Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 109 * 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 109 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 8 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 -64378.828 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 -64378.828

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 8 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 109 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 035701,6157.249,-941.395,41,2.0,46,-9.8 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.005,0.218

_SM_DEPTHo -0.44 KALMAN_X -83036.7,48.8,566.8,23183.4,-8458.8

_SM_ANGLEo -49.3 KALMAN_Y 65758.1,893.5,769.8,-24223.0,-4054.8

GPS2 040426,6157.342,-941.574,155,2.0,155,-9.8 MHEAD_RNG_PITCHd_Wd 11.1,42583,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 718

Post-dive calculations and measurements:

FINISH 0.3,1.027244 XPDR_PINGS 2

SM_CCo 18943,31.58,0.700,1,0,1678,300.00 ALTIM_BOTTOM_PING 676.2,72.1

SM_GC 0.28,0.00,0.00,31.58,0.000,0.000,0.700,46,2889,1678,-10.87,-0.31,300.00 _24V_AH 23.4,22.484

IRIDIUM_FIX 6130.75,-929.24,301107,020214 _10V_AH 10.1,9.719

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47403,911

HUMID 2057 CFSIZE 260165632,252604416

INTERNAL_PRESSURE 8.86753 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,40,1,0

TCM_TEMP 17.60 GPS 301107,092302,6159.336,-947.627,38,1.5,38,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 95.47 SBE_CT 647 24 363.75

Roll_motor 189 77 343.01 SBE_O2 646 19 287.30

VBD_pump_during_apogee 348 1228 10019.48 WL_BB2F 535 105 1315.26

VBD_pump_during_surface 31 699 516.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.15 nil 0 0 0.00

Iridium_during_connect 27 160 103.58 nil 0 0 0.00

Iridium_during_xfer 143 223 748.02

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 155 50 78.67

TT8 1745 19 349.15

LPSleep 14224 2 314.64

TT8_Active 551 19 110.37

TT8_Sampling 2512 39 1009.93

TT8_CF8 403 45 186.73

TT8_Kalman 33 81 27.56

Analog_circuits 1720 12 208.58

GPS_charging 0 0 0.00

Compass 2324 8 187.85

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 95 0.00 0.00 -72.47 0.000 6 0.000 0.000 45 2889 3501

96 -1.10 -146.6 2.4 -7.1 3 118 11.85 2.60 0.00 0.000 4 0.156 0.061 2163 1490 3502

369 -1.10 -146.6 42.3 -9.4 15 374 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2906 3503

696 -1.10 -146.6 84.1 -12.6 31 697 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2906 3503

1006 -1.10 -146.6 115.2 -5.8 46 1010 0.00 2.62 0.00 0.000 4 0.000 0.069 2163 1483 3503

1044 -1.10 -146.6 118.1 -8.2 48 1049 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2902 3503

1370 -1.10 -146.6 141.7 -7.3 64 1371 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

1679 -1.10 -146.6 168.6 -8.8 79 1680 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

1988 -1.10 -146.6 196.9 -10.0 94 1992 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1482 3503

2032 -1.10 -146.6 200.6 -8.5 96 2036 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2903 3503

2351 -1.10 -146.6 226.9 -8.5 112 2355 0.00 2.60 0.00 0.000 4 0.000 0.065 2163 1490 3503

2389 -1.10 -146.6 230.1 -8.5 114 2393 0.00 2.60 0.00 0.000 6 0.000 0.069 2163 2899 3502

2714 -1.10 -146.6 255.5 -8.3 130 2715 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

3023 -1.10 -146.6 281.0 -8.1 145 3028 0.00 2.60 0.00 0.000 4 0.000 0.065 2163 1483 3503

3066 -1.10 -146.6 284.8 -8.8 147 3071 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2895 3503

3393 -1.10 -146.6 313.1 -9.1 163 3394 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2895 3503

3703 -1.10 -146.6 338.9 -7.8 178 3707 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1490 3503

3745 -1.10 -146.6 342.3 -7.7 180 3750 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2893 3503

4072 -1.10 -146.6 368.0 -7.9 196 4073 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2893 3503

4382 -1.10 -146.6 388.1 -6.1 211 4383 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2893 3503

4692 -1.10 -146.6 406.6 -5.9 226 4696 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1482 3503

4734 -1.10 -146.6 409.3 -5.9 228 4739 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2901 3503

5061 -1.10 -146.6 429.5 -6.4 244 5065 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1489 3503

5104 -1.10 -146.6 432.4 -7.0 246 5108 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2900 3503

5430 -1.10 -146.6 455.1 -7.5 262 5435 0.00 2.55 0.00 0.000 4 0.000 0.062 2163 1483 3503

5485 -1.10 -146.6 459.3 -7.7 264 5492 0.00 2.62 0.00 0.000 6 0.000 0.066 2163 2896 3503

5800 -1.10 -146.6 481.6 -6.8 280 5804 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1486 3503

5849 -1.10 -146.6 485.2 -7.1 282 5854 0.00 2.60 0.00 0.000 6 0.000 0.064 2163 2892 3503

6170 -1.10 -146.6 505.7 -6.3 298 6175 0.00 2.55 0.00 0.000 4 0.000 0.060 2163 1487 3503

6277 -1.10 -146.6 512.6 -7.0 303 6281 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2900 3503

6602 -1.10 -146.6 532.8 -6.0 319 6606 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1487 3502

6678 -1.10 -146.6 539.4 -9.3 322 6685 0.00 2.58 0.00 0.000 6 0.000 0.063 2163 2900 3502

6993 -1.10 -146.6 562.3 -6.8 338 6998 0.00 2.55 0.00 0.000 4 0.000 0.056 2163 1484 3503

7037 -1.10 -146.6 565.3 -6.9 340 7041 0.00 2.60 0.00 0.000 6 0.000 0.063 2163 2894 3503

7364 -1.10 -146.6 586.7 -6.3 356 7365 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2894 3503

7673 -1.10 -146.6 606.9 -7.2 371 7677 0.00 2.50 0.00 0.000 4 0.000 0.054 2163 1483 3503

7756 -1.10 -146.6 612.9 -7.2 375 7761 0.00 2.58 0.00 0.000 6 0.000 0.061 2163 2902 3503

8082 -1.10 -146.6 634.6 -6.8 391 8083 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3502

8393 -1.10 -146.6 651.1 -5.3 406 8397 0.00 2.55 0.00 0.000 4 0.000 0.056 2163 1486 3502

8526 -1.10 -146.6 658.2 -5.8 412 8530 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2902 3503

8852 -1.10 -146.6 679.5 -7.6 428 8853 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

9161 -1.10 -146.6 702.6 -6.8 443 9163 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

9407 end dive: TARGET_DEPTH_EXCEEDED

state 9407 begin apogee

9413 -0.42 0.0 718.3 6.8 455 9542 0.75 0.00 125.50 1.229 6 0.083 0.000 2317 1771 2901

9543 end apogee: CONTROL_FINISHED_OK

state 9543 begin climb

9545 1.10 146.6 721.1 0.0 461 9676 1.52 2.70 122.82 1.193 4 0.054 0.070 2647 362 2303

9904 1.10 146.6 710.0 6.1 477 9912 0.00 2.55 0.00 0.000 6 0.000 0.041 2647 1786 2302

10220 1.13 169.1 692.8 5.4 493 10246 0.00 2.62 20.20 1.147 4 0.000 0.065 2647 3175 2211

10497 1.13 169.1 673.8 7.1 505 10505 0.00 2.55 0.00 0.000 6 0.000 0.049 2647 1774 2211

10814 1.18 209.0 654.4 4.9 521 10855 0.00 2.67 34.45 1.178 4 0.000 0.066 2647 3177 2048

10923 1.20 222.3 648.6 5.6 526 10945 0.10 2.55 12.68 1.088 6 0.048 0.050 2684 1765 1994

11253 1.20 222.3 622.1 8.9 542 11257 0.00 2.58 0.00 0.000 4 0.000 0.058 2684 3178 1993

11336 1.20 222.3 615.1 7.9 546 11340 0.00 2.50 0.00 0.000 6 0.000 0.044 2684 1772 1993

11661 1.20 222.3 588.9 8.1 562 11665 0.00 2.58 0.00 0.000 4 0.000 0.060 2684 3184 1993

11836 1.20 222.3 573.9 8.3 570 11840 0.00 2.50 0.00 0.000 6 0.000 0.042 2684 1768 1992

12161 1.20 222.3 544.1 9.7 586 12165 0.00 2.58 0.00 0.000 4 0.000 0.058 2684 3178 1992

12290 1.20 222.3 531.0 10.1 592 12295 0.00 2.47 0.00 0.000 6 0.000 0.042 2684 1774 1992

12616 1.20 222.3 500.4 9.0 608 12620 0.00 2.58 0.00 0.000 4 0.000 0.060 2684 3178 1992

12699 1.20 222.3 493.0 8.8 612 12704 0.00 2.47 0.00 0.000 6 0.000 0.045 2684 1776 1992

13025 1.20 222.3 464.3 8.6 628 13029 0.00 2.55 0.00 0.000 4 0.000 0.061 2684 3177 1992

13108 1.20 222.3 457.3 9.0 632 13112 0.00 2.50 0.00 0.000 6 0.000 0.048 2684 1771 1992

13433 1.20 222.3 429.8 8.6 648 13437 0.00 2.60 0.00 0.000 4 0.000 0.062 2684 3182 1992

13543 1.20 222.3 419.7 8.6 653 13548 0.00 2.53 0.00 0.000 6 0.000 0.050 2684 1780 1992

13870 1.20 222.3 391.5 8.4 669 13874 0.00 2.58 0.00 0.000 4 0.000 0.063 2684 3178 1993

13993 1.20 222.3 380.9 8.3 674 13999 0.00 2.50 0.00 0.000 6 0.000 0.049 2684 1777 1993

14307 1.20 222.3 355.1 8.1 690 14311 0.00 2.58 0.00 0.000 4 0.000 0.063 2684 3178 1993

14407 1.20 222.3 347.0 8.3 694 14413 0.00 2.50 0.00 0.000 6 0.000 0.049 2684 1774 1994

14722 1.20 222.3 322.8 7.7 710 14726 0.00 2.58 0.00 0.000 4 0.000 0.064 2684 3177 1994

14833 1.20 222.3 314.1 8.9 715 14838 0.00 2.50 0.00 0.000 6 0.000 0.050 2684 1775 1994

15159 1.20 222.3 288.6 7.6 731 15164 0.00 2.58 0.00 0.000 4 0.000 0.064 2684 3175 1994

15304 1.20 222.3 276.4 8.6 737 15311 0.00 2.53 0.00 0.000 6 0.000 0.051 2684 1777 1994

15619 1.20 222.3 250.4 8.5 753 15624 0.00 2.55 0.00 0.000 4 0.000 0.064 2684 3175 1995

15725 1.20 222.3 241.3 8.2 758 15730 0.00 2.50 0.00 0.000 6 0.000 0.052 2684 1774 1995

16051 1.20 222.3 214.8 7.8 774 16056 0.00 2.60 0.00 0.000 4 0.000 0.066 2683 3180 1995

16180 1.20 222.3 204.7 7.9 780 16184 0.00 2.53 0.00 0.000 6 0.000 0.053 2684 1766 1995

16506 1.20 222.3 181.0 6.9 796 16510 0.00 2.60 0.00 0.000 4 0.000 0.066 2684 3176 1995

16627 1.20 222.3 171.8 8.1 801 16634 0.00 2.50 0.00 0.000 6 0.000 0.053 2684 1776 1995

16943 1.20 222.3 147.7 7.2 817 16947 0.00 2.58 0.00 0.000 4 0.000 0.065 2684 3175 1995

17105 1.20 222.3 135.0 7.7 824 17109 0.00 2.50 0.00 0.000 6 0.000 0.051 2684 1773 1996

17420 1.20 222.3 111.7 6.7 839 17424 0.00 2.60 0.00 0.000 4 0.000 0.067 2684 3183 1996

17513 1.20 222.3 104.7 6.7 843 17517 0.00 2.53 0.00 0.000 6 0.000 0.054 2684 1775 1996

17836 1.20 222.3 86.3 6.0 859 17840 0.00 2.60 0.00 0.000 4 0.000 0.067 2684 3179 1996

17942 1.24 262.0 80.0 4.9 864 17984 0.00 2.53 32.83 0.775 6 0.000 0.051 2684 1770 1832

18294 1.24 262.0 53.8 8.1 881 18299 0.00 2.60 0.00 0.000 4 0.000 0.066 2684 3177 1832

18405 1.24 262.0 44.1 9.5 886 18410 0.00 2.55 0.00 0.000 6 0.000 0.052 2684 1773 1831

18734 1.24 262.0 16.2 8.4 902 18738 0.00 2.62 0.00 0.000 4 0.000 0.068 2684 3181 1831

18832 1.24 262.0 7.2 7.8 906 18840 0.00 2.53 0.00 0.000 6 0.000 0.048 2683 1778 1831

18899 end climb: SURFACE_DEPTH_REACHED

state 18900 begin surface coast

18921 end surface coast: CONTROL_FINISHED_OK

state 18922 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	109	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	8	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	-64378.828	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	035701,6157.249,-941.395,41,2.0,46,-9.8	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.005,0.218
_SM_DEPTHo	-0.44	KALMAN_X	-83036.7,48.8,566.8,23183.4,-8458.8
_SM_ANGLEo	-49.3	KALMAN_Y	65758.1,893.5,769.8,-24223.0,-4054.8
GPS2	040426,6157.342,-941.574,155,2.0,155,-9.8	MHEAD_RNG_PITCHd_Wd	11.1,42583,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	718

FINISH	0.3,1.027244	XPDR_PINGS	2
SM_CCo	18943,31.58,0.700,1,0,1678,300.00	ALTIM_BOTTOM_PING	676.2,72.1
SM_GC	0.28,0.00,0.00,31.58,0.000,0.000,0.700,46,2889,1678,-10.87,-0.31,300.00	_24V_AH	23.4,22.484
IRIDIUM_FIX	6130.75,-929.24,301107,020214	_10V_AH	10.1,9.719
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47403,911
HUMID	2057	CFSIZE	260165632,252604416
INTERNAL_PRESSURE	8.86753	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,40,1,0
TCM_TEMP	17.60	GPS	301107,092302,6159.336,-947.627,38,1.5,38,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	95.47	SBE_CT	647	24	363.75
Roll_motor	189	77	343.01	SBE_O2	646	19	287.30
VBD_pump_during_apogee	348	1228	10019.48	WL_BB2F	535	105	1315.26
VBD_pump_during_surface	31	699	516.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.15	nil	0	0	0.00
Iridium_during_connect	27	160	103.58	nil	0	0	0.00
Iridium_during_xfer	143	223	748.02
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	155	50	78.67
TT8	1745	19	349.15
LPSleep	14224	2	314.64
TT8_Active	551	19	110.37
TT8_Sampling	2512	39	1009.93
TT8_CF8	403	45	186.73
TT8_Kalman	33	81	27.56
Analog_circuits	1720	12	208.58
GPS_charging	0	0	0.00
Compass	2324	8	187.85
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	95	0.00	0.00	-72.47	0.000	6	0.000	0.000	45	2889	3501
96	-1.10	-146.6	2.4	-7.1	3	118	11.85	2.60	0.00	0.000	4	0.156	0.061	2163	1490	3502
369	-1.10	-146.6	42.3	-9.4	15	374	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2906	3503
696	-1.10	-146.6	84.1	-12.6	31	697	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2906	3503
1006	-1.10	-146.6	115.2	-5.8	46	1010	0.00	2.62	0.00	0.000	4	0.000	0.069	2163	1483	3503
1044	-1.10	-146.6	118.1	-8.2	48	1049	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2902	3503
1370	-1.10	-146.6	141.7	-7.3	64	1371	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
1679	-1.10	-146.6	168.6	-8.8	79	1680	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
1988	-1.10	-146.6	196.9	-10.0	94	1992	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1482	3503
2032	-1.10	-146.6	200.6	-8.5	96	2036	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2903	3503
2351	-1.10	-146.6	226.9	-8.5	112	2355	0.00	2.60	0.00	0.000	4	0.000	0.065	2163	1490	3503
2389	-1.10	-146.6	230.1	-8.5	114	2393	0.00	2.60	0.00	0.000	6	0.000	0.069	2163	2899	3502
2714	-1.10	-146.6	255.5	-8.3	130	2715	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
3023	-1.10	-146.6	281.0	-8.1	145	3028	0.00	2.60	0.00	0.000	4	0.000	0.065	2163	1483	3503
3066	-1.10	-146.6	284.8	-8.8	147	3071	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2895	3503
3393	-1.10	-146.6	313.1	-9.1	163	3394	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2895	3503
3703	-1.10	-146.6	338.9	-7.8	178	3707	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1490	3503
3745	-1.10	-146.6	342.3	-7.7	180	3750	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2893	3503
4072	-1.10	-146.6	368.0	-7.9	196	4073	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2893	3503
4382	-1.10	-146.6	388.1	-6.1	211	4383	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2893	3503
4692	-1.10	-146.6	406.6	-5.9	226	4696	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1482	3503
4734	-1.10	-146.6	409.3	-5.9	228	4739	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2901	3503
5061	-1.10	-146.6	429.5	-6.4	244	5065	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1489	3503
5104	-1.10	-146.6	432.4	-7.0	246	5108	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2900	3503
5430	-1.10	-146.6	455.1	-7.5	262	5435	0.00	2.55	0.00	0.000	4	0.000	0.062	2163	1483	3503
5485	-1.10	-146.6	459.3	-7.7	264	5492	0.00	2.62	0.00	0.000	6	0.000	0.066	2163	2896	3503
5800	-1.10	-146.6	481.6	-6.8	280	5804	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1486	3503
5849	-1.10	-146.6	485.2	-7.1	282	5854	0.00	2.60	0.00	0.000	6	0.000	0.064	2163	2892	3503
6170	-1.10	-146.6	505.7	-6.3	298	6175	0.00	2.55	0.00	0.000	4	0.000	0.060	2163	1487	3503
6277	-1.10	-146.6	512.6	-7.0	303	6281	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2900	3503
6602	-1.10	-146.6	532.8	-6.0	319	6606	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1487	3502
6678	-1.10	-146.6	539.4	-9.3	322	6685	0.00	2.58	0.00	0.000	6	0.000	0.063	2163	2900	3502
6993	-1.10	-146.6	562.3	-6.8	338	6998	0.00	2.55	0.00	0.000	4	0.000	0.056	2163	1484	3503
7037	-1.10	-146.6	565.3	-6.9	340	7041	0.00	2.60	0.00	0.000	6	0.000	0.063	2163	2894	3503
7364	-1.10	-146.6	586.7	-6.3	356	7365	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2894	3503
7673	-1.10	-146.6	606.9	-7.2	371	7677	0.00	2.50	0.00	0.000	4	0.000	0.054	2163	1483	3503
7756	-1.10	-146.6	612.9	-7.2	375	7761	0.00	2.58	0.00	0.000	6	0.000	0.061	2163	2902	3503
8082	-1.10	-146.6	634.6	-6.8	391	8083	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3502
8393	-1.10	-146.6	651.1	-5.3	406	8397	0.00	2.55	0.00	0.000	4	0.000	0.056	2163	1486	3502
8526	-1.10	-146.6	658.2	-5.8	412	8530	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2902	3503
8852	-1.10	-146.6	679.5	-7.6	428	8853	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
9161	-1.10	-146.6	702.6	-6.8	443	9163	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
9407	end dive: TARGET_DEPTH_EXCEEDED
state	9407	begin apogee
9413	-0.42	0.0	718.3	6.8	455	9542	0.75	0.00	125.50	1.229	6	0.083	0.000	2317	1771	2901
9543	end apogee: CONTROL_FINISHED_OK
state	9543	begin climb
9545	1.10	146.6	721.1	0.0	461	9676	1.52	2.70	122.82	1.193	4	0.054	0.070	2647	362	2303
9904	1.10	146.6	710.0	6.1	477	9912	0.00	2.55	0.00	0.000	6	0.000	0.041	2647	1786	2302
10220	1.13	169.1	692.8	5.4	493	10246	0.00	2.62	20.20	1.147	4	0.000	0.065	2647	3175	2211
10497	1.13	169.1	673.8	7.1	505	10505	0.00	2.55	0.00	0.000	6	0.000	0.049	2647	1774	2211
10814	1.18	209.0	654.4	4.9	521	10855	0.00	2.67	34.45	1.178	4	0.000	0.066	2647	3177	2048
10923	1.20	222.3	648.6	5.6	526	10945	0.10	2.55	12.68	1.088	6	0.048	0.050	2684	1765	1994
11253	1.20	222.3	622.1	8.9	542	11257	0.00	2.58	0.00	0.000	4	0.000	0.058	2684	3178	1993
11336	1.20	222.3	615.1	7.9	546	11340	0.00	2.50	0.00	0.000	6	0.000	0.044	2684	1772	1993
11661	1.20	222.3	588.9	8.1	562	11665	0.00	2.58	0.00	0.000	4	0.000	0.060	2684	3184	1993
11836	1.20	222.3	573.9	8.3	570	11840	0.00	2.50	0.00	0.000	6	0.000	0.042	2684	1768	1992
12161	1.20	222.3	544.1	9.7	586	12165	0.00	2.58	0.00	0.000	4	0.000	0.058	2684	3178	1992
12290	1.20	222.3	531.0	10.1	592	12295	0.00	2.47	0.00	0.000	6	0.000	0.042	2684	1774	1992
12616	1.20	222.3	500.4	9.0	608	12620	0.00	2.58	0.00	0.000	4	0.000	0.060	2684	3178	1992
12699	1.20	222.3	493.0	8.8	612	12704	0.00	2.47	0.00	0.000	6	0.000	0.045	2684	1776	1992
13025	1.20	222.3	464.3	8.6	628	13029	0.00	2.55	0.00	0.000	4	0.000	0.061	2684	3177	1992
13108	1.20	222.3	457.3	9.0	632	13112	0.00	2.50	0.00	0.000	6	0.000	0.048	2684	1771	1992
13433	1.20	222.3	429.8	8.6	648	13437	0.00	2.60	0.00	0.000	4	0.000	0.062	2684	3182	1992
13543	1.20	222.3	419.7	8.6	653	13548	0.00	2.53	0.00	0.000	6	0.000	0.050	2684	1780	1992
13870	1.20	222.3	391.5	8.4	669	13874	0.00	2.58	0.00	0.000	4	0.000	0.063	2684	3178	1993
13993	1.20	222.3	380.9	8.3	674	13999	0.00	2.50	0.00	0.000	6	0.000	0.049	2684	1777	1993
14307	1.20	222.3	355.1	8.1	690	14311	0.00	2.58	0.00	0.000	4	0.000	0.063	2684	3178	1993
14407	1.20	222.3	347.0	8.3	694	14413	0.00	2.50	0.00	0.000	6	0.000	0.049	2684	1774	1994
14722	1.20	222.3	322.8	7.7	710	14726	0.00	2.58	0.00	0.000	4	0.000	0.064	2684	3177	1994
14833	1.20	222.3	314.1	8.9	715	14838	0.00	2.50	0.00	0.000	6	0.000	0.050	2684	1775	1994
15159	1.20	222.3	288.6	7.6	731	15164	0.00	2.58	0.00	0.000	4	0.000	0.064	2684	3175	1994
15304	1.20	222.3	276.4	8.6	737	15311	0.00	2.53	0.00	0.000	6	0.000	0.051	2684	1777	1994
15619	1.20	222.3	250.4	8.5	753	15624	0.00	2.55	0.00	0.000	4	0.000	0.064	2684	3175	1995
15725	1.20	222.3	241.3	8.2	758	15730	0.00	2.50	0.00	0.000	6	0.000	0.052	2684	1774	1995
16051	1.20	222.3	214.8	7.8	774	16056	0.00	2.60	0.00	0.000	4	0.000	0.066	2683	3180	1995
16180	1.20	222.3	204.7	7.9	780	16184	0.00	2.53	0.00	0.000	6	0.000	0.053	2684	1766	1995
16506	1.20	222.3	181.0	6.9	796	16510	0.00	2.60	0.00	0.000	4	0.000	0.066	2684	3176	1995
16627	1.20	222.3	171.8	8.1	801	16634	0.00	2.50	0.00	0.000	6	0.000	0.053	2684	1776	1995
16943	1.20	222.3	147.7	7.2	817	16947	0.00	2.58	0.00	0.000	4	0.000	0.065	2684	3175	1995
17105	1.20	222.3	135.0	7.7	824	17109	0.00	2.50	0.00	0.000	6	0.000	0.051	2684	1773	1996
17420	1.20	222.3	111.7	6.7	839	17424	0.00	2.60	0.00	0.000	4	0.000	0.067	2684	3183	1996
17513	1.20	222.3	104.7	6.7	843	17517	0.00	2.53	0.00	0.000	6	0.000	0.054	2684	1775	1996
17836	1.20	222.3	86.3	6.0	859	17840	0.00	2.60	0.00	0.000	4	0.000	0.067	2684	3179	1996
17942	1.24	262.0	80.0	4.9	864	17984	0.00	2.53	32.83	0.775	6	0.000	0.051	2684	1770	1832
18294	1.24	262.0	53.8	8.1	881	18299	0.00	2.60	0.00	0.000	4	0.000	0.066	2684	3177	1832
18405	1.24	262.0	44.1	9.5	886	18410	0.00	2.55	0.00	0.000	6	0.000	0.052	2684	1773	1831
18734	1.24	262.0	16.2	8.4	902	18738	0.00	2.62	0.00	0.000	4	0.000	0.068	2684	3181	1831
18832	1.24	262.0	7.2	7.8	906	18840	0.00	2.53	0.00	0.000	6	0.000	0.048	2683	1778	1831
18899	end climb: SURFACE_DEPTH_REACHED
state	18900	begin surface coast
18921	end surface coast: CONTROL_FINISHED_OK
state	18922	begin surface