Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 104 * 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 104 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -64138.602 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 -64138.602

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 16 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 104 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 032038,6150.239,-919.072,39,1.4,39,-9.5 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.118,0.184

_SM_DEPTHo -0.26 KALMAN_X -61549.3,-1277.1,-194.4,23608.4,4107.9

_SM_ANGLEo -59.1 KALMAN_Y 73088.3,552.9,616.1,-44373.8,-7094.0

GPS2 032545,6150.147,-919.138,13,1.6,13,-9.5 MHEAD_RNG_PITCHd_Wd 336.8,61328,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 675

Post-dive calculations and measurements:

FINISH -0.1,1.027239 XPDR_PINGS 1

SM_CCo 18364,34.08,0.705,1,0,1678,300.00 ALTIM_BOTTOM_PING 650.6,74.1

SM_GC 0.34,0.00,0.00,34.08,0.000,0.000,0.705,45,2896,1678,-10.88,-0.11,300.00 _24V_AH 23.5,21.711

IRIDIUM_FIX 6126.23,-918.01,291107,010110 _10V_AH 10.1,9.301

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44346,882

HUMID 2075 CFSIZE 260165632,252928000

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,58,1,0

TCM_TEMP 16.10 GPS 291107,083437,6150.142,-925.487,29,1.3,29,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.10 SBE_CT 631 24 356.31

Roll_motor 209 112 555.56 SBE_O2 624 19 279.00

VBD_pump_during_apogee 349 1208 9915.33 WL_BB2F 535 105 1320.85

VBD_pump_during_surface 34 704 564.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.33 nil 0 0 0.00

Iridium_during_connect 29 160 110.16 nil 0 0 0.00

Iridium_during_xfer 144 223 758.23

Transponder_ping 5 420 56.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.64

TT8 1707 19 341.48

LPSleep 13770 2 304.59

TT8_Active 556 19 111.28

TT8_Sampling 2282 39 917.48

TT8_CF8 405 45 187.77

TT8_Kalman 33 81 27.57

Analog_circuits 1707 12 206.91

GPS_charging 0 0 0.00

Compass 2243 8 181.27

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 17 begin dive

19 -1.10 -146.6 0.0 0.0 0 82 0.00 0.00 -61.75 0.000 2 0.000 0.000 51 2897 3410

84 -1.10 -146.6 3.5 -9.1 3 106 11.98 1.73 -1.60 0.000 4 0.159 0.113 2166 3774 3501

358 -1.10 -146.6 33.4 -7.3 15 363 0.00 1.52 0.00 0.000 6 0.000 0.036 2167 2896 3501

685 -1.10 -146.6 56.1 -6.7 31 688 0.00 1.70 0.00 0.000 4 0.000 0.081 2167 3789 3501

734 -1.10 -146.6 59.7 -7.8 33 738 0.00 1.55 0.00 0.000 6 0.000 0.034 2166 2896 3501

1061 -1.10 -146.6 85.1 -8.0 49 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2896 3501

1370 -1.10 -146.6 108.8 -6.4 64 1373 0.00 1.70 0.00 0.000 4 0.000 0.083 2166 3789 3501

1464 -1.10 -146.6 114.8 -6.3 68 1468 0.00 1.52 0.00 0.000 6 0.000 0.035 2167 2905 3501

1791 -1.10 -146.6 136.0 -7.0 84 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2905 3502

2100 -1.10 -146.6 158.4 -7.6 99 2104 0.00 2.60 0.00 0.000 4 0.000 0.071 2167 1493 3502

2148 -1.10 -146.6 162.2 -7.7 101 2153 0.00 2.62 0.00 0.000 6 0.000 0.074 2167 2898 3502

2469 -1.10 -146.6 186.8 -7.9 117 2473 0.00 2.60 0.00 0.000 4 0.000 0.069 2167 1493 3502

2500 -1.10 -146.6 189.3 -8.1 118 2507 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2900 3502

2816 -1.10 -146.6 213.6 -7.7 134 2817 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3502

3125 -1.10 -146.6 235.7 -6.9 149 3129 0.00 2.58 0.00 0.000 4 0.000 0.067 2167 1487 3502

3180 -1.10 -146.6 239.7 -7.2 151 3184 0.00 2.65 0.00 0.000 6 0.000 0.073 2167 2892 3502

3501 -1.10 -146.6 261.3 -6.8 167 3502 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2892 3502

3810 -1.10 -146.6 281.6 -6.2 182 3814 0.00 2.55 0.00 0.000 4 0.000 0.065 2167 1490 3502

3864 -1.10 -146.6 285.0 -5.8 184 3871 0.00 2.62 0.00 0.000 6 0.000 0.074 2167 2899 3502

4180 -1.10 -146.6 305.4 -6.4 200 4184 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 1486 3502

4211 -1.10 -146.6 307.5 -6.6 201 4218 0.00 2.67 0.00 0.000 6 0.000 0.074 2166 2900 3502

4527 -1.10 -146.6 325.9 -6.2 217 4532 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1488 3502

4553 -1.10 -146.6 327.8 -6.6 218 4558 0.00 2.65 0.00 0.000 6 0.000 0.073 2167 2896 3502

4875 -1.10 -146.6 347.6 -6.3 234 4879 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1487 3502

4914 -1.10 -146.6 350.1 -6.6 236 4919 0.00 2.62 0.00 0.000 6 0.000 0.074 2167 2899 3502

5239 -1.10 -146.6 372.4 -7.0 252 5244 0.00 2.58 0.00 0.000 4 0.000 0.067 2166 1491 3502

5287 -1.10 -146.6 375.9 -6.7 254 5292 0.00 2.65 0.00 0.000 6 0.000 0.073 2167 2900 3502

5608 -1.10 -146.6 398.7 -7.2 270 5613 0.00 2.58 0.00 0.000 4 0.000 0.067 2167 1491 3502

5652 -1.10 -146.6 402.2 -7.9 272 5656 0.00 2.62 0.00 0.000 6 0.000 0.073 2166 2900 3502

5979 -1.10 -146.6 425.3 -6.8 288 5984 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1485 3502

6018 -1.10 -146.6 428.0 -7.3 290 6022 0.00 2.62 0.00 0.000 6 0.000 0.072 2167 2899 3502

6344 -1.10 -146.6 449.4 -6.3 306 6348 0.00 2.58 0.00 0.000 4 0.000 0.065 2166 1492 3502

6392 -1.10 -146.6 452.4 -6.1 308 6397 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2899 3501

6714 -1.10 -146.6 471.9 -6.0 324 6718 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1489 3502

6753 -1.10 -146.6 474.1 -6.2 326 6757 0.00 2.62 0.00 0.000 6 0.000 0.073 2166 2900 3502

7078 -1.10 -146.6 494.6 -6.3 342 7082 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1492 3501

7121 -1.10 -146.6 497.7 -7.1 344 7125 0.00 2.62 0.00 0.000 6 0.000 0.072 2167 2891 3502

7448 -1.10 -146.6 518.8 -5.6 360 7452 0.00 2.55 0.00 0.000 4 0.000 0.065 2166 1491 3502

7474 -1.10 -146.6 520.5 -6.2 361 7478 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2900 3502

7795 -1.10 -146.6 539.4 -5.4 377 7800 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1491 3502

7845 -1.10 -146.6 541.9 -4.8 379 7849 0.00 2.62 0.00 0.000 6 0.000 0.071 2166 2904 3502

8159 -1.10 -146.6 559.3 -6.1 394 8164 0.00 2.55 0.00 0.000 4 0.000 0.063 2167 1491 3502

8199 -1.10 -146.6 561.9 -6.7 396 8203 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2906 3502

8524 -1.10 -146.6 586.8 -8.2 412 8528 0.00 2.55 0.00 0.000 4 0.000 0.061 2167 1491 3502

8589 -1.10 -146.6 592.1 -8.4 415 8593 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2896 3502

8916 -1.10 -146.6 617.8 -7.8 431 8920 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1491 3502

8959 -1.10 -146.6 620.9 -6.8 433 8963 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2900 3502

9286 -1.10 -146.6 639.3 -5.1 449 9287 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3502

9595 -1.10 -146.6 657.1 -5.3 464 9596 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3502

9904 -1.10 -146.6 673.7 -7.2 479 9908 0.00 1.70 0.00 0.000 4 0.000 0.093 2166 3779 3502

9924 end dive: TARGET_DEPTH_EXCEEDED

state 9924 begin apogee

9932 -0.42 0.0 675.1 6.9 480 10061 0.75 0.00 125.40 1.209 6 0.088 0.000 2318 1781 2901

10062 end apogee: CONTROL_FINISHED_OK

state 10062 begin climb

10064 1.10 146.6 678.5 0.0 486 10194 1.55 2.75 122.32 1.174 4 0.054 0.073 2650 371 2303

10297 1.12 160.2 669.1 5.6 497 10318 0.00 2.53 13.12 1.065 6 0.000 0.044 2650 1791 2247

10626 1.12 160.2 645.1 7.0 513 10630 0.00 2.60 0.00 0.000 4 0.000 0.072 2651 3179 2245

10854 1.12 160.2 630.6 6.5 523 10859 0.00 2.58 0.00 0.000 6 0.000 0.054 2650 1774 2245

11176 1.12 163.2 612.0 5.9 539 11185 0.00 2.67 3.67 0.751 4 0.000 0.071 2651 3175 2235

11437 1.12 163.2 596.6 6.5 550 11445 0.00 2.58 0.00 0.000 6 0.000 0.055 2650 1776 2235

11753 1.14 177.8 578.7 5.6 566 11775 0.00 2.72 13.40 1.104 4 0.000 0.074 2650 3174 2176

11910 1.18 211.4 570.5 5.1 573 11945 0.00 2.55 29.35 1.147 6 0.000 0.056 2650 1773 2039

12256 1.24 260.5 555.2 4.6 589 12306 0.15 2.75 41.78 1.136 4 0.043 0.073 2698 3182 1838

12501 1.24 260.5 534.9 9.2 600 12506 0.00 2.55 0.00 0.000 6 0.000 0.054 2698 1772 1838

12828 1.24 260.5 506.7 8.1 616 12833 0.00 2.62 0.00 0.000 4 0.000 0.071 2698 3176 1837

12894 1.24 260.5 501.1 8.3 619 12899 0.00 2.55 0.00 0.000 6 0.000 0.052 2698 1777 1837

13221 1.24 260.5 473.6 8.5 635 13225 0.00 2.62 0.00 0.000 4 0.000 0.070 2698 3182 1837

13297 1.24 260.5 466.7 8.8 638 13304 0.00 2.55 0.00 0.000 6 0.000 0.053 2698 1780 1837

13613 1.24 260.5 438.5 9.2 654 13617 0.00 2.62 0.00 0.000 4 0.000 0.070 2698 3182 1838

13706 1.24 260.5 429.5 9.8 658 13711 0.00 2.55 0.00 0.000 6 0.000 0.054 2698 1780 1838

14027 1.24 260.5 399.5 9.0 674 14031 0.00 2.60 0.00 0.000 4 0.000 0.071 2698 3177 1839

14127 1.24 260.5 390.4 8.5 678 14134 0.00 2.55 0.00 0.000 6 0.000 0.054 2698 1766 1839

14442 1.24 260.5 363.3 8.5 694 14446 0.00 2.62 0.00 0.000 4 0.000 0.072 2698 3177 1839

14552 1.24 260.5 353.9 8.3 699 14557 0.00 2.55 0.00 0.000 6 0.000 0.054 2698 1777 1840

14879 1.24 260.5 326.6 8.8 715 14883 0.00 2.62 0.00 0.000 4 0.000 0.072 2698 3175 1840

14978 1.24 260.5 317.8 8.6 719 14985 0.00 2.55 0.00 0.000 6 0.000 0.056 2698 1778 1840

15293 1.24 260.5 289.8 9.3 735 15298 0.00 2.62 0.00 0.000 4 0.000 0.072 2698 3176 1841

15377 1.24 260.5 282.1 9.3 739 15381 0.00 2.53 0.00 0.000 6 0.000 0.055 2698 1773 1841

15702 1.24 260.5 251.3 9.8 755 15706 0.00 2.62 0.00 0.000 4 0.000 0.073 2698 3177 1841

15812 1.24 260.5 240.3 9.7 760 15817 0.00 2.55 0.00 0.000 6 0.000 0.057 2698 1780 1841

16139 1.24 260.5 209.2 9.3 776 16144 0.00 2.60 0.00 0.000 4 0.000 0.072 2698 3177 1841

16238 1.24 260.5 198.9 10.7 780 16245 0.00 2.55 0.00 0.000 6 0.000 0.055 2698 1776 1842

16554 1.24 260.5 166.2 10.4 796 16558 0.00 2.62 0.00 0.000 4 0.000 0.075 2698 3177 1842

16641 1.24 260.5 157.1 10.0 800 16646 0.00 2.55 0.00 0.000 6 0.000 0.056 2698 1777 1842

16968 1.24 260.5 126.8 9.0 816 16973 0.00 2.62 0.00 0.000 4 0.000 0.074 2698 3175 1842

17062 1.24 260.5 117.8 9.4 820 17066 0.00 2.55 0.00 0.000 6 0.000 0.058 2698 1779 1842

17385 1.24 260.5 87.6 9.4 836 17389 0.00 2.62 0.00 0.000 4 0.000 0.074 2698 3176 1843

17484 1.24 260.5 77.7 10.2 840 17491 0.00 2.55 0.00 0.000 6 0.000 0.059 2698 1781 1843

17800 1.24 260.5 45.6 10.6 856 17804 0.00 2.62 0.00 0.000 4 0.000 0.074 2698 3178 1843

17915 1.24 260.5 35.8 7.3 861 17920 0.00 2.58 0.00 0.000 6 0.000 0.058 2698 1773 1843

18238 1.24 260.5 9.2 8.5 877 18243 0.00 2.65 0.00 0.000 4 0.000 0.075 2698 3181 1843

18309 1.24 260.5 2.8 9.4 880 18314 0.00 2.60 0.00 0.000 6 0.000 0.064 2698 1777 1843

18320 end climb: SURFACE_DEPTH_REACHED

state 18320 begin surface coast

18343 end surface coast: CONTROL_FINISHED_OK

state 18343 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	104	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-64138.602	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	032038,6150.239,-919.072,39,1.4,39,-9.5	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.118,0.184
_SM_DEPTHo	-0.26	KALMAN_X	-61549.3,-1277.1,-194.4,23608.4,4107.9
_SM_ANGLEo	-59.1	KALMAN_Y	73088.3,552.9,616.1,-44373.8,-7094.0
GPS2	032545,6150.147,-919.138,13,1.6,13,-9.5	MHEAD_RNG_PITCHd_Wd	336.8,61328,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	675

FINISH	-0.1,1.027239	XPDR_PINGS	1
SM_CCo	18364,34.08,0.705,1,0,1678,300.00	ALTIM_BOTTOM_PING	650.6,74.1
SM_GC	0.34,0.00,0.00,34.08,0.000,0.000,0.705,45,2896,1678,-10.88,-0.11,300.00	_24V_AH	23.5,21.711
IRIDIUM_FIX	6126.23,-918.01,291107,010110	_10V_AH	10.1,9.301
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44346,882
HUMID	2075	CFSIZE	260165632,252928000
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,58,1,0
TCM_TEMP	16.10	GPS	291107,083437,6150.142,-925.487,29,1.3,29,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.10	SBE_CT	631	24	356.31
Roll_motor	209	112	555.56	SBE_O2	624	19	279.00
VBD_pump_during_apogee	349	1208	9915.33	WL_BB2F	535	105	1320.85
VBD_pump_during_surface	34	704	564.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.33	nil	0	0	0.00
Iridium_during_connect	29	160	110.16	nil	0	0	0.00
Iridium_during_xfer	144	223	758.23
Transponder_ping	5	420	56.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.64
TT8	1707	19	341.48
LPSleep	13770	2	304.59
TT8_Active	556	19	111.28
TT8_Sampling	2282	39	917.48
TT8_CF8	405	45	187.77
TT8_Kalman	33	81	27.57
Analog_circuits	1707	12	206.91
GPS_charging	0	0	0.00
Compass	2243	8	181.27
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	17	begin dive
19	-1.10	-146.6	0.0	0.0	0	82	0.00	0.00	-61.75	0.000	2	0.000	0.000	51	2897	3410
84	-1.10	-146.6	3.5	-9.1	3	106	11.98	1.73	-1.60	0.000	4	0.159	0.113	2166	3774	3501
358	-1.10	-146.6	33.4	-7.3	15	363	0.00	1.52	0.00	0.000	6	0.000	0.036	2167	2896	3501
685	-1.10	-146.6	56.1	-6.7	31	688	0.00	1.70	0.00	0.000	4	0.000	0.081	2167	3789	3501
734	-1.10	-146.6	59.7	-7.8	33	738	0.00	1.55	0.00	0.000	6	0.000	0.034	2166	2896	3501
1061	-1.10	-146.6	85.1	-8.0	49	1062	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2896	3501
1370	-1.10	-146.6	108.8	-6.4	64	1373	0.00	1.70	0.00	0.000	4	0.000	0.083	2166	3789	3501
1464	-1.10	-146.6	114.8	-6.3	68	1468	0.00	1.52	0.00	0.000	6	0.000	0.035	2167	2905	3501
1791	-1.10	-146.6	136.0	-7.0	84	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2905	3502
2100	-1.10	-146.6	158.4	-7.6	99	2104	0.00	2.60	0.00	0.000	4	0.000	0.071	2167	1493	3502
2148	-1.10	-146.6	162.2	-7.7	101	2153	0.00	2.62	0.00	0.000	6	0.000	0.074	2167	2898	3502
2469	-1.10	-146.6	186.8	-7.9	117	2473	0.00	2.60	0.00	0.000	4	0.000	0.069	2167	1493	3502
2500	-1.10	-146.6	189.3	-8.1	118	2507	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2900	3502
2816	-1.10	-146.6	213.6	-7.7	134	2817	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3502
3125	-1.10	-146.6	235.7	-6.9	149	3129	0.00	2.58	0.00	0.000	4	0.000	0.067	2167	1487	3502
3180	-1.10	-146.6	239.7	-7.2	151	3184	0.00	2.65	0.00	0.000	6	0.000	0.073	2167	2892	3502
3501	-1.10	-146.6	261.3	-6.8	167	3502	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2892	3502
3810	-1.10	-146.6	281.6	-6.2	182	3814	0.00	2.55	0.00	0.000	4	0.000	0.065	2167	1490	3502
3864	-1.10	-146.6	285.0	-5.8	184	3871	0.00	2.62	0.00	0.000	6	0.000	0.074	2167	2899	3502
4180	-1.10	-146.6	305.4	-6.4	200	4184	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	1486	3502
4211	-1.10	-146.6	307.5	-6.6	201	4218	0.00	2.67	0.00	0.000	6	0.000	0.074	2166	2900	3502
4527	-1.10	-146.6	325.9	-6.2	217	4532	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1488	3502
4553	-1.10	-146.6	327.8	-6.6	218	4558	0.00	2.65	0.00	0.000	6	0.000	0.073	2167	2896	3502
4875	-1.10	-146.6	347.6	-6.3	234	4879	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1487	3502
4914	-1.10	-146.6	350.1	-6.6	236	4919	0.00	2.62	0.00	0.000	6	0.000	0.074	2167	2899	3502
5239	-1.10	-146.6	372.4	-7.0	252	5244	0.00	2.58	0.00	0.000	4	0.000	0.067	2166	1491	3502
5287	-1.10	-146.6	375.9	-6.7	254	5292	0.00	2.65	0.00	0.000	6	0.000	0.073	2167	2900	3502
5608	-1.10	-146.6	398.7	-7.2	270	5613	0.00	2.58	0.00	0.000	4	0.000	0.067	2167	1491	3502
5652	-1.10	-146.6	402.2	-7.9	272	5656	0.00	2.62	0.00	0.000	6	0.000	0.073	2166	2900	3502
5979	-1.10	-146.6	425.3	-6.8	288	5984	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1485	3502
6018	-1.10	-146.6	428.0	-7.3	290	6022	0.00	2.62	0.00	0.000	6	0.000	0.072	2167	2899	3502
6344	-1.10	-146.6	449.4	-6.3	306	6348	0.00	2.58	0.00	0.000	4	0.000	0.065	2166	1492	3502
6392	-1.10	-146.6	452.4	-6.1	308	6397	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2899	3501
6714	-1.10	-146.6	471.9	-6.0	324	6718	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1489	3502
6753	-1.10	-146.6	474.1	-6.2	326	6757	0.00	2.62	0.00	0.000	6	0.000	0.073	2166	2900	3502
7078	-1.10	-146.6	494.6	-6.3	342	7082	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1492	3501
7121	-1.10	-146.6	497.7	-7.1	344	7125	0.00	2.62	0.00	0.000	6	0.000	0.072	2167	2891	3502
7448	-1.10	-146.6	518.8	-5.6	360	7452	0.00	2.55	0.00	0.000	4	0.000	0.065	2166	1491	3502
7474	-1.10	-146.6	520.5	-6.2	361	7478	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2900	3502
7795	-1.10	-146.6	539.4	-5.4	377	7800	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1491	3502
7845	-1.10	-146.6	541.9	-4.8	379	7849	0.00	2.62	0.00	0.000	6	0.000	0.071	2166	2904	3502
8159	-1.10	-146.6	559.3	-6.1	394	8164	0.00	2.55	0.00	0.000	4	0.000	0.063	2167	1491	3502
8199	-1.10	-146.6	561.9	-6.7	396	8203	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2906	3502
8524	-1.10	-146.6	586.8	-8.2	412	8528	0.00	2.55	0.00	0.000	4	0.000	0.061	2167	1491	3502
8589	-1.10	-146.6	592.1	-8.4	415	8593	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2896	3502
8916	-1.10	-146.6	617.8	-7.8	431	8920	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1491	3502
8959	-1.10	-146.6	620.9	-6.8	433	8963	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2900	3502
9286	-1.10	-146.6	639.3	-5.1	449	9287	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3502
9595	-1.10	-146.6	657.1	-5.3	464	9596	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3502
9904	-1.10	-146.6	673.7	-7.2	479	9908	0.00	1.70	0.00	0.000	4	0.000	0.093	2166	3779	3502
9924	end dive: TARGET_DEPTH_EXCEEDED
state	9924	begin apogee
9932	-0.42	0.0	675.1	6.9	480	10061	0.75	0.00	125.40	1.209	6	0.088	0.000	2318	1781	2901
10062	end apogee: CONTROL_FINISHED_OK
state	10062	begin climb
10064	1.10	146.6	678.5	0.0	486	10194	1.55	2.75	122.32	1.174	4	0.054	0.073	2650	371	2303
10297	1.12	160.2	669.1	5.6	497	10318	0.00	2.53	13.12	1.065	6	0.000	0.044	2650	1791	2247
10626	1.12	160.2	645.1	7.0	513	10630	0.00	2.60	0.00	0.000	4	0.000	0.072	2651	3179	2245
10854	1.12	160.2	630.6	6.5	523	10859	0.00	2.58	0.00	0.000	6	0.000	0.054	2650	1774	2245
11176	1.12	163.2	612.0	5.9	539	11185	0.00	2.67	3.67	0.751	4	0.000	0.071	2651	3175	2235
11437	1.12	163.2	596.6	6.5	550	11445	0.00	2.58	0.00	0.000	6	0.000	0.055	2650	1776	2235
11753	1.14	177.8	578.7	5.6	566	11775	0.00	2.72	13.40	1.104	4	0.000	0.074	2650	3174	2176
11910	1.18	211.4	570.5	5.1	573	11945	0.00	2.55	29.35	1.147	6	0.000	0.056	2650	1773	2039
12256	1.24	260.5	555.2	4.6	589	12306	0.15	2.75	41.78	1.136	4	0.043	0.073	2698	3182	1838
12501	1.24	260.5	534.9	9.2	600	12506	0.00	2.55	0.00	0.000	6	0.000	0.054	2698	1772	1838
12828	1.24	260.5	506.7	8.1	616	12833	0.00	2.62	0.00	0.000	4	0.000	0.071	2698	3176	1837
12894	1.24	260.5	501.1	8.3	619	12899	0.00	2.55	0.00	0.000	6	0.000	0.052	2698	1777	1837
13221	1.24	260.5	473.6	8.5	635	13225	0.00	2.62	0.00	0.000	4	0.000	0.070	2698	3182	1837
13297	1.24	260.5	466.7	8.8	638	13304	0.00	2.55	0.00	0.000	6	0.000	0.053	2698	1780	1837
13613	1.24	260.5	438.5	9.2	654	13617	0.00	2.62	0.00	0.000	4	0.000	0.070	2698	3182	1838
13706	1.24	260.5	429.5	9.8	658	13711	0.00	2.55	0.00	0.000	6	0.000	0.054	2698	1780	1838
14027	1.24	260.5	399.5	9.0	674	14031	0.00	2.60	0.00	0.000	4	0.000	0.071	2698	3177	1839
14127	1.24	260.5	390.4	8.5	678	14134	0.00	2.55	0.00	0.000	6	0.000	0.054	2698	1766	1839
14442	1.24	260.5	363.3	8.5	694	14446	0.00	2.62	0.00	0.000	4	0.000	0.072	2698	3177	1839
14552	1.24	260.5	353.9	8.3	699	14557	0.00	2.55	0.00	0.000	6	0.000	0.054	2698	1777	1840
14879	1.24	260.5	326.6	8.8	715	14883	0.00	2.62	0.00	0.000	4	0.000	0.072	2698	3175	1840
14978	1.24	260.5	317.8	8.6	719	14985	0.00	2.55	0.00	0.000	6	0.000	0.056	2698	1778	1840
15293	1.24	260.5	289.8	9.3	735	15298	0.00	2.62	0.00	0.000	4	0.000	0.072	2698	3176	1841
15377	1.24	260.5	282.1	9.3	739	15381	0.00	2.53	0.00	0.000	6	0.000	0.055	2698	1773	1841
15702	1.24	260.5	251.3	9.8	755	15706	0.00	2.62	0.00	0.000	4	0.000	0.073	2698	3177	1841
15812	1.24	260.5	240.3	9.7	760	15817	0.00	2.55	0.00	0.000	6	0.000	0.057	2698	1780	1841
16139	1.24	260.5	209.2	9.3	776	16144	0.00	2.60	0.00	0.000	4	0.000	0.072	2698	3177	1841
16238	1.24	260.5	198.9	10.7	780	16245	0.00	2.55	0.00	0.000	6	0.000	0.055	2698	1776	1842
16554	1.24	260.5	166.2	10.4	796	16558	0.00	2.62	0.00	0.000	4	0.000	0.075	2698	3177	1842
16641	1.24	260.5	157.1	10.0	800	16646	0.00	2.55	0.00	0.000	6	0.000	0.056	2698	1777	1842
16968	1.24	260.5	126.8	9.0	816	16973	0.00	2.62	0.00	0.000	4	0.000	0.074	2698	3175	1842
17062	1.24	260.5	117.8	9.4	820	17066	0.00	2.55	0.00	0.000	6	0.000	0.058	2698	1779	1842
17385	1.24	260.5	87.6	9.4	836	17389	0.00	2.62	0.00	0.000	4	0.000	0.074	2698	3176	1843
17484	1.24	260.5	77.7	10.2	840	17491	0.00	2.55	0.00	0.000	6	0.000	0.059	2698	1781	1843
17800	1.24	260.5	45.6	10.6	856	17804	0.00	2.62	0.00	0.000	4	0.000	0.074	2698	3178	1843
17915	1.24	260.5	35.8	7.3	861	17920	0.00	2.58	0.00	0.000	6	0.000	0.058	2698	1773	1843
18238	1.24	260.5	9.2	8.5	877	18243	0.00	2.65	0.00	0.000	4	0.000	0.075	2698	3181	1843
18309	1.24	260.5	2.8	9.4	880	18314	0.00	2.60	0.00	0.000	6	0.000	0.064	2698	1777	1843
18320	end climb: SURFACE_DEPTH_REACHED
state	18320	begin surface coast
18343	end surface coast: CONTROL_FINISHED_OK
state	18343	begin surface