Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 110 * 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 110 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 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 -64395.301 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 -64395.301

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 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 110 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 092302,6159.336,-947.627,38,1.5,38,-9.8 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.035,0.216

_SM_DEPTHo -0.36 KALMAN_X -88417.6,788.2,-65.1,23082.7,-8618.4

_SM_ANGLEo -61.9 KALMAN_Y 65456.7,742.3,-147.8,-19180.4,-2492.1

GPS2 092803,6159.311,-947.664,15,1.3,15,-9.8 MHEAD_RNG_PITCHd_Wd 18.9,38368,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 741

Post-dive calculations and measurements:

FINISH -1.2,1.027227 XPDR_PINGS 1

SM_CCo 18599,22.45,0.691,1,0,1677,300.00 ALTIM_BOTTOM_PING 725.0,29.5

SM_GC -0.32,0.00,0.00,22.45,0.000,0.000,0.691,44,2889,1677,-10.88,-0.31,300.00 _24V_AH 23.4,22.626

IRIDIUM_FIX 6135.28,-943.53,301107,070746 _10V_AH 10.1,9.807

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44328,894

HUMID 2056 CFSIZE 260165632,252538880

INTERNAL_PRESSURE 8.87729 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,45,1,0

TCM_TEMP 17.60 GPS 301107,144038,6202.873,-948.959,29,0.9,29,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 99.22 SBE_CT 645 24 362.50

Roll_motor 207 113 551.24 SBE_O2 631 19 280.79

VBD_pump_during_apogee 355 1255 10450.66 WL_BB2F 523 105 1285.88

VBD_pump_during_surface 22 691 363.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.75 nil 0 0 0.00

Iridium_during_connect 29 160 109.78 nil 0 0 0.00

Iridium_during_xfer 137 223 716.26

Transponder_ping 6 420 66.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.00

TT8 1729 19 345.82

LPSleep 13931 2 308.16

TT8_Active 539 19 107.95

TT8_Sampling 2328 39 935.85

TT8_CF8 411 45 190.30

TT8_Kalman 33 81 27.56

Analog_circuits 1709 12 207.15

GPS_charging 0 0 0.00

Compass 2286 8 184.71

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 83 0.00 0.00 -61.70 0.000 2 0.000 0.000 46 2892 3358

85 -1.10 -146.6 3.1 -7.9 3 107 12.05 1.75 -2.65 0.000 4 0.162 0.114 2164 3780 3502

117 -1.10 -146.6 12.4 -21.2 4 122 0.00 1.55 0.00 0.000 6 0.000 0.032 2164 2889 3502

439 -1.10 -146.6 38.0 -7.9 20 442 0.00 1.70 0.00 0.000 4 0.000 0.081 2164 3783 3502

696 -1.10 -146.6 59.2 -7.6 31 700 0.00 1.52 0.00 0.000 6 0.000 0.034 2164 2901 3503

1017 -1.10 -146.6 83.3 -7.7 47 1021 0.00 1.67 0.00 0.000 4 0.000 0.080 2164 3786 3503

1246 -1.10 -146.6 103.4 -8.4 57 1251 0.00 1.52 0.00 0.000 6 0.000 0.033 2164 2900 3503

1573 -1.10 -146.6 134.4 -9.2 73 1578 0.00 2.60 0.00 0.000 4 0.000 0.071 2164 1490 3502

1622 -1.10 -146.6 138.7 -8.7 75 1626 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2895 3503

1943 -1.10 -146.6 166.8 -9.4 91 1947 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1497 3502

1991 -1.10 -146.6 171.6 -9.6 93 1996 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2906 3503

2313 -1.10 -146.6 201.3 -8.7 109 2318 0.00 2.60 0.00 0.000 4 0.000 0.066 2164 1492 3503

2339 -1.10 -146.6 203.6 -8.1 110 2344 0.00 2.65 0.00 0.000 6 0.000 0.073 2164 2899 3503

2662 -1.10 -146.6 228.7 -7.9 126 2663 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2970 -1.10 -146.6 253.1 -8.2 141 2975 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1497 3503

3025 -1.10 -146.6 257.7 -7.9 143 3032 0.00 2.65 0.00 0.000 6 0.000 0.073 2164 2899 3502

3340 -1.10 -146.6 281.2 -7.3 159 3345 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1499 3503

3374 -1.10 -146.6 283.5 -7.0 160 3380 0.00 2.60 0.00 0.000 6 0.000 0.071 2164 2899 3503

3688 -1.10 -146.6 304.4 -7.0 176 3690 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

3998 -1.10 -146.6 324.3 -6.3 191 4002 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1496 3503

4054 -1.10 -146.6 327.7 -6.0 193 4060 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2900 3503

4368 -1.10 -146.6 345.5 -5.4 209 4373 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1495 3503

4418 -1.10 -146.6 348.3 -5.9 211 4422 0.00 2.60 0.00 0.000 6 0.000 0.071 2164 2900 3503

4739 -1.10 -146.6 366.8 -6.0 227 4743 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1497 3503

4792 -1.10 -146.6 370.4 -6.8 229 4800 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2901 3502

5108 -1.10 -146.6 390.0 -6.2 245 5112 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1496 3503

5151 -1.10 -146.6 392.6 -6.0 247 5155 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2899 3503

5478 -1.10 -146.6 410.5 -5.6 263 5479 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

5787 -1.10 -146.6 427.1 -5.2 278 5792 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1492 3503

5864 -1.10 -146.6 431.0 -4.8 281 5871 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2901 3502

6180 -1.10 -146.6 446.3 -5.0 297 6184 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1492 3502

6224 -1.10 -146.6 448.5 -4.8 299 6228 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2903 3502

6550 -1.10 -146.6 465.0 -5.2 315 6555 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1488 3502

6600 -1.10 -146.6 467.7 -5.6 317 6604 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2900 3503

6915 -1.10 -146.6 488.7 -7.9 332 6919 0.00 2.55 0.00 0.000 4 0.000 0.059 2164 1493 3502

6957 -1.10 -146.6 492.6 -9.1 334 6962 0.00 2.60 0.00 0.000 6 0.000 0.064 2164 2901 3502

7284 -1.10 -146.6 520.4 -8.2 350 7289 0.00 2.53 0.00 0.000 4 0.000 0.057 2164 1491 3503

7328 -1.10 -146.6 523.9 -7.7 352 7332 0.00 2.58 0.00 0.000 6 0.000 0.064 2164 2904 3503

7654 -1.10 -146.6 547.0 -7.3 368 7655 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3502

7964 -1.10 -146.6 569.6 -6.9 383 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3502

8273 -1.10 -146.6 591.3 -6.4 398 8277 0.00 2.53 0.00 0.000 4 0.000 0.053 2164 1490 3502

8360 -1.10 -146.6 597.2 -6.3 402 8365 0.00 2.58 0.00 0.000 6 0.000 0.060 2164 2898 3503

8687 -1.10 -146.6 619.7 -7.8 418 8688 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2898 3502

8997 -1.10 -146.6 642.8 -5.8 433 9002 0.00 2.50 0.00 0.000 4 0.000 0.051 2164 1489 3502

9137 -1.10 -146.6 650.0 -4.5 439 9142 0.00 2.55 0.00 0.000 6 0.000 0.059 2164 2900 3502

9458 -1.10 -146.6 660.9 -3.3 455 9461 0.00 2.50 0.00 0.000 4 0.000 0.050 2164 1487 3502

9512 -1.10 -146.6 663.2 -4.1 457 9517 0.00 2.55 0.00 0.000 6 0.000 0.058 2164 2901 3502

9833 -1.10 -146.6 680.0 -6.1 473 9837 0.00 2.55 0.00 0.000 4 0.000 0.061 2164 1489 3501

9899 -1.10 -146.6 685.3 -7.9 476 9903 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2898 3502

10226 -1.10 -146.6 708.5 -5.8 492 10229 0.00 1.65 0.00 0.000 4 0.000 0.084 2164 3783 3501

10281 -1.10 -146.6 712.4 -6.9 494 10285 0.00 1.52 0.00 0.000 6 0.000 0.037 2164 2900 3501

10602 -1.10 -146.6 735.3 -8.8 510 10606 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1492 3501

10678 -1.10 -146.6 739.2 -6.0 513 10685 0.00 2.60 0.00 0.000 6 0.000 0.072 2164 2898 3501

10724 end dive: TARGET_DEPTH_EXCEEDED

state 10724 begin apogee

10731 -0.42 0.0 742.1 6.1 516 10860 0.75 0.00 125.82 1.256 6 0.087 0.000 2317 1785 2901

10861 end apogee: CONTROL_FINISHED_OK

state 10861 begin climb

10862 1.10 146.6 746.2 0.0 522 10994 1.55 2.75 123.22 1.222 4 0.054 0.072 2649 360 2303

11117 1.26 274.6 737.6 2.5 534 11231 0.15 2.55 106.65 1.206 6 0.038 0.043 2699 1795 1781

11539 1.26 274.6 697.7 11.9 554 11543 0.00 2.60 0.00 0.000 4 0.000 0.072 2700 3174 1780

11717 1.26 274.6 676.4 11.0 562 11722 0.00 2.55 0.00 0.000 6 0.000 0.051 2700 1762 1779

12037 1.26 274.6 649.8 7.9 578 12042 0.00 2.65 0.00 0.000 4 0.000 0.065 2700 3183 1777

12148 1.26 274.6 640.0 9.8 583 12152 0.00 2.55 0.00 0.000 6 0.000 0.048 2700 1775 1777

12475 1.26 274.6 606.3 10.3 599 12479 0.00 2.60 0.00 0.000 4 0.000 0.064 2700 3175 1777

12568 1.26 274.6 596.5 10.0 603 12573 0.00 2.50 0.00 0.000 6 0.000 0.046 2700 1770 1776

12889 1.26 274.6 564.8 9.7 619 12893 0.00 2.60 0.00 0.000 4 0.000 0.061 2700 3181 1776

13017 1.26 274.6 551.8 10.6 625 13021 0.00 2.47 0.00 0.000 6 0.000 0.044 2700 1774 1776

13342 1.26 274.6 515.5 11.5 641 13346 0.00 2.55 0.00 0.000 4 0.000 0.060 2700 3177 1776

13419 1.26 274.6 506.6 11.6 644 13424 0.00 2.50 0.00 0.000 6 0.000 0.044 2700 1777 1777

13741 1.26 274.6 472.1 10.1 660 13745 0.00 2.55 0.00 0.000 4 0.000 0.061 2700 3175 1777

13851 1.26 274.6 461.1 10.4 665 13855 0.00 2.53 0.00 0.000 6 0.000 0.048 2700 1774 1777

14178 1.26 274.6 429.6 9.4 681 14182 0.00 2.60 0.00 0.000 4 0.000 0.064 2700 3181 1777

14284 1.26 274.6 419.1 10.6 686 14289 0.00 2.50 0.00 0.000 6 0.000 0.050 2700 1776 1778

14610 1.26 274.6 385.4 10.7 702 14614 0.00 2.55 0.00 0.000 4 0.000 0.064 2700 3179 1778

14721 1.26 274.6 373.3 10.9 707 14725 0.00 2.50 0.00 0.000 6 0.000 0.050 2700 1776 1778

15046 1.26 274.6 338.5 10.7 723 15050 0.00 2.60 0.00 0.000 4 0.000 0.066 2700 3180 1779

15139 1.26 274.6 328.4 10.8 727 15144 0.00 2.53 0.00 0.000 6 0.000 0.051 2700 1778 1778

15461 1.26 274.6 297.8 9.0 743 15465 0.00 2.58 0.00 0.000 4 0.000 0.066 2700 3174 1779

15544 1.26 274.6 290.3 8.9 747 15548 0.00 2.50 0.00 0.000 6 0.000 0.050 2700 1767 1779

15870 1.26 274.6 263.1 8.1 763 15874 0.00 2.62 0.00 0.000 4 0.000 0.067 2700 3182 1779

15975 1.26 274.6 253.2 10.7 768 15979 0.00 2.53 0.00 0.000 6 0.000 0.052 2700 1768 1779

16300 1.26 274.6 218.4 11.0 784 16304 0.00 2.60 0.00 0.000 4 0.000 0.067 2700 3176 1780

16406 1.26 274.6 206.7 10.8 789 16410 0.00 2.50 0.00 0.000 6 0.000 0.052 2700 1776 1780

16731 1.26 274.6 172.8 10.0 805 16735 0.00 2.58 0.00 0.000 4 0.000 0.067 2700 3177 1780

16824 1.26 274.6 163.0 9.5 809 16829 0.00 2.50 0.00 0.000 6 0.000 0.051 2700 1774 1781

17147 1.26 274.6 133.2 8.9 825 17152 0.00 2.60 0.00 0.000 4 0.000 0.068 2700 3178 1781

17269 1.26 274.6 120.9 10.0 830 17276 0.00 2.55 0.00 0.000 6 0.000 0.054 2700 1776 1781

17587 1.26 274.6 91.7 9.3 846 17591 0.00 2.60 0.00 0.000 4 0.000 0.067 2700 3174 1781

17693 1.26 274.6 80.4 9.7 851 17697 0.00 2.53 0.00 0.000 6 0.000 0.054 2700 1775 1781

18019 1.26 274.6 50.1 9.1 867 18023 0.00 2.62 0.00 0.000 4 0.000 0.070 2700 3182 1782

18095 1.26 274.6 43.8 7.0 870 18103 0.00 2.55 0.00 0.000 6 0.000 0.055 2700 1777 1782

18411 1.26 274.6 14.7 9.2 886 18415 0.00 2.60 0.00 0.000 4 0.000 0.067 2700 3179 1782

18510 1.26 274.6 4.5 9.9 890 18517 0.00 2.50 0.00 0.000 6 0.000 0.048 2700 1780 1782

18556 end climb: SURFACE_DEPTH_REACHED

state 18556 begin surface coast

18578 end surface coast: CONTROL_FINISHED_OK

state 18578 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	110	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	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	-64395.301	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	092302,6159.336,-947.627,38,1.5,38,-9.8	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.035,0.216
_SM_DEPTHo	-0.36	KALMAN_X	-88417.6,788.2,-65.1,23082.7,-8618.4
_SM_ANGLEo	-61.9	KALMAN_Y	65456.7,742.3,-147.8,-19180.4,-2492.1
GPS2	092803,6159.311,-947.664,15,1.3,15,-9.8	MHEAD_RNG_PITCHd_Wd	18.9,38368,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	741

FINISH	-1.2,1.027227	XPDR_PINGS	1
SM_CCo	18599,22.45,0.691,1,0,1677,300.00	ALTIM_BOTTOM_PING	725.0,29.5
SM_GC	-0.32,0.00,0.00,22.45,0.000,0.000,0.691,44,2889,1677,-10.88,-0.31,300.00	_24V_AH	23.4,22.626
IRIDIUM_FIX	6135.28,-943.53,301107,070746	_10V_AH	10.1,9.807
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44328,894
HUMID	2056	CFSIZE	260165632,252538880
INTERNAL_PRESSURE	8.87729	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,45,1,0
TCM_TEMP	17.60	GPS	301107,144038,6202.873,-948.959,29,0.9,29,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	99.22	SBE_CT	645	24	362.50
Roll_motor	207	113	551.24	SBE_O2	631	19	280.79
VBD_pump_during_apogee	355	1255	10450.66	WL_BB2F	523	105	1285.88
VBD_pump_during_surface	22	691	363.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.75	nil	0	0	0.00
Iridium_during_connect	29	160	109.78	nil	0	0	0.00
Iridium_during_xfer	137	223	716.26
Transponder_ping	6	420	66.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.00
TT8	1729	19	345.82
LPSleep	13931	2	308.16
TT8_Active	539	19	107.95
TT8_Sampling	2328	39	935.85
TT8_CF8	411	45	190.30
TT8_Kalman	33	81	27.56
Analog_circuits	1709	12	207.15
GPS_charging	0	0	0.00
Compass	2286	8	184.71
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	83	0.00	0.00	-61.70	0.000	2	0.000	0.000	46	2892	3358
85	-1.10	-146.6	3.1	-7.9	3	107	12.05	1.75	-2.65	0.000	4	0.162	0.114	2164	3780	3502
117	-1.10	-146.6	12.4	-21.2	4	122	0.00	1.55	0.00	0.000	6	0.000	0.032	2164	2889	3502
439	-1.10	-146.6	38.0	-7.9	20	442	0.00	1.70	0.00	0.000	4	0.000	0.081	2164	3783	3502
696	-1.10	-146.6	59.2	-7.6	31	700	0.00	1.52	0.00	0.000	6	0.000	0.034	2164	2901	3503
1017	-1.10	-146.6	83.3	-7.7	47	1021	0.00	1.67	0.00	0.000	4	0.000	0.080	2164	3786	3503
1246	-1.10	-146.6	103.4	-8.4	57	1251	0.00	1.52	0.00	0.000	6	0.000	0.033	2164	2900	3503
1573	-1.10	-146.6	134.4	-9.2	73	1578	0.00	2.60	0.00	0.000	4	0.000	0.071	2164	1490	3502
1622	-1.10	-146.6	138.7	-8.7	75	1626	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2895	3503
1943	-1.10	-146.6	166.8	-9.4	91	1947	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1497	3502
1991	-1.10	-146.6	171.6	-9.6	93	1996	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2906	3503
2313	-1.10	-146.6	201.3	-8.7	109	2318	0.00	2.60	0.00	0.000	4	0.000	0.066	2164	1492	3503
2339	-1.10	-146.6	203.6	-8.1	110	2344	0.00	2.65	0.00	0.000	6	0.000	0.073	2164	2899	3503
2662	-1.10	-146.6	228.7	-7.9	126	2663	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2970	-1.10	-146.6	253.1	-8.2	141	2975	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1497	3503
3025	-1.10	-146.6	257.7	-7.9	143	3032	0.00	2.65	0.00	0.000	6	0.000	0.073	2164	2899	3502
3340	-1.10	-146.6	281.2	-7.3	159	3345	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1499	3503
3374	-1.10	-146.6	283.5	-7.0	160	3380	0.00	2.60	0.00	0.000	6	0.000	0.071	2164	2899	3503
3688	-1.10	-146.6	304.4	-7.0	176	3690	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
3998	-1.10	-146.6	324.3	-6.3	191	4002	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1496	3503
4054	-1.10	-146.6	327.7	-6.0	193	4060	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2900	3503
4368	-1.10	-146.6	345.5	-5.4	209	4373	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1495	3503
4418	-1.10	-146.6	348.3	-5.9	211	4422	0.00	2.60	0.00	0.000	6	0.000	0.071	2164	2900	3503
4739	-1.10	-146.6	366.8	-6.0	227	4743	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1497	3503
4792	-1.10	-146.6	370.4	-6.8	229	4800	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2901	3502
5108	-1.10	-146.6	390.0	-6.2	245	5112	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1496	3503
5151	-1.10	-146.6	392.6	-6.0	247	5155	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2899	3503
5478	-1.10	-146.6	410.5	-5.6	263	5479	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
5787	-1.10	-146.6	427.1	-5.2	278	5792	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1492	3503
5864	-1.10	-146.6	431.0	-4.8	281	5871	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2901	3502
6180	-1.10	-146.6	446.3	-5.0	297	6184	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1492	3502
6224	-1.10	-146.6	448.5	-4.8	299	6228	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2903	3502
6550	-1.10	-146.6	465.0	-5.2	315	6555	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1488	3502
6600	-1.10	-146.6	467.7	-5.6	317	6604	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2900	3503
6915	-1.10	-146.6	488.7	-7.9	332	6919	0.00	2.55	0.00	0.000	4	0.000	0.059	2164	1493	3502
6957	-1.10	-146.6	492.6	-9.1	334	6962	0.00	2.60	0.00	0.000	6	0.000	0.064	2164	2901	3502
7284	-1.10	-146.6	520.4	-8.2	350	7289	0.00	2.53	0.00	0.000	4	0.000	0.057	2164	1491	3503
7328	-1.10	-146.6	523.9	-7.7	352	7332	0.00	2.58	0.00	0.000	6	0.000	0.064	2164	2904	3503
7654	-1.10	-146.6	547.0	-7.3	368	7655	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3502
7964	-1.10	-146.6	569.6	-6.9	383	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3502
8273	-1.10	-146.6	591.3	-6.4	398	8277	0.00	2.53	0.00	0.000	4	0.000	0.053	2164	1490	3502
8360	-1.10	-146.6	597.2	-6.3	402	8365	0.00	2.58	0.00	0.000	6	0.000	0.060	2164	2898	3503
8687	-1.10	-146.6	619.7	-7.8	418	8688	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2898	3502
8997	-1.10	-146.6	642.8	-5.8	433	9002	0.00	2.50	0.00	0.000	4	0.000	0.051	2164	1489	3502
9137	-1.10	-146.6	650.0	-4.5	439	9142	0.00	2.55	0.00	0.000	6	0.000	0.059	2164	2900	3502
9458	-1.10	-146.6	660.9	-3.3	455	9461	0.00	2.50	0.00	0.000	4	0.000	0.050	2164	1487	3502
9512	-1.10	-146.6	663.2	-4.1	457	9517	0.00	2.55	0.00	0.000	6	0.000	0.058	2164	2901	3502
9833	-1.10	-146.6	680.0	-6.1	473	9837	0.00	2.55	0.00	0.000	4	0.000	0.061	2164	1489	3501
9899	-1.10	-146.6	685.3	-7.9	476	9903	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2898	3502
10226	-1.10	-146.6	708.5	-5.8	492	10229	0.00	1.65	0.00	0.000	4	0.000	0.084	2164	3783	3501
10281	-1.10	-146.6	712.4	-6.9	494	10285	0.00	1.52	0.00	0.000	6	0.000	0.037	2164	2900	3501
10602	-1.10	-146.6	735.3	-8.8	510	10606	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1492	3501
10678	-1.10	-146.6	739.2	-6.0	513	10685	0.00	2.60	0.00	0.000	6	0.000	0.072	2164	2898	3501
10724	end dive: TARGET_DEPTH_EXCEEDED
state	10724	begin apogee
10731	-0.42	0.0	742.1	6.1	516	10860	0.75	0.00	125.82	1.256	6	0.087	0.000	2317	1785	2901
10861	end apogee: CONTROL_FINISHED_OK
state	10861	begin climb
10862	1.10	146.6	746.2	0.0	522	10994	1.55	2.75	123.22	1.222	4	0.054	0.072	2649	360	2303
11117	1.26	274.6	737.6	2.5	534	11231	0.15	2.55	106.65	1.206	6	0.038	0.043	2699	1795	1781
11539	1.26	274.6	697.7	11.9	554	11543	0.00	2.60	0.00	0.000	4	0.000	0.072	2700	3174	1780
11717	1.26	274.6	676.4	11.0	562	11722	0.00	2.55	0.00	0.000	6	0.000	0.051	2700	1762	1779
12037	1.26	274.6	649.8	7.9	578	12042	0.00	2.65	0.00	0.000	4	0.000	0.065	2700	3183	1777
12148	1.26	274.6	640.0	9.8	583	12152	0.00	2.55	0.00	0.000	6	0.000	0.048	2700	1775	1777
12475	1.26	274.6	606.3	10.3	599	12479	0.00	2.60	0.00	0.000	4	0.000	0.064	2700	3175	1777
12568	1.26	274.6	596.5	10.0	603	12573	0.00	2.50	0.00	0.000	6	0.000	0.046	2700	1770	1776
12889	1.26	274.6	564.8	9.7	619	12893	0.00	2.60	0.00	0.000	4	0.000	0.061	2700	3181	1776
13017	1.26	274.6	551.8	10.6	625	13021	0.00	2.47	0.00	0.000	6	0.000	0.044	2700	1774	1776
13342	1.26	274.6	515.5	11.5	641	13346	0.00	2.55	0.00	0.000	4	0.000	0.060	2700	3177	1776
13419	1.26	274.6	506.6	11.6	644	13424	0.00	2.50	0.00	0.000	6	0.000	0.044	2700	1777	1777
13741	1.26	274.6	472.1	10.1	660	13745	0.00	2.55	0.00	0.000	4	0.000	0.061	2700	3175	1777
13851	1.26	274.6	461.1	10.4	665	13855	0.00	2.53	0.00	0.000	6	0.000	0.048	2700	1774	1777
14178	1.26	274.6	429.6	9.4	681	14182	0.00	2.60	0.00	0.000	4	0.000	0.064	2700	3181	1777
14284	1.26	274.6	419.1	10.6	686	14289	0.00	2.50	0.00	0.000	6	0.000	0.050	2700	1776	1778
14610	1.26	274.6	385.4	10.7	702	14614	0.00	2.55	0.00	0.000	4	0.000	0.064	2700	3179	1778
14721	1.26	274.6	373.3	10.9	707	14725	0.00	2.50	0.00	0.000	6	0.000	0.050	2700	1776	1778
15046	1.26	274.6	338.5	10.7	723	15050	0.00	2.60	0.00	0.000	4	0.000	0.066	2700	3180	1779
15139	1.26	274.6	328.4	10.8	727	15144	0.00	2.53	0.00	0.000	6	0.000	0.051	2700	1778	1778
15461	1.26	274.6	297.8	9.0	743	15465	0.00	2.58	0.00	0.000	4	0.000	0.066	2700	3174	1779
15544	1.26	274.6	290.3	8.9	747	15548	0.00	2.50	0.00	0.000	6	0.000	0.050	2700	1767	1779
15870	1.26	274.6	263.1	8.1	763	15874	0.00	2.62	0.00	0.000	4	0.000	0.067	2700	3182	1779
15975	1.26	274.6	253.2	10.7	768	15979	0.00	2.53	0.00	0.000	6	0.000	0.052	2700	1768	1779
16300	1.26	274.6	218.4	11.0	784	16304	0.00	2.60	0.00	0.000	4	0.000	0.067	2700	3176	1780
16406	1.26	274.6	206.7	10.8	789	16410	0.00	2.50	0.00	0.000	6	0.000	0.052	2700	1776	1780
16731	1.26	274.6	172.8	10.0	805	16735	0.00	2.58	0.00	0.000	4	0.000	0.067	2700	3177	1780
16824	1.26	274.6	163.0	9.5	809	16829	0.00	2.50	0.00	0.000	6	0.000	0.051	2700	1774	1781
17147	1.26	274.6	133.2	8.9	825	17152	0.00	2.60	0.00	0.000	4	0.000	0.068	2700	3178	1781
17269	1.26	274.6	120.9	10.0	830	17276	0.00	2.55	0.00	0.000	6	0.000	0.054	2700	1776	1781
17587	1.26	274.6	91.7	9.3	846	17591	0.00	2.60	0.00	0.000	4	0.000	0.067	2700	3174	1781
17693	1.26	274.6	80.4	9.7	851	17697	0.00	2.53	0.00	0.000	6	0.000	0.054	2700	1775	1781
18019	1.26	274.6	50.1	9.1	867	18023	0.00	2.62	0.00	0.000	4	0.000	0.070	2700	3182	1782
18095	1.26	274.6	43.8	7.0	870	18103	0.00	2.55	0.00	0.000	6	0.000	0.055	2700	1777	1782
18411	1.26	274.6	14.7	9.2	886	18415	0.00	2.60	0.00	0.000	4	0.000	0.067	2700	3179	1782
18510	1.26	274.6	4.5	9.9	890	18517	0.00	2.50	0.00	0.000	6	0.000	0.048	2700	1780	1782
18556	end climb: SURFACE_DEPTH_REACHED
state	18556	begin surface coast
18578	end surface coast: CONTROL_FINISHED_OK
state	18578	begin surface