Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 105 * 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 105 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -64154.863 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 -64154.863

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 17 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 105 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 083437,6150.142,-925.487,29,1.3,29,-9.6 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.141,0.167

_SM_DEPTHo -0.22 KALMAN_X -64057.7,-1114.9,-1240.7,21381.2,4154.7

_SM_ANGLEo -59.9 KALMAN_Y 69578.5,818.6,-155.5,-40409.9,-6118.7

GPS2 083927,6150.112,-925.526,15,1.2,15,-9.6 MHEAD_RNG_PITCHd_Wd 329.5,59218,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 702

Post-dive calculations and measurements:

FINISH -0.5,1.027235 XPDR_PINGS 1

SM_CCo 17588,14.93,0.644,1,0,1678,300.00 ALTIM_BOTTOM_PING 625.5,94.4

SM_GC -0.48,0.00,0.00,14.93,0.000,0.000,0.644,49,2888,1678,-10.86,-0.34,300.00 _24V_AH 23.4,21.852

IRIDIUM_FIX 6126.23,-918.74,291107,070725 _10V_AH 10.1,9.386

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44268,848

HUMID 2081 CFSIZE 260165632,252858368

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,54,1,0

TCM_TEMP 17.50 GPS 291107,133508,6151.475,-931.082,32,1.7,32,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 98.28 SBE_CT 604 24 339.27

Roll_motor 205 111 538.82 SBE_O2 599 19 266.67

VBD_pump_during_apogee 366 1241 10650.25 WL_BB2F 511 105 1256.57

VBD_pump_during_surface 14 644 225.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.89 nil 0 0 0.00

Iridium_during_connect 25 160 94.13 nil 0 0 0.00

Iridium_during_xfer 131 223 686.29

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.89

TT8 1652 19 330.51

LPSleep 13132 2 290.48

TT8_Active 542 19 108.44

TT8_Sampling 2220 39 892.53

TT8_CF8 365 45 169.02

TT8_Kalman 33 81 27.56

Analog_circuits 1663 12 201.66

GPS_charging 0 0 0.00

Compass 2173 8 175.59

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -62.42 0.000 2 0.000 0.000 45 2897 3409

85 -1.10 -146.6 3.3 -8.4 3 107 12.02 1.73 -1.65 0.000 4 0.160 0.112 2165 3777 3501

359 -1.10 -146.6 32.4 -6.5 15 363 0.00 1.52 0.00 0.000 6 0.000 0.036 2165 2906 3501

686 -1.10 -146.6 57.6 -8.4 31 689 0.00 1.67 0.00 0.000 4 0.000 0.081 2165 3787 3501

763 -1.10 -146.6 63.5 -8.0 34 767 0.00 1.55 0.00 0.000 6 0.000 0.034 2165 2894 3501

1084 -1.10 -146.6 85.8 -7.7 50 1088 0.00 2.60 0.00 0.000 4 0.000 0.074 2165 1492 3501

1127 -1.10 -146.6 89.3 -8.1 52 1131 0.00 2.67 0.00 0.000 6 0.000 0.074 2165 2899 3501

1454 -1.10 -146.6 114.7 -7.7 68 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3501

1763 -1.10 -146.6 138.1 -7.7 83 1767 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1491 3501

1834 -1.10 -146.6 144.1 -8.6 86 1838 0.00 2.67 0.00 0.000 6 0.000 0.074 2165 2901 3501

2155 -1.10 -146.6 173.1 -9.5 102 2159 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1489 3501

2197 -1.10 -146.6 177.3 -9.1 104 2202 0.00 2.67 0.00 0.000 6 0.000 0.074 2165 2902 3501

2524 -1.10 -146.6 206.6 -8.3 120 2528 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1492 3501

2556 -1.10 -146.6 209.2 -7.6 121 2563 0.00 2.65 0.00 0.000 6 0.000 0.074 2165 2892 3501

2872 -1.10 -146.6 228.8 -5.6 137 2876 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1492 3501

2938 -1.10 -146.6 232.4 -5.7 140 2942 0.00 2.62 0.00 0.000 6 0.000 0.074 2165 2900 3502

3267 -1.10 -146.6 250.4 -5.8 156 3271 0.00 2.62 0.00 0.000 4 0.000 0.070 2165 1487 3501

3310 -1.10 -146.6 253.2 -5.9 158 3314 0.00 2.65 0.00 0.000 6 0.000 0.073 2165 2902 3501

3636 -1.10 -146.6 272.5 -6.1 174 3637 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2902 3501

3945 -1.10 -146.6 292.2 -6.5 189 3950 0.00 2.62 0.00 0.000 4 0.000 0.070 2165 1486 3501

4006 -1.10 -146.6 296.5 -7.1 192 4011 0.00 2.65 0.00 0.000 6 0.000 0.074 2165 2903 3501

4332 -1.10 -146.6 319.9 -7.5 208 4336 0.00 2.58 0.00 0.000 4 0.000 0.068 2165 1492 3501

4371 -1.10 -146.6 323.1 -8.3 210 4375 0.00 2.62 0.00 0.000 6 0.000 0.073 2165 2900 3501

4696 -1.10 -146.6 347.8 -7.5 226 4701 0.00 2.60 0.00 0.000 4 0.000 0.069 2165 1492 3501

4739 -1.10 -146.6 351.2 -7.5 228 4744 0.00 2.65 0.00 0.000 6 0.000 0.074 2165 2897 3501

5066 -1.10 -146.6 376.7 -7.7 244 5071 0.00 2.58 0.00 0.000 4 0.000 0.068 2165 1490 3501

5105 -1.10 -146.6 379.6 -7.7 246 5110 0.00 2.62 0.00 0.000 6 0.000 0.073 2165 2899 3501

5431 -1.10 -146.6 402.2 -6.4 262 5432 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3501

5741 -1.10 -146.6 419.5 -5.3 277 5745 0.00 2.60 0.00 0.000 4 0.000 0.068 2165 1490 3501

5784 -1.10 -146.6 421.9 -5.6 279 5788 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2903 3501

6110 -1.10 -146.6 442.0 -6.8 295 6114 0.00 2.60 0.00 0.000 4 0.000 0.068 2165 1487 3501

6216 -1.10 -146.6 449.9 -8.0 300 6221 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2898 3501

6547 -1.10 -146.6 472.9 -7.3 316 6551 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1491 3501

6556 -1.10 -146.6 473.7 -7.4 316 6563 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2913 3501

6871 -1.10 -146.6 498.9 -8.3 332 6875 0.00 1.65 0.00 0.000 4 0.000 0.081 2165 3798 3501

6989 -1.10 -146.6 508.3 -7.7 337 6993 0.00 1.55 0.00 0.000 6 0.000 0.033 2165 2900 3501

7315 -1.10 -146.6 534.2 -7.7 353 7319 0.00 2.55 0.00 0.000 4 0.000 0.064 2165 1488 3501

7377 -1.10 -146.6 537.9 -5.5 356 7381 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2902 3501

7702 -1.10 -146.6 559.1 -7.2 372 7705 0.00 1.62 0.00 0.000 4 0.000 0.077 2165 3786 3501

7762 -1.10 -146.6 563.7 -7.9 374 7769 0.00 1.52 0.00 0.000 6 0.000 0.033 2165 2899 3501

8077 -1.10 -146.6 590.2 -7.8 390 8082 0.00 2.53 0.00 0.000 4 0.000 0.061 2165 1492 3501

8139 -1.10 -146.6 594.3 -6.3 393 8143 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2900 3501

8465 -1.10 -146.6 608.9 -4.1 409 8468 0.00 1.62 0.00 0.000 4 0.000 0.078 2165 3783 3501

8503 -1.10 -146.6 610.7 -4.8 410 8509 0.00 1.50 0.00 0.000 6 0.000 0.034 2165 2906 3501

8818 -1.10 -146.6 632.0 -8.0 426 8822 0.00 1.65 0.00 0.000 4 0.000 0.077 2165 3779 3501

8844 -1.10 -146.6 634.3 -8.9 427 8849 0.00 1.50 0.00 0.000 6 0.000 0.034 2165 2902 3501

9171 -1.10 -146.6 659.8 -7.2 443 9175 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1485 3502

9247 -1.10 -146.6 664.7 -5.7 446 9254 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2903 3501

9562 -1.10 -146.6 686.8 -7.5 462 9567 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1491 3501

9679 -1.10 -146.6 696.4 -9.3 467 9684 0.00 2.67 0.00 0.000 6 0.000 0.075 2165 2899 3501

9772 end dive: TARGET_DEPTH_EXCEEDED

state 9772 begin apogee

9778 -0.42 0.0 703.5 7.6 472 9907 0.75 0.00 125.38 1.241 6 0.086 0.000 2318 1782 2901

9907 end apogee: CONTROL_FINISHED_OK

state 9907 begin climb

9909 1.10 146.6 708.2 0.0 478 10040 1.52 2.75 122.95 1.197 4 0.049 0.074 2650 366 2303

10181 1.12 158.4 695.8 5.7 490 10197 0.00 2.55 11.55 1.098 6 0.000 0.042 2649 1785 2255

10512 1.14 180.9 681.5 5.4 507 10538 0.00 2.65 20.55 1.152 4 0.000 0.072 2650 3173 2163

10587 1.14 180.9 676.0 8.6 510 10595 0.00 2.60 0.00 0.000 6 0.000 0.056 2650 1773 2162

10903 1.14 180.9 657.4 7.0 526 10907 0.00 2.67 0.00 0.000 4 0.000 0.077 2650 3173 2161

10946 1.14 180.9 654.3 7.5 528 10950 0.00 2.60 0.00 0.000 6 0.000 0.059 2650 1776 2161

11273 1.27 285.0 638.1 3.1 544 11367 0.17 2.72 86.32 1.220 4 0.039 0.075 2705 3174 1739

11557 1.27 285.0 613.4 12.1 557 11562 0.00 2.58 0.00 0.000 6 0.000 0.056 2706 1777 1737

11884 1.27 285.0 574.4 10.1 573 11888 0.00 2.62 0.00 0.000 4 0.000 0.070 2706 3179 1736

11971 1.27 285.0 567.9 6.8 577 11976 0.00 2.58 0.00 0.000 6 0.000 0.053 2706 1775 1736

12298 1.27 285.0 543.8 9.2 593 12303 0.00 2.62 0.00 0.000 4 0.000 0.067 2706 3179 1736

12477 1.27 285.0 523.4 12.2 601 12481 0.00 2.53 0.00 0.000 6 0.000 0.051 2706 1773 1736

12803 1.27 285.0 484.9 12.1 617 12807 0.00 2.62 0.00 0.000 4 0.000 0.067 2706 3181 1736

12896 1.27 285.0 473.7 12.0 621 12901 0.00 2.55 0.00 0.000 6 0.000 0.051 2706 1776 1737

13217 1.27 285.0 439.5 9.6 637 13222 0.00 2.60 0.00 0.000 4 0.000 0.069 2706 3178 1737

13294 1.27 285.0 432.2 8.8 640 13302 0.00 2.55 0.00 0.000 6 0.000 0.052 2706 1776 1737

13611 1.27 285.0 403.0 9.8 656 13615 0.00 2.60 0.00 0.000 4 0.000 0.069 2706 3174 1738

13717 1.27 285.0 392.9 9.8 661 13721 0.00 2.53 0.00 0.000 6 0.000 0.054 2706 1772 1738

14041 1.27 285.0 365.6 8.4 677 14046 0.00 2.60 0.00 0.000 4 0.000 0.070 2706 3176 1739

14147 1.27 285.0 356.0 9.4 682 14151 0.00 2.53 0.00 0.000 6 0.000 0.054 2706 1772 1739

14473 1.27 285.0 322.1 11.5 698 14477 0.00 2.62 0.00 0.000 4 0.000 0.071 2706 3175 1739

14538 1.27 285.0 313.8 13.1 701 14543 0.00 2.55 0.00 0.000 6 0.000 0.054 2706 1777 1739

14865 1.27 285.0 274.5 11.5 717 14869 0.00 2.62 0.00 0.000 4 0.000 0.074 2706 3174 1740

14952 1.27 285.0 263.9 12.1 721 14957 0.00 2.55 0.00 0.000 6 0.000 0.055 2706 1774 1740

15279 1.27 285.0 228.3 10.8 737 15283 0.00 2.62 0.00 0.000 4 0.000 0.073 2706 3181 1741

15363 1.27 285.0 219.3 10.7 741 15367 0.00 2.55 0.00 0.000 6 0.000 0.057 2706 1771 1741

15687 1.27 285.0 186.5 9.8 757 15692 0.00 2.62 0.00 0.000 4 0.000 0.073 2706 3178 1741

15803 1.27 285.0 175.2 10.4 762 15808 0.00 2.55 0.00 0.000 6 0.000 0.054 2706 1776 1741

16125 1.27 285.0 144.1 9.2 778 16129 0.00 2.62 0.00 0.000 4 0.000 0.071 2706 3179 1741

16212 1.27 285.0 135.0 10.4 782 16217 0.00 2.53 0.00 0.000 6 0.000 0.054 2706 1773 1741

16540 1.27 285.0 100.9 10.7 798 16544 0.00 2.62 0.00 0.000 4 0.000 0.070 2706 3179 1741

16623 1.27 285.0 93.0 9.5 802 16628 0.00 2.53 0.00 0.000 6 0.000 0.056 2706 1774 1741

16948 1.27 285.0 58.6 11.5 818 16953 0.00 2.62 0.00 0.000 4 0.000 0.072 2706 3174 1742

17025 1.27 285.0 50.8 9.7 821 17032 0.00 2.55 0.00 0.000 6 0.000 0.054 2706 1773 1741

17341 1.27 285.0 19.7 10.5 837 17345 0.00 2.65 0.00 0.000 4 0.000 0.076 2706 3176 1742

17406 1.27 285.0 13.8 8.7 840 17410 0.00 2.55 0.00 0.000 6 0.000 0.054 2706 1771 1742

17547 end climb: SURFACE_DEPTH_REACHED

state 17547 begin surface coast

17568 end surface coast: CONTROL_FINISHED_OK

state 17568 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	105	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-64154.863	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	083437,6150.142,-925.487,29,1.3,29,-9.6	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.141,0.167
_SM_DEPTHo	-0.22	KALMAN_X	-64057.7,-1114.9,-1240.7,21381.2,4154.7
_SM_ANGLEo	-59.9	KALMAN_Y	69578.5,818.6,-155.5,-40409.9,-6118.7
GPS2	083927,6150.112,-925.526,15,1.2,15,-9.6	MHEAD_RNG_PITCHd_Wd	329.5,59218,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	702

FINISH	-0.5,1.027235	XPDR_PINGS	1
SM_CCo	17588,14.93,0.644,1,0,1678,300.00	ALTIM_BOTTOM_PING	625.5,94.4
SM_GC	-0.48,0.00,0.00,14.93,0.000,0.000,0.644,49,2888,1678,-10.86,-0.34,300.00	_24V_AH	23.4,21.852
IRIDIUM_FIX	6126.23,-918.74,291107,070725	_10V_AH	10.1,9.386
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44268,848
HUMID	2081	CFSIZE	260165632,252858368
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,54,1,0
TCM_TEMP	17.50	GPS	291107,133508,6151.475,-931.082,32,1.7,32,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	98.28	SBE_CT	604	24	339.27
Roll_motor	205	111	538.82	SBE_O2	599	19	266.67
VBD_pump_during_apogee	366	1241	10650.25	WL_BB2F	511	105	1256.57
VBD_pump_during_surface	14	644	225.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.89	nil	0	0	0.00
Iridium_during_connect	25	160	94.13	nil	0	0	0.00
Iridium_during_xfer	131	223	686.29
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.89
TT8	1652	19	330.51
LPSleep	13132	2	290.48
TT8_Active	542	19	108.44
TT8_Sampling	2220	39	892.53
TT8_CF8	365	45	169.02
TT8_Kalman	33	81	27.56
Analog_circuits	1663	12	201.66
GPS_charging	0	0	0.00
Compass	2173	8	175.59
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-62.42	0.000	2	0.000	0.000	45	2897	3409
85	-1.10	-146.6	3.3	-8.4	3	107	12.02	1.73	-1.65	0.000	4	0.160	0.112	2165	3777	3501
359	-1.10	-146.6	32.4	-6.5	15	363	0.00	1.52	0.00	0.000	6	0.000	0.036	2165	2906	3501
686	-1.10	-146.6	57.6	-8.4	31	689	0.00	1.67	0.00	0.000	4	0.000	0.081	2165	3787	3501
763	-1.10	-146.6	63.5	-8.0	34	767	0.00	1.55	0.00	0.000	6	0.000	0.034	2165	2894	3501
1084	-1.10	-146.6	85.8	-7.7	50	1088	0.00	2.60	0.00	0.000	4	0.000	0.074	2165	1492	3501
1127	-1.10	-146.6	89.3	-8.1	52	1131	0.00	2.67	0.00	0.000	6	0.000	0.074	2165	2899	3501
1454	-1.10	-146.6	114.7	-7.7	68	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3501
1763	-1.10	-146.6	138.1	-7.7	83	1767	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1491	3501
1834	-1.10	-146.6	144.1	-8.6	86	1838	0.00	2.67	0.00	0.000	6	0.000	0.074	2165	2901	3501
2155	-1.10	-146.6	173.1	-9.5	102	2159	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1489	3501
2197	-1.10	-146.6	177.3	-9.1	104	2202	0.00	2.67	0.00	0.000	6	0.000	0.074	2165	2902	3501
2524	-1.10	-146.6	206.6	-8.3	120	2528	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1492	3501
2556	-1.10	-146.6	209.2	-7.6	121	2563	0.00	2.65	0.00	0.000	6	0.000	0.074	2165	2892	3501
2872	-1.10	-146.6	228.8	-5.6	137	2876	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1492	3501
2938	-1.10	-146.6	232.4	-5.7	140	2942	0.00	2.62	0.00	0.000	6	0.000	0.074	2165	2900	3502
3267	-1.10	-146.6	250.4	-5.8	156	3271	0.00	2.62	0.00	0.000	4	0.000	0.070	2165	1487	3501
3310	-1.10	-146.6	253.2	-5.9	158	3314	0.00	2.65	0.00	0.000	6	0.000	0.073	2165	2902	3501
3636	-1.10	-146.6	272.5	-6.1	174	3637	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2902	3501
3945	-1.10	-146.6	292.2	-6.5	189	3950	0.00	2.62	0.00	0.000	4	0.000	0.070	2165	1486	3501
4006	-1.10	-146.6	296.5	-7.1	192	4011	0.00	2.65	0.00	0.000	6	0.000	0.074	2165	2903	3501
4332	-1.10	-146.6	319.9	-7.5	208	4336	0.00	2.58	0.00	0.000	4	0.000	0.068	2165	1492	3501
4371	-1.10	-146.6	323.1	-8.3	210	4375	0.00	2.62	0.00	0.000	6	0.000	0.073	2165	2900	3501
4696	-1.10	-146.6	347.8	-7.5	226	4701	0.00	2.60	0.00	0.000	4	0.000	0.069	2165	1492	3501
4739	-1.10	-146.6	351.2	-7.5	228	4744	0.00	2.65	0.00	0.000	6	0.000	0.074	2165	2897	3501
5066	-1.10	-146.6	376.7	-7.7	244	5071	0.00	2.58	0.00	0.000	4	0.000	0.068	2165	1490	3501
5105	-1.10	-146.6	379.6	-7.7	246	5110	0.00	2.62	0.00	0.000	6	0.000	0.073	2165	2899	3501
5431	-1.10	-146.6	402.2	-6.4	262	5432	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3501
5741	-1.10	-146.6	419.5	-5.3	277	5745	0.00	2.60	0.00	0.000	4	0.000	0.068	2165	1490	3501
5784	-1.10	-146.6	421.9	-5.6	279	5788	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2903	3501
6110	-1.10	-146.6	442.0	-6.8	295	6114	0.00	2.60	0.00	0.000	4	0.000	0.068	2165	1487	3501
6216	-1.10	-146.6	449.9	-8.0	300	6221	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2898	3501
6547	-1.10	-146.6	472.9	-7.3	316	6551	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1491	3501
6556	-1.10	-146.6	473.7	-7.4	316	6563	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2913	3501
6871	-1.10	-146.6	498.9	-8.3	332	6875	0.00	1.65	0.00	0.000	4	0.000	0.081	2165	3798	3501
6989	-1.10	-146.6	508.3	-7.7	337	6993	0.00	1.55	0.00	0.000	6	0.000	0.033	2165	2900	3501
7315	-1.10	-146.6	534.2	-7.7	353	7319	0.00	2.55	0.00	0.000	4	0.000	0.064	2165	1488	3501
7377	-1.10	-146.6	537.9	-5.5	356	7381	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2902	3501
7702	-1.10	-146.6	559.1	-7.2	372	7705	0.00	1.62	0.00	0.000	4	0.000	0.077	2165	3786	3501
7762	-1.10	-146.6	563.7	-7.9	374	7769	0.00	1.52	0.00	0.000	6	0.000	0.033	2165	2899	3501
8077	-1.10	-146.6	590.2	-7.8	390	8082	0.00	2.53	0.00	0.000	4	0.000	0.061	2165	1492	3501
8139	-1.10	-146.6	594.3	-6.3	393	8143	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2900	3501
8465	-1.10	-146.6	608.9	-4.1	409	8468	0.00	1.62	0.00	0.000	4	0.000	0.078	2165	3783	3501
8503	-1.10	-146.6	610.7	-4.8	410	8509	0.00	1.50	0.00	0.000	6	0.000	0.034	2165	2906	3501
8818	-1.10	-146.6	632.0	-8.0	426	8822	0.00	1.65	0.00	0.000	4	0.000	0.077	2165	3779	3501
8844	-1.10	-146.6	634.3	-8.9	427	8849	0.00	1.50	0.00	0.000	6	0.000	0.034	2165	2902	3501
9171	-1.10	-146.6	659.8	-7.2	443	9175	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1485	3502
9247	-1.10	-146.6	664.7	-5.7	446	9254	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2903	3501
9562	-1.10	-146.6	686.8	-7.5	462	9567	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1491	3501
9679	-1.10	-146.6	696.4	-9.3	467	9684	0.00	2.67	0.00	0.000	6	0.000	0.075	2165	2899	3501
9772	end dive: TARGET_DEPTH_EXCEEDED
state	9772	begin apogee
9778	-0.42	0.0	703.5	7.6	472	9907	0.75	0.00	125.38	1.241	6	0.086	0.000	2318	1782	2901
9907	end apogee: CONTROL_FINISHED_OK
state	9907	begin climb
9909	1.10	146.6	708.2	0.0	478	10040	1.52	2.75	122.95	1.197	4	0.049	0.074	2650	366	2303
10181	1.12	158.4	695.8	5.7	490	10197	0.00	2.55	11.55	1.098	6	0.000	0.042	2649	1785	2255
10512	1.14	180.9	681.5	5.4	507	10538	0.00	2.65	20.55	1.152	4	0.000	0.072	2650	3173	2163
10587	1.14	180.9	676.0	8.6	510	10595	0.00	2.60	0.00	0.000	6	0.000	0.056	2650	1773	2162
10903	1.14	180.9	657.4	7.0	526	10907	0.00	2.67	0.00	0.000	4	0.000	0.077	2650	3173	2161
10946	1.14	180.9	654.3	7.5	528	10950	0.00	2.60	0.00	0.000	6	0.000	0.059	2650	1776	2161
11273	1.27	285.0	638.1	3.1	544	11367	0.17	2.72	86.32	1.220	4	0.039	0.075	2705	3174	1739
11557	1.27	285.0	613.4	12.1	557	11562	0.00	2.58	0.00	0.000	6	0.000	0.056	2706	1777	1737
11884	1.27	285.0	574.4	10.1	573	11888	0.00	2.62	0.00	0.000	4	0.000	0.070	2706	3179	1736
11971	1.27	285.0	567.9	6.8	577	11976	0.00	2.58	0.00	0.000	6	0.000	0.053	2706	1775	1736
12298	1.27	285.0	543.8	9.2	593	12303	0.00	2.62	0.00	0.000	4	0.000	0.067	2706	3179	1736
12477	1.27	285.0	523.4	12.2	601	12481	0.00	2.53	0.00	0.000	6	0.000	0.051	2706	1773	1736
12803	1.27	285.0	484.9	12.1	617	12807	0.00	2.62	0.00	0.000	4	0.000	0.067	2706	3181	1736
12896	1.27	285.0	473.7	12.0	621	12901	0.00	2.55	0.00	0.000	6	0.000	0.051	2706	1776	1737
13217	1.27	285.0	439.5	9.6	637	13222	0.00	2.60	0.00	0.000	4	0.000	0.069	2706	3178	1737
13294	1.27	285.0	432.2	8.8	640	13302	0.00	2.55	0.00	0.000	6	0.000	0.052	2706	1776	1737
13611	1.27	285.0	403.0	9.8	656	13615	0.00	2.60	0.00	0.000	4	0.000	0.069	2706	3174	1738
13717	1.27	285.0	392.9	9.8	661	13721	0.00	2.53	0.00	0.000	6	0.000	0.054	2706	1772	1738
14041	1.27	285.0	365.6	8.4	677	14046	0.00	2.60	0.00	0.000	4	0.000	0.070	2706	3176	1739
14147	1.27	285.0	356.0	9.4	682	14151	0.00	2.53	0.00	0.000	6	0.000	0.054	2706	1772	1739
14473	1.27	285.0	322.1	11.5	698	14477	0.00	2.62	0.00	0.000	4	0.000	0.071	2706	3175	1739
14538	1.27	285.0	313.8	13.1	701	14543	0.00	2.55	0.00	0.000	6	0.000	0.054	2706	1777	1739
14865	1.27	285.0	274.5	11.5	717	14869	0.00	2.62	0.00	0.000	4	0.000	0.074	2706	3174	1740
14952	1.27	285.0	263.9	12.1	721	14957	0.00	2.55	0.00	0.000	6	0.000	0.055	2706	1774	1740
15279	1.27	285.0	228.3	10.8	737	15283	0.00	2.62	0.00	0.000	4	0.000	0.073	2706	3181	1741
15363	1.27	285.0	219.3	10.7	741	15367	0.00	2.55	0.00	0.000	6	0.000	0.057	2706	1771	1741
15687	1.27	285.0	186.5	9.8	757	15692	0.00	2.62	0.00	0.000	4	0.000	0.073	2706	3178	1741
15803	1.27	285.0	175.2	10.4	762	15808	0.00	2.55	0.00	0.000	6	0.000	0.054	2706	1776	1741
16125	1.27	285.0	144.1	9.2	778	16129	0.00	2.62	0.00	0.000	4	0.000	0.071	2706	3179	1741
16212	1.27	285.0	135.0	10.4	782	16217	0.00	2.53	0.00	0.000	6	0.000	0.054	2706	1773	1741
16540	1.27	285.0	100.9	10.7	798	16544	0.00	2.62	0.00	0.000	4	0.000	0.070	2706	3179	1741
16623	1.27	285.0	93.0	9.5	802	16628	0.00	2.53	0.00	0.000	6	0.000	0.056	2706	1774	1741
16948	1.27	285.0	58.6	11.5	818	16953	0.00	2.62	0.00	0.000	4	0.000	0.072	2706	3174	1742
17025	1.27	285.0	50.8	9.7	821	17032	0.00	2.55	0.00	0.000	6	0.000	0.054	2706	1773	1741
17341	1.27	285.0	19.7	10.5	837	17345	0.00	2.65	0.00	0.000	4	0.000	0.076	2706	3176	1742
17406	1.27	285.0	13.8	8.7	840	17410	0.00	2.55	0.00	0.000	6	0.000	0.054	2706	1771	1742
17547	end climb: SURFACE_DEPTH_REACHED
state	17547	begin surface coast
17568	end surface coast: CONTROL_FINISHED_OK
state	17568	begin surface