalman 33 81 27.56

Analog_circuits 1627 12 197.19

GPS_charging 0 0 0.00

Compass 2155 8 174.15

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.10 -146.6 0.0 0.0 0 93 0.00 0.00 -73.10 0.000 6 0.000 0.000 45 2888 3500

95 -1.10 -146.6 2.4 -5.5 3 112 11.98 1.77 0.00 0.000 4 0.159 0.094 2164 3785 3502

318 -1.10 -146.6 32.8 -5.5 12 323 0.00 1.55 0.00 0.000 6 0.000 0.038 2164 2904 3503

645 -1.10 -146.6 59.6 -10.8 28 646 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3503

954 -1.10 -146.6 88.9 -8.5 43 959 0.00 2.65 0.00 0.000 4 0.000 0.074 2164 1478 3503

1003 -1.10 -146.6 92.5 -7.0 45 1008 0.00 2.70 0.00 0.000 6 0.000 0.080 2164 2900 3503

1325 -1.10 -146.6 110.0 -5.7 61 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

1634 -1.10 -146.6 129.8 -4.8 76 1638 0.00 2.62 0.00 0.000 4 0.000 0.072 2164 1486 3503

1673 -1.10 -146.6 131.9 -5.5 78 1677 0.00 2.65 0.00 0.000 6 0.000 0.074 2164 2900 3503

1998 -1.10 -146.6 154.8 -6.5 94 2002 0.00 2.62 0.00 0.000 4 0.000 0.072 2164 1479 3503

2041 -1.10 -146.6 157.2 -5.3 96 2045 0.00 2.67 0.00 0.000 6 0.000 0.078 2164 2899 3503

2367 -1.10 -146.6 182.4 -8.6 112 2368 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2676 -1.10 -146.6 207.3 -7.4 127 2681 0.00 2.60 0.00 0.000 4 0.000 0.070 2164 1482 3503

2715 -1.10 -146.6 209.8 -6.7 129 2719 0.00 2.67 0.00 0.000 6 0.000 0.077 2164 2900 3503

3041 -1.10 -146.6 233.1 -7.5 145 3044 0.00 1.67 0.00 0.000 4 0.000 0.087 2164 3789 3503

3095 -1.10 -146.6 237.5 -7.6 147 3100 0.00 1.52 0.00 0.000 6 0.000 0.034 2164 2902 3503

3416 -1.10 -146.6 259.2 -6.2 163 3421 0.00 2.60 0.00 0.000 4 0.000 0.070 2164 1486 3503

3449 -1.10 -146.6 261.0 -5.1 164 3455 0.00 2.67 0.00 0.000 6 0.000 0.077 2164 2906 3503

3765 -1.10 -146.6 275.1 -4.5 180 3769 0.00 2.62 0.00 0.000 4 0.000 0.069 2164 1487 3503

3797 -1.10 -146.6 276.6 -4.8 181 3803 0.00 2.65 0.00 0.000 6 0.000 0.077 2164 2899 3503

4112 -1.10 -146.6 288.9 -3.2 197 4114 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

4421 -1.10 -146.6 297.1 -2.4 212 4426 0.00 2.60 0.00 0.000 4 0.000 0.071 2164 1489 3503

4483 -1.10 -146.6 298.5 -2.2 215 4487 0.00 2.67 0.00 0.000 6 0.000 0.077 2164 2907 3503

4808 -1.10 -146.6 307.1 -3.4 231 4810 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2907 3503

5118 -1.10 -146.6 323.3 -5.9 246 5122 0.00 2.62 0.00 0.000 4 0.000 0.070 2164 1487 3503

5189 -1.10 -146.6 327.5 -5.4 249 5193 0.00 2.65 0.00 0.000 6 0.000 0.076 2164 2901 3503

5509 -1.10 -146.6 348.3 -6.8 265 5511 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3503

5819 -1.10 -146.6 370.5 -7.3 280 5823 0.00 2.58 0.00 0.000 4 0.000 0.069 2164 1488 3503

5885 -1.10 -146.6 375.3 -7.1 283 5889 0.00 2.62 0.00 0.000 6 0.000 0.074 2164 2900 3503

6205 -1.10 -146.6 400.5 -8.0 299 6206 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

6514 -1.10 -146.6 423.0 -6.7 314 6518 0.00 2.55 0.00 0.000 4 0.000 0.064 2164 1487 3503

6556 -1.10 -146.6 426.1 -7.3 316 6561 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2899 3503

6883 -1.10 -146.6 447.6 -6.5 332 6887 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1481 3503

6922 -1.10 -146.6 450.1 -6.3 334 6926 0.00 2.65 0.00 0.000 6 0.000 0.070 2164 2909 3502

7247 -1.10 -146.6 472.6 -7.5 350 7251 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1484 3503

7281 -1.10 -146.6 475.2 -7.8 351 7287 0.00 2.65 0.00 0.000 6 0.000 0.069 2164 2908 3502

7595 -1.10 -146.6 496.9 -6.6 367 7599 0.00 2.55 0.00 0.000 4 0.000 0.059 2164 1479 3502

7633 -1.10 -146.6 499.6 -7.6 369 7638 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2906 3502

7964 -1.10 -146.6 523.2 -6.7 385 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2906 3502

8273 -1.10 -146.6 544.0 -6.7 400 8274 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2906 3502

8582 -1.10 -146.6 566.5 -8.0 415 8584 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2906 3502

8891 -1.10 -146.6 592.2 -8.0 430 8895 0.00 2.50 0.00 0.000 4 0.000 0.054 2164 1483 3502

8952 -1.10 -146.6 597.3 -8.8 432 8959 0.00 2.60 0.00 0.000 6 0.000 0.062 2164 2893 3502

9267 -1.10 -146.6 621.9 -7.3 448 9271 0.00 2.50 0.00 0.000 4 0.000 0.053 2164 1483 3502

9311 -1.10 -146.6 625.6 -7.4 450 9316 0.00 2.58 0.00 0.000 6 0.000 0.061 2164 2904 3502

9640 -1.10 -146.6 651.3 -8.1 466 9644 0.00 2.53 0.00 0.000 4 0.000 0.050 2164 1480 3502

9683 -1.10 -146.6 654.9 -8.0 468 9687 0.00 2.58 0.00 0.000 6 0.000 0.059 2164 2904 3502

9884 end dive: TARGET_DEPTH_EXCEEDED

state 9884 begin apogee

9890 -0.42 0.0 669.7 7.1 478 10018 0.75 0.00 124.82 1.217 6 0.074 0.000 2321 1763 2901

10019 end apogee: CONTROL_FINISHED_OK

state 10019 begin climb

10021 1.10 146.6 674.8 0.0 484 10151 1.50 2.65 122.05 1.188 4 0.051 0.064 2647 379 2303

10298 1.14 180.8 667.2 5.1 497 10334 0.00 2.47 30.08 1.145 6 0.000 0.034 2647 1808 2163

10644 1.18 209.0 649.3 5.2 513 10673 0.00 2.53 24.75 1.127 4 0.000 0.058 2647 3163 2049

10818 1.21 231.7 639.0 5.4 521 10844 0.08 2.45 20.33 1.103 6 0.032 0.039 2686 1784 1956

11165 1.21 231.7 614.9 7.6 538 11170 0.00 2.53 0.00 0.000 4 0.000 0.054 2686 3171 1955

11294 1.21 231.7 604.9 7.6 544 11298 0.00 2.42 0.00 0.000 6 0.000 0.038 2686 1776 1955

11625 1.21 231.7 579.6 7.3 560 11629 0.00 2.53 0.00 0.000 4 0.000 0.056 2686 3171 1955

11758 1.21 231.7 569.7 6.9 566 11763 0.00 2.45 0.00 0.000 6 0.000 0.038 2687 1784 1955

12085 1.21 231.7 543.5 8.3 582 12089 0.00 2.50 0.00 0.000 4 0.000 0.058 2686 3167 1955

12196 1.21 231.7 533.7 8.5 587 12201 0.00 2.45 0.00 0.000 6 0.000 0.039 2686 1776 1955

12516 1.21 231.7 504.6 9.5 603 12520 0.00 2.53 0.00 0.000 4 0.000 0.061 2686 3164 1955

12604 1.21 231.7 495.7 10.2 607 12609 0.00 2.45 0.00 0.000 6 0.000 0.041 2686 1780 1955

12931 1.21 231.7 461.7 10.2 623 12935 0.00 2.53 0.00 0.000 4 0.000 0.066 2686 3162 1955

13037 1.21 231.7 450.6 10.5 628 13041 0.00 2.45 0.00 0.000 6 0.000 0.046 2686 1774 1954

13363 1.21 231.7 419.5 9.5 644 13367 0.00 2.58 0.00 0.000 4 0.000 0.068 2687 3169 1954

13456 1.21 231.7 410.6 9.3 648 13461 0.00 2.50 0.00 0.000 6 0.000 0.051 2687 1783 1955

13777 1.21 231.7 379.8 10.0 664 13782 0.00 2.58 0.00 0.000 4 0.000 0.072 2686 3164 1954

13871 1.21 231.7 369.9 10.6 668 13875 0.00 2.53 0.00 0.000 6 0.000 0.054 2686 1774 1955

14192 1.21 231.7 336.7 10.3 684 14196 0.00 2.58 0.00 0.000 4 0.000 0.071 2686 3161 1954

14308 1.21 231.7 324.1 10.5 689 14312 0.00 2.53 0.00 0.000 6 0.000 0.055 2687 1756 1955

14629 1.21 231.7 291.7 10.0 705 14633 0.00 2.60 0.00 0.000 4 0.000 0.072 2686 3161 1955

14734 1.21 231.7 281.6 8.6 710 14739 0.00 2.50 0.00 0.000 6 0.000 0.058 2687 1772 1955

15060 1.21 231.7 252.7 8.4 726 15065 0.00 2.60 0.00 0.000 4 0.000 0.071 2686 3161 1955

15172 1.21 231.7 243.7 8.6 731 15177 0.00 2.53 0.00 0.000 6 0.000 0.058 2687 1774 1955

15492 1.21 231.7 216.8 9.0 747 15497 0.00 2.58 0.00 0.000 4 0.000 0.073 2687 3161 1955

15598 1.21 231.7 206.8 8.7 752 15602 0.00 2.50 0.00 0.000 6 0.000 0.059 2686 1773 1955

15930 1.21 231.7 179.6 7.8 768 15934 0.00 2.60 0.00 0.000 4 0.000 0.074 2686 3165 1955

16017 1.21 231.7 172.7 8.0 772 16022 0.00 2.53 0.00 0.000 6 0.000 0.058 2687 1779 1956

16344 1.21 231.7 144.2 9.4 788 16349 0.00 2.60 0.00 0.000 4 0.000 0.074 2686 3162 1955

16406 1.21 231.7 138.7 8.5 791 16410 0.00 2.50 0.00 0.000 6 0.000 0.058 2687 1775 1955

16733 1.21 231.7 111.4 8.3 807 16737 0.00 2.62 0.00 0.000 4 0.000 0.076 2686 3167 1955

16820 1.21 231.7 104.7 7.0 811 16825 0.00 2.53 0.00 0.000 6 0.000 0.059 2687 1782 1956

17147 1.21 231.7 80.4 7.3 827 17151 0.00 2.60 0.00 0.000 4 0.000 0.074 2686 3165 1956

17235 1.21 231.7 73.2 8.5 831 17239 0.00 2.55 0.00 0.000 6 0.000 0.060 2687 1774 1956

17562 1.21 231.7 48.9 6.4 847 17566 0.00 2.60 0.00 0.000 4 0.000 0.075 2687 3162 1956

17655 1.21 231.7 42.4 7.7 851 17659 0.00 2.53 0.00 0.000 6 0.000 0.059 2687 1780 1956

17978 1.21 231.7 22.5 6.8 867 17982 0.00 2.60 0.00 0.000 4 0.000 0.076 2686 3161 1956

18061 1.21 231.7 15.5 9.0 871 18066 0.00 2.53 0.00 0.000 6 0.000 0.061 2687 1774 1956

18242 end climb: SURFACE_DEPTH_REACHED

state 18242 begin surface coast

18263 end surface coast: CONTROL_FINISHED_OK

state 18263 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	89	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	1775	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	120	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	-63860.027	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	1	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	201825,6132.888,-900.541,26,1.4,44,-9.2	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.045,0.214
_SM_DEPTHo	0.21	KALMAN_X	-90651.8,978.8,285.7,66405.5,-1.6
_SM_ANGLEo	-59.1	KALMAN_Y	93461.1,-318.5,666.1,-95820.0,-1828.0
GPS2	202251,6132.907,-900.459,15,1.4,15,-9.2	MHEAD_RNG_PITCHd_Wd	357.2,39317,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	669

FINISH	-0.7,1.026954	XPDR_PINGS	2
SM_CCo	18283,55.53,0.755,1,0,1677,300.00	_24V_AH	23.5,19.671
SM_GC	0.13,0.00,0.00,55.53,0.000,0.000,0.755,44,2879,1677,-10.88,-0.59,300.00	_10V_AH	10.1,7.981
IRIDIUM_FIX	6103.81,-902.57,251107,191929	DATA_FILE_SIZE	44315,881
TT8_MAMPS	0.029146	CFSIZE	260165632,253919232
HUMID	2051	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,51,1,0
INTERNAL_PRESSURE	8.88706	GPS	261107,013056,6135.300,-855.847,41,1.1,41,-9.2
TCM_TEMP	17.60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.73	SBE_CT	625	24	352.82
Roll_motor	190	93	419.07	SBE_O2	624	19	278.68
VBD_pump_during_apogee	322	1217	9211.49	WL_BB2F	554	105	1367.08
VBD_pump_during_surface	55	754	984.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.73	nil	0	0	0.00
Iridium_during_connect	26	160	99.91	nil	0	0	0.00
Iridium_during_xfer	113	223	596.66
Transponder_ping	5	420	56.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.60
TT8	1693	19	338.64
LPSleep	13858	2	306.55
TT8_Active	536	19	107.22
TT8_Sampling	2196	39	882.83
TT8_CF8	343	45	159.11
TT8_Kalman	33	81	27.56
Analog_circuits	1627	12	197.19
GPS_charging	0	0	0.00
Compass	2155	8	174.15
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.10	-146.6	0.0	0.0	0	93	0.00	0.00	-73.10	0.000	6	0.000	0.000	45	2888	3500
95	-1.10	-146.6	2.4	-5.5	3	112	11.98	1.77	0.00	0.000	4	0.159	0.094	2164	3785	3502
318	-1.10	-146.6	32.8	-5.5	12	323	0.00	1.55	0.00	0.000	6	0.000	0.038	2164	2904	3503
645	-1.10	-146.6	59.6	-10.8	28	646	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3503
954	-1.10	-146.6	88.9	-8.5	43	959	0.00	2.65	0.00	0.000	4	0.000	0.074	2164	1478	3503
1003	-1.10	-146.6	92.5	-7.0	45	1008	0.00	2.70	0.00	0.000	6	0.000	0.080	2164	2900	3503
1325	-1.10	-146.6	110.0	-5.7	61	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
1634	-1.10	-146.6	129.8	-4.8	76	1638	0.00	2.62	0.00	0.000	4	0.000	0.072	2164	1486	3503
1673	-1.10	-146.6	131.9	-5.5	78	1677	0.00	2.65	0.00	0.000	6	0.000	0.074	2164	2900	3503
1998	-1.10	-146.6	154.8	-6.5	94	2002	0.00	2.62	0.00	0.000	4	0.000	0.072	2164	1479	3503
2041	-1.10	-146.6	157.2	-5.3	96	2045	0.00	2.67	0.00	0.000	6	0.000	0.078	2164	2899	3503
2367	-1.10	-146.6	182.4	-8.6	112	2368	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2676	-1.10	-146.6	207.3	-7.4	127	2681	0.00	2.60	0.00	0.000	4	0.000	0.070	2164	1482	3503
2715	-1.10	-146.6	209.8	-6.7	129	2719	0.00	2.67	0.00	0.000	6	0.000	0.077	2164	2900	3503
3041	-1.10	-146.6	233.1	-7.5	145	3044	0.00	1.67	0.00	0.000	4	0.000	0.087	2164	3789	3503
3095	-1.10	-146.6	237.5	-7.6	147	3100	0.00	1.52	0.00	0.000	6	0.000	0.034	2164	2902	3503
3416	-1.10	-146.6	259.2	-6.2	163	3421	0.00	2.60	0.00	0.000	4	0.000	0.070	2164	1486	3503
3449	-1.10	-146.6	261.0	-5.1	164	3455	0.00	2.67	0.00	0.000	6	0.000	0.077	2164	2906	3503
3765	-1.10	-146.6	275.1	-4.5	180	3769	0.00	2.62	0.00	0.000	4	0.000	0.069	2164	1487	3503
3797	-1.10	-146.6	276.6	-4.8	181	3803	0.00	2.65	0.00	0.000	6	0.000	0.077	2164	2899	3503
4112	-1.10	-146.6	288.9	-3.2	197	4114	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
4421	-1.10	-146.6	297.1	-2.4	212	4426	0.00	2.60	0.00	0.000	4	0.000	0.071	2164	1489	3503
4483	-1.10	-146.6	298.5	-2.2	215	4487	0.00	2.67	0.00	0.000	6	0.000	0.077	2164	2907	3503
4808	-1.10	-146.6	307.1	-3.4	231	4810	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2907	3503
5118	-1.10	-146.6	323.3	-5.9	246	5122	0.00	2.62	0.00	0.000	4	0.000	0.070	2164	1487	3503
5189	-1.10	-146.6	327.5	-5.4	249	5193	0.00	2.65	0.00	0.000	6	0.000	0.076	2164	2901	3503
5509	-1.10	-146.6	348.3	-6.8	265	5511	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3503
5819	-1.10	-146.6	370.5	-7.3	280	5823	0.00	2.58	0.00	0.000	4	0.000	0.069	2164	1488	3503
5885	-1.10	-146.6	375.3	-7.1	283	5889	0.00	2.62	0.00	0.000	6	0.000	0.074	2164	2900	3503
6205	-1.10	-146.6	400.5	-8.0	299	6206	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
6514	-1.10	-146.6	423.0	-6.7	314	6518	0.00	2.55	0.00	0.000	4	0.000	0.064	2164	1487	3503
6556	-1.10	-146.6	426.1	-7.3	316	6561	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2899	3503
6883	-1.10	-146.6	447.6	-6.5	332	6887	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1481	3503
6922	-1.10	-146.6	450.1	-6.3	334	6926	0.00	2.65	0.00	0.000	6	0.000	0.070	2164	2909	3502
7247	-1.10	-146.6	472.6	-7.5	350	7251	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1484	3503
7281	-1.10	-146.6	475.2	-7.8	351	7287	0.00	2.65	0.00	0.000	6	0.000	0.069	2164	2908	3502
7595	-1.10	-146.6	496.9	-6.6	367	7599	0.00	2.55	0.00	0.000	4	0.000	0.059	2164	1479	3502
7633	-1.10	-146.6	499.6	-7.6	369	7638	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2906	3502
7964	-1.10	-146.6	523.2	-6.7	385	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2906	3502
8273	-1.10	-146.6	544.0	-6.7	400	8274	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2906	3502
8582	-1.10	-146.6	566.5	-8.0	415	8584	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2906	3502
8891	-1.10	-146.6	592.2	-8.0	430	8895	0.00	2.50	0.00	0.000	4	0.000	0.054	2164	1483	3502
8952	-1.10	-146.6	597.3	-8.8	432	8959	0.00	2.60	0.00	0.000	6	0.000	0.062	2164	2893	3502
9267	-1.10	-146.6	621.9	-7.3	448	9271	0.00	2.50	0.00	0.000	4	0.000	0.053	2164	1483	3502
9311	-1.10	-146.6	625.6	-7.4	450	9316	0.00	2.58	0.00	0.000	6	0.000	0.061	2164	2904	3502
9640	-1.10	-146.6	651.3	-8.1	466	9644	0.00	2.53	0.00	0.000	4	0.000	0.050	2164	1480	3502
9683	-1.10	-146.6	654.9	-8.0	468	9687	0.00	2.58	0.00	0.000	6	0.000	0.059	2164	2904	3502
9884	end dive: TARGET_DEPTH_EXCEEDED
state	9884	begin apogee
9890	-0.42	0.0	669.7	7.1	478	10018	0.75	0.00	124.82	1.217	6	0.074	0.000	2321	1763	2901
10019	end apogee: CONTROL_FINISHED_OK
state	10019	begin climb
10021	1.10	146.6	674.8	0.0	484	10151	1.50	2.65	122.05	1.188	4	0.051	0.064	2647	379	2303
10298	1.14	180.8	667.2	5.1	497	10334	0.00	2.47	30.08	1.145	6	0.000	0.034	2647	1808	2163
10644	1.18	209.0	649.3	5.2	513	10673	0.00	2.53	24.75	1.127	4	0.000	0.058	2647	3163	2049
10818	1.21	231.7	639.0	5.4	521	10844	0.08	2.45	20.33	1.103	6	0.032	0.039	2686	1784	1956
11165	1.21	231.7	614.9	7.6	538	11170	0.00	2.53	0.00	0.000	4	0.000	0.054	2686	3171	1955
11294	1.21	231.7	604.9	7.6	544	11298	0.00	2.42	0.00	0.000	6	0.000	0.038	2686	1776	1955
11625	1.21	231.7	579.6	7.3	560	11629	0.00	2.53	0.00	0.000	4	0.000	0.056	2686	3171	1955
11758	1.21	231.7	569.7	6.9	566	11763	0.00	2.45	0.00	0.000	6	0.000	0.038	2687	1784	1955
12085	1.21	231.7	543.5	8.3	582	12089	0.00	2.50	0.00	0.000	4	0.000	0.058	2686	3167	1955
12196	1.21	231.7	533.7	8.5	587	12201	0.00	2.45	0.00	0.000	6	0.000	0.039	2686	1776	1955
12516	1.21	231.7	504.6	9.5	603	12520	0.00	2.53	0.00	0.000	4	0.000	0.061	2686	3164	1955
12604	1.21	231.7	495.7	10.2	607	12609	0.00	2.45	0.00	0.000	6	0.000	0.041	2686	1780	1955
12931	1.21	231.7	461.7	10.2	623	12935	0.00	2.53	0.00	0.000	4	0.000	0.066	2686	3162	1955
13037	1.21	231.7	450.6	10.5	628	13041	0.00	2.45	0.00	0.000	6	0.000	0.046	2686	1774	1954
13363	1.21	231.7	419.5	9.5	644	13367	0.00	2.58	0.00	0.000	4	0.000	0.068	2687	3169	1954
13456	1.21	231.7	410.6	9.3	648	13461	0.00	2.50	0.00	0.000	6	0.000	0.051	2687	1783	1955
13777	1.21	231.7	379.8	10.0	664	13782	0.00	2.58	0.00	0.000	4	0.000	0.072	2686	3164	1954
13871	1.21	231.7	369.9	10.6	668	13875	0.00	2.53	0.00	0.000	6	0.000	0.054	2686	1774	1955
14192	1.21	231.7	336.7	10.3	684	14196	0.00	2.58	0.00	0.000	4	0.000	0.071	2686	3161	1954
14308	1.21	231.7	324.1	10.5	689	14312	0.00	2.53	0.00	0.000	6	0.000	0.055	2687	1756	1955
14629	1.21	231.7	291.7	10.0	705	14633	0.00	2.60	0.00	0.000	4	0.000	0.072	2686	3161	1955
14734	1.21	231.7	281.6	8.6	710	14739	0.00	2.50	0.00	0.000	6	0.000	0.058	2687	1772	1955
15060	1.21	231.7	252.7	8.4	726	15065	0.00	2.60	0.00	0.000	4	0.000	0.071	2686	3161	1955
15172	1.21	231.7	243.7	8.6	731	15177	0.00	2.53	0.00	0.000	6	0.000	0.058	2687	1774	1955
15492	1.21	231.7	216.8	9.0	747	15497	0.00	2.58	0.00	0.000	4	0.000	0.073	2687	3161	1955
15598	1.21	231.7	206.8	8.7	752	15602	0.00	2.50	0.00	0.000	6	0.000	0.059	2686	1773	1955
15930	1.21	231.7	179.6	7.8	768	15934	0.00	2.60	0.00	0.000	4	0.000	0.074	2686	3165	1955
16017	1.21	231.7	172.7	8.0	772	16022	0.00	2.53	0.00	0.000	6	0.000	0.058	2687	1779	1956
16344	1.21	231.7	144.2	9.4	788	16349	0.00	2.60	0.00	0.000	4	0.000	0.074	2686	3162	1955
16406	1.21	231.7	138.7	8.5	791	16410	0.00	2.50	0.00	0.000	6	0.000	0.058	2687	1775	1955
16733	1.21	231.7	111.4	8.3	807	16737	0.00	2.62	0.00	0.000	4	0.000	0.076	2686	3167	1955
16820	1.21	231.7	104.7	7.0	811	16825	0.00	2.53	0.00	0.000	6	0.000	0.059	2687	1782	1956
17147	1.21	231.7	80.4	7.3	827	17151	0.00	2.60	0.00	0.000	4	0.000	0.074	2686	3165	1956
17235	1.21	231.7	73.2	8.5	831	17239	0.00	2.55	0.00	0.000	6	0.000	0.060	2687	1774	1956
17562	1.21	231.7	48.9	6.4	847	17566	0.00	2.60	0.00	0.000	4	0.000	0.075	2687	3162	1956
17655	1.21	231.7	42.4	7.7	851	17659	0.00	2.53	0.00	0.000	6	0.000	0.059	2687	1780	1956
17978	1.21	231.7	22.5	6.8	867	17982	0.00	2.60	0.00	0.000	4	0.000	0.076	2686	3161	1956
18061	1.21	231.7	15.5	9.0	871	18066	0.00	2.53	0.00	0.000	6	0.000	0.061	2687	1774	1956
18242	end climb: SURFACE_DEPTH_REACHED
state	18242	begin surface coast
18263	end surface coast: CONTROL_FINISHED_OK
state	18263	begin surface