Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 111 * 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 111 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 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 -64410.523 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 -64410.523

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 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 111 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 144038,6202.873,-948.959,29,0.9,29,-9.9 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.063,0.209

_SM_DEPTHo -0.33 KALMAN_X -91732.8,1342.3,1209.1,23418.0,-11261.0

_SM_ANGLEo -59.3 KALMAN_Y 66669.8,79.8,877.5,-14151.2,-2541.1

GPS2 144550,6202.882,-948.944,9,0.9,14,-9.9 MHEAD_RNG_PITCHd_Wd 26.7,31716,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 726

Post-dive calculations and measurements:

FINISH -0.8,1.027234 XPDR_PINGS 3

SM_CCo 20165,47.25,0.703,2,0,1678,300.00 ALTIM_BOTTOM_PING 651.4,96.4

SM_GC -0.62,0.00,0.00,47.25,0.000,0.000,0.703,50,2889,1678,-10.86,-0.31,300.00 _24V_AH 23.4,22.764

IRIDIUM_FIX 6135.28,-948.03,301107,131351 _10V_AH 10.1,9.902

TT8_MAMPS 0.029146 DATA_FILE_SIZE 50602,972

HUMID 2067 CFSIZE 260165632,252456960

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,53,2,0

TCM_TEMP 17.50 GPS 301107,202508,6204.535,-951.101,36,0.9,36,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.50 SBE_CT 691 24 388.23

Roll_motor 206 112 545.47 SBE_O2 693 19 308.19

VBD_pump_during_apogee 331 1250 9698.10 WL_BB2F 584 105 1436.66

VBD_pump_during_surface 47 702 776.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.09 nil 0 0 0.00

Iridium_during_connect 32 160 121.86 nil 0 0 0.00

Iridium_during_xfer 146 223 762.34

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.37

TT8 1850 19 370.15

LPSleep 15251 2 337.36

TT8_Active 557 19 111.41

TT8_Sampling 2482 39 997.80

TT8_CF8 405 45 187.71

TT8_Kalman 33 81 27.56

Analog_circuits 1778 12 215.54

GPS_charging 0 0 0.00

Compass 2435 8 196.76

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 -61.67 0.000 2 0.000 0.000 44 2892 3334

85 -1.10 -146.6 3.3 -8.8 3 107 11.98 1.75 -3.05 0.000 4 0.159 0.113 2165 3776 3501

359 -1.10 -146.6 29.8 -8.0 15 364 0.00 1.50 0.00 0.000 6 0.000 0.034 2165 2902 3502

686 -1.10 -146.6 53.3 -6.4 31 689 0.00 1.67 0.00 0.000 4 0.000 0.083 2165 3788 3503

943 -1.10 -146.6 71.7 -8.1 42 947 0.00 1.52 0.00 0.000 6 0.000 0.033 2165 2900 3503

1264 -1.10 -146.6 92.1 -5.9 58 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

1573 -1.10 -146.6 115.1 -7.4 73 1578 0.00 2.60 0.00 0.000 4 0.000 0.070 2165 1490 3503

1635 -1.10 -146.6 120.1 -8.2 76 1639 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2903 3503

1960 -1.10 -146.6 140.8 -6.6 92 1961 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2903 3503

2269 -1.10 -146.6 160.3 -6.0 107 2274 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1492 3503

2295 -1.10 -146.6 162.0 -6.4 108 2300 0.00 2.65 0.00 0.000 6 0.000 0.068 2165 2903 3503

2617 -1.10 -146.6 180.6 -6.0 124 2621 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1492 3503

2643 -1.10 -146.6 182.2 -5.5 125 2648 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2895 3503

2964 -1.10 -146.6 201.6 -6.4 141 2966 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2895 3503

3273 -1.10 -146.6 222.1 -6.5 156 3275 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2895 3503

3583 -1.10 -146.6 243.3 -6.7 171 3587 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1496 3503

3648 -1.10 -146.6 248.0 -6.9 174 3653 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2899 3503

3975 -1.10 -146.6 270.7 -6.9 190 3979 0.00 2.55 0.00 0.000 4 0.000 0.065 2165 1493 3503

4018 -1.10 -146.6 273.9 -7.3 192 4022 0.00 2.62 0.00 0.000 6 0.000 0.069 2165 2898 3503

4344 -1.10 -146.6 298.4 -7.4 208 4349 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1495 3503

4388 -1.10 -146.6 301.8 -7.9 210 4392 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2898 3503

4716 -1.10 -146.6 325.5 -7.0 226 4720 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1487 3503

4747 -1.10 -146.6 327.9 -7.1 227 4754 0.00 2.62 0.00 0.000 6 0.000 0.069 2165 2891 3503

5063 -1.10 -146.6 350.1 -7.1 243 5068 0.00 2.55 0.00 0.000 4 0.000 0.066 2165 1489 3503

5102 -1.10 -146.6 352.9 -7.0 245 5106 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2902 3503

5428 -1.10 -146.6 374.4 -6.2 261 5432 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1490 3503

5459 -1.10 -146.6 376.6 -6.3 262 5466 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2893 3503

5774 -1.10 -146.6 396.6 -6.4 278 5776 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2893 3503

6084 -1.10 -146.6 417.9 -6.8 293 6085 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2893 3503

6393 -1.10 -146.6 437.4 -6.1 308 6397 0.00 2.55 0.00 0.000 4 0.000 0.066 2165 1492 3503

6447 -1.10 -146.6 440.6 -6.1 310 6454 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2900 3503

6764 -1.10 -146.6 457.3 -5.2 326 6765 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3502

7073 -1.10 -146.6 475.4 -6.3 341 7078 0.00 2.58 0.00 0.000 4 0.000 0.063 2165 1492 3503

7162 -1.10 -146.6 481.2 -6.3 345 7166 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2904 3502

7489 -1.10 -146.6 502.0 -6.7 361 7493 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1489 3503

7550 -1.10 -146.6 506.5 -7.3 364 7554 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2904 3503

7875 -1.10 -146.6 529.8 -6.9 380 7879 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1486 3502

7951 -1.10 -146.6 535.2 -6.7 383 7958 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2904 3502

8267 -1.10 -146.6 555.8 -6.6 399 8271 0.00 2.55 0.00 0.000 4 0.000 0.061 2165 1491 3502

8337 -1.10 -146.6 560.7 -6.9 402 8342 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2910 3502

8659 -1.10 -146.6 579.9 -5.4 418 8663 0.00 2.55 0.00 0.000 4 0.000 0.059 2165 1488 3502

8709 -1.10 -146.6 582.7 -5.5 420 8713 0.00 2.60 0.00 0.000 6 0.000 0.064 2165 2901 3502

9030 -1.10 -146.6 600.0 -5.6 436 9032 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3502

9338 -1.10 -146.6 621.1 -7.4 451 9342 0.00 2.53 0.00 0.000 4 0.000 0.057 2165 1489 3502

9427 -1.10 -146.6 628.0 -7.6 455 9431 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2902 3502

9752 -1.10 -146.6 652.9 -7.5 471 9757 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1492 3501

9813 -1.10 -146.6 657.7 -7.9 474 9818 0.00 2.60 0.00 0.000 6 0.000 0.069 2165 2900 3501

10139 -1.10 -146.6 679.8 -6.1 490 10140 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3501

10449 -1.10 -146.6 695.6 -4.7 505 10453 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1492 3501

10480 -1.10 -146.6 697.1 -4.8 506 10487 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2904 3501

10796 -1.10 -146.6 711.4 -4.7 522 10797 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3500

11103 end dive: TARGET_DEPTH_EXCEEDED

state 11104 begin apogee

11110 -0.42 0.0 726.7 5.2 537 11238 0.75 0.00 125.22 1.251 6 0.088 0.000 2317 1785 2901

11239 end apogee: CONTROL_FINISHED_OK

state 11239 begin climb

11241 1.10 146.6 729.5 0.0 543 11373 1.55 2.72 123.18 1.216 4 0.057 0.071 2647 365 2303

11484 1.10 146.6 720.1 7.3 554 11489 0.00 2.53 0.00 0.000 6 0.000 0.041 2647 1789 2302

11805 1.10 146.6 697.6 6.7 570 11810 0.00 2.58 0.00 0.000 4 0.000 0.068 2647 3174 2301

12062 1.18 206.0 684.3 4.4 581 12118 0.00 2.55 50.28 1.193 6 0.000 0.051 2647 1762 2061

12440 1.22 243.4 667.2 5.0 600 12483 0.12 2.75 32.62 1.173 4 0.043 0.065 2690 3181 1907

12640 1.22 243.4 649.9 9.2 609 12645 0.00 2.53 0.00 0.000 6 0.000 0.050 2690 1772 1906

12966 1.22 243.4 619.6 9.0 625 12970 0.00 2.60 0.00 0.000 4 0.000 0.063 2690 3182 1905

13065 1.22 243.4 610.5 9.3 629 13072 0.00 2.55 0.00 0.000 6 0.000 0.047 2690 1768 1905

13380 1.22 243.4 584.4 8.2 645 13385 0.00 2.60 0.00 0.000 4 0.000 0.062 2690 3183 1906

13491 1.22 243.4 574.8 8.5 650 13495 0.00 2.53 0.00 0.000 6 0.000 0.046 2690 1776 1905

13818 1.22 243.4 548.8 8.0 666 13822 0.00 2.58 0.00 0.000 4 0.000 0.061 2690 3176 1905

13894 1.22 243.4 542.1 8.0 669 13902 0.00 2.50 0.00 0.000 6 0.000 0.046 2690 1780 1905

14210 1.22 243.4 513.4 9.3 685 14214 0.00 2.55 0.00 0.000 4 0.000 0.064 2690 3176 1905

14309 1.22 243.4 503.8 9.8 689 14316 0.00 2.50 0.00 0.000 6 0.000 0.047 2690 1783 1905

14624 1.22 243.4 474.8 9.3 705 14628 0.00 2.58 0.00 0.000 4 0.000 0.064 2690 3181 1905

14712 1.22 243.4 466.5 9.1 709 14717 0.00 2.53 0.00 0.000 6 0.000 0.049 2690 1780 1905

15039 1.22 243.4 440.4 8.0 725 15043 0.00 2.58 0.00 0.000 4 0.000 0.065 2690 3175 1906

15145 1.22 243.4 432.7 7.3 730 15149 0.00 2.50 0.00 0.000 6 0.000 0.050 2690 1771 1906

15471 1.22 243.4 409.1 7.2 746 15475 0.00 2.60 0.00 0.000 4 0.000 0.064 2690 3180 1906

15581 1.22 243.4 400.0 8.7 751 15586 0.00 2.53 0.00 0.000 6 0.000 0.051 2690 1784 1906

15908 1.22 243.4 370.7 9.0 767 15912 0.00 2.58 0.00 0.000 4 0.000 0.064 2690 3178 1907

16036 1.22 243.4 358.8 10.1 773 16040 0.00 2.53 0.00 0.000 6 0.000 0.052 2690 1766 1907

16361 1.22 243.4 328.7 9.5 789 16365 0.00 2.60 0.00 0.000 4 0.000 0.066 2690 3182 1907

16454 1.22 243.4 319.5 9.7 793 16459 0.00 2.55 0.00 0.000 6 0.000 0.052 2690 1756 1908

16775 1.22 243.4 289.5 9.3 809 16780 0.00 2.62 0.00 0.000 4 0.000 0.066 2690 3176 1908

16904 1.22 243.4 276.9 11.1 815 16908 0.00 2.50 0.00 0.000 6 0.000 0.052 2690 1774 1908

17230 1.22 243.4 246.0 9.6 831 17234 0.00 2.58 0.00 0.000 4 0.000 0.067 2690 3177 1908

17312 1.22 243.4 238.1 9.8 835 17317 0.00 2.50 0.00 0.000 6 0.000 0.053 2690 1776 1908

17639 1.22 243.4 208.1 8.9 851 17643 0.00 2.60 0.00 0.000 4 0.000 0.067 2690 3181 1909

17749 1.22 243.4 198.2 9.1 856 17753 0.00 2.55 0.00 0.000 6 0.000 0.054 2690 1775 1909

18076 1.22 243.4 171.9 7.9 872 18080 0.00 2.60 0.00 0.000 4 0.000 0.067 2690 3178 1909

18191 1.22 243.4 162.5 7.8 877 18196 0.00 2.55 0.00 0.000 6 0.000 0.054 2690 1758 1909

18513 1.22 243.4 137.2 7.8 893 18517 0.00 2.62 0.00 0.000 4 0.000 0.068 2690 3176 1909

18596 1.22 243.4 130.3 8.5 897 18601 0.00 2.53 0.00 0.000 6 0.000 0.055 2690 1776 1909

18922 1.22 243.4 100.9 9.5 913 18927 0.00 2.60 0.00 0.000 4 0.000 0.069 2690 3178 1909

19039 1.22 243.4 89.0 10.2 918 19043 0.00 2.55 0.00 0.000 6 0.000 0.057 2690 1778 1909

19362 1.22 243.4 62.2 7.0 934 19366 0.00 2.58 0.00 0.000 4 0.000 0.069 2690 3176 1909

19445 1.22 243.4 54.9 8.0 938 19450 0.00 2.55 0.00 0.000 6 0.000 0.057 2690 1769 1910

19771 1.22 243.4 32.6 6.9 954 19775 0.00 2.62 0.00 0.000 4 0.000 0.070 2690 3181 1910

19859 1.22 243.4 25.8 9.0 958 19863 0.00 2.58 0.00 0.000 6 0.000 0.063 2690 1772 1910

20122 end climb: SURFACE_DEPTH_REACHED

state 20122 begin surface coast

20144 end surface coast: CONTROL_FINISHED_OK

state 20144 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	111	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	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	-64410.523	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	144038,6202.873,-948.959,29,0.9,29,-9.9	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.063,0.209
_SM_DEPTHo	-0.33	KALMAN_X	-91732.8,1342.3,1209.1,23418.0,-11261.0
_SM_ANGLEo	-59.3	KALMAN_Y	66669.8,79.8,877.5,-14151.2,-2541.1
GPS2	144550,6202.882,-948.944,9,0.9,14,-9.9	MHEAD_RNG_PITCHd_Wd	26.7,31716,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	726

FINISH	-0.8,1.027234	XPDR_PINGS	3
SM_CCo	20165,47.25,0.703,2,0,1678,300.00	ALTIM_BOTTOM_PING	651.4,96.4
SM_GC	-0.62,0.00,0.00,47.25,0.000,0.000,0.703,50,2889,1678,-10.86,-0.31,300.00	_24V_AH	23.4,22.764
IRIDIUM_FIX	6135.28,-948.03,301107,131351	_10V_AH	10.1,9.902
TT8_MAMPS	0.029146	DATA_FILE_SIZE	50602,972
HUMID	2067	CFSIZE	260165632,252456960
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,53,2,0
TCM_TEMP	17.50	GPS	301107,202508,6204.535,-951.101,36,0.9,36,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.50	SBE_CT	691	24	388.23
Roll_motor	206	112	545.47	SBE_O2	693	19	308.19
VBD_pump_during_apogee	331	1250	9698.10	WL_BB2F	584	105	1436.66
VBD_pump_during_surface	47	702	776.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.09	nil	0	0	0.00
Iridium_during_connect	32	160	121.86	nil	0	0	0.00
Iridium_during_xfer	146	223	762.34
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.37
TT8	1850	19	370.15
LPSleep	15251	2	337.36
TT8_Active	557	19	111.41
TT8_Sampling	2482	39	997.80
TT8_CF8	405	45	187.71
TT8_Kalman	33	81	27.56
Analog_circuits	1778	12	215.54
GPS_charging	0	0	0.00
Compass	2435	8	196.76
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	-61.67	0.000	2	0.000	0.000	44	2892	3334
85	-1.10	-146.6	3.3	-8.8	3	107	11.98	1.75	-3.05	0.000	4	0.159	0.113	2165	3776	3501
359	-1.10	-146.6	29.8	-8.0	15	364	0.00	1.50	0.00	0.000	6	0.000	0.034	2165	2902	3502
686	-1.10	-146.6	53.3	-6.4	31	689	0.00	1.67	0.00	0.000	4	0.000	0.083	2165	3788	3503
943	-1.10	-146.6	71.7	-8.1	42	947	0.00	1.52	0.00	0.000	6	0.000	0.033	2165	2900	3503
1264	-1.10	-146.6	92.1	-5.9	58	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
1573	-1.10	-146.6	115.1	-7.4	73	1578	0.00	2.60	0.00	0.000	4	0.000	0.070	2165	1490	3503
1635	-1.10	-146.6	120.1	-8.2	76	1639	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2903	3503
1960	-1.10	-146.6	140.8	-6.6	92	1961	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2903	3503
2269	-1.10	-146.6	160.3	-6.0	107	2274	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1492	3503
2295	-1.10	-146.6	162.0	-6.4	108	2300	0.00	2.65	0.00	0.000	6	0.000	0.068	2165	2903	3503
2617	-1.10	-146.6	180.6	-6.0	124	2621	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1492	3503
2643	-1.10	-146.6	182.2	-5.5	125	2648	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2895	3503
2964	-1.10	-146.6	201.6	-6.4	141	2966	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2895	3503
3273	-1.10	-146.6	222.1	-6.5	156	3275	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2895	3503
3583	-1.10	-146.6	243.3	-6.7	171	3587	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1496	3503
3648	-1.10	-146.6	248.0	-6.9	174	3653	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2899	3503
3975	-1.10	-146.6	270.7	-6.9	190	3979	0.00	2.55	0.00	0.000	4	0.000	0.065	2165	1493	3503
4018	-1.10	-146.6	273.9	-7.3	192	4022	0.00	2.62	0.00	0.000	6	0.000	0.069	2165	2898	3503
4344	-1.10	-146.6	298.4	-7.4	208	4349	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1495	3503
4388	-1.10	-146.6	301.8	-7.9	210	4392	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2898	3503
4716	-1.10	-146.6	325.5	-7.0	226	4720	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1487	3503
4747	-1.10	-146.6	327.9	-7.1	227	4754	0.00	2.62	0.00	0.000	6	0.000	0.069	2165	2891	3503
5063	-1.10	-146.6	350.1	-7.1	243	5068	0.00	2.55	0.00	0.000	4	0.000	0.066	2165	1489	3503
5102	-1.10	-146.6	352.9	-7.0	245	5106	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2902	3503
5428	-1.10	-146.6	374.4	-6.2	261	5432	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1490	3503
5459	-1.10	-146.6	376.6	-6.3	262	5466	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2893	3503
5774	-1.10	-146.6	396.6	-6.4	278	5776	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2893	3503
6084	-1.10	-146.6	417.9	-6.8	293	6085	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2893	3503
6393	-1.10	-146.6	437.4	-6.1	308	6397	0.00	2.55	0.00	0.000	4	0.000	0.066	2165	1492	3503
6447	-1.10	-146.6	440.6	-6.1	310	6454	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2900	3503
6764	-1.10	-146.6	457.3	-5.2	326	6765	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3502
7073	-1.10	-146.6	475.4	-6.3	341	7078	0.00	2.58	0.00	0.000	4	0.000	0.063	2165	1492	3503
7162	-1.10	-146.6	481.2	-6.3	345	7166	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2904	3502
7489	-1.10	-146.6	502.0	-6.7	361	7493	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1489	3503
7550	-1.10	-146.6	506.5	-7.3	364	7554	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2904	3503
7875	-1.10	-146.6	529.8	-6.9	380	7879	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1486	3502
7951	-1.10	-146.6	535.2	-6.7	383	7958	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2904	3502
8267	-1.10	-146.6	555.8	-6.6	399	8271	0.00	2.55	0.00	0.000	4	0.000	0.061	2165	1491	3502
8337	-1.10	-146.6	560.7	-6.9	402	8342	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2910	3502
8659	-1.10	-146.6	579.9	-5.4	418	8663	0.00	2.55	0.00	0.000	4	0.000	0.059	2165	1488	3502
8709	-1.10	-146.6	582.7	-5.5	420	8713	0.00	2.60	0.00	0.000	6	0.000	0.064	2165	2901	3502
9030	-1.10	-146.6	600.0	-5.6	436	9032	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3502
9338	-1.10	-146.6	621.1	-7.4	451	9342	0.00	2.53	0.00	0.000	4	0.000	0.057	2165	1489	3502
9427	-1.10	-146.6	628.0	-7.6	455	9431	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2902	3502
9752	-1.10	-146.6	652.9	-7.5	471	9757	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1492	3501
9813	-1.10	-146.6	657.7	-7.9	474	9818	0.00	2.60	0.00	0.000	6	0.000	0.069	2165	2900	3501
10139	-1.10	-146.6	679.8	-6.1	490	10140	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3501
10449	-1.10	-146.6	695.6	-4.7	505	10453	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1492	3501
10480	-1.10	-146.6	697.1	-4.8	506	10487	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2904	3501
10796	-1.10	-146.6	711.4	-4.7	522	10797	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3500
11103	end dive: TARGET_DEPTH_EXCEEDED
state	11104	begin apogee
11110	-0.42	0.0	726.7	5.2	537	11238	0.75	0.00	125.22	1.251	6	0.088	0.000	2317	1785	2901
11239	end apogee: CONTROL_FINISHED_OK
state	11239	begin climb
11241	1.10	146.6	729.5	0.0	543	11373	1.55	2.72	123.18	1.216	4	0.057	0.071	2647	365	2303
11484	1.10	146.6	720.1	7.3	554	11489	0.00	2.53	0.00	0.000	6	0.000	0.041	2647	1789	2302
11805	1.10	146.6	697.6	6.7	570	11810	0.00	2.58	0.00	0.000	4	0.000	0.068	2647	3174	2301
12062	1.18	206.0	684.3	4.4	581	12118	0.00	2.55	50.28	1.193	6	0.000	0.051	2647	1762	2061
12440	1.22	243.4	667.2	5.0	600	12483	0.12	2.75	32.62	1.173	4	0.043	0.065	2690	3181	1907
12640	1.22	243.4	649.9	9.2	609	12645	0.00	2.53	0.00	0.000	6	0.000	0.050	2690	1772	1906
12966	1.22	243.4	619.6	9.0	625	12970	0.00	2.60	0.00	0.000	4	0.000	0.063	2690	3182	1905
13065	1.22	243.4	610.5	9.3	629	13072	0.00	2.55	0.00	0.000	6	0.000	0.047	2690	1768	1905
13380	1.22	243.4	584.4	8.2	645	13385	0.00	2.60	0.00	0.000	4	0.000	0.062	2690	3183	1906
13491	1.22	243.4	574.8	8.5	650	13495	0.00	2.53	0.00	0.000	6	0.000	0.046	2690	1776	1905
13818	1.22	243.4	548.8	8.0	666	13822	0.00	2.58	0.00	0.000	4	0.000	0.061	2690	3176	1905
13894	1.22	243.4	542.1	8.0	669	13902	0.00	2.50	0.00	0.000	6	0.000	0.046	2690	1780	1905
14210	1.22	243.4	513.4	9.3	685	14214	0.00	2.55	0.00	0.000	4	0.000	0.064	2690	3176	1905
14309	1.22	243.4	503.8	9.8	689	14316	0.00	2.50	0.00	0.000	6	0.000	0.047	2690	1783	1905
14624	1.22	243.4	474.8	9.3	705	14628	0.00	2.58	0.00	0.000	4	0.000	0.064	2690	3181	1905
14712	1.22	243.4	466.5	9.1	709	14717	0.00	2.53	0.00	0.000	6	0.000	0.049	2690	1780	1905
15039	1.22	243.4	440.4	8.0	725	15043	0.00	2.58	0.00	0.000	4	0.000	0.065	2690	3175	1906
15145	1.22	243.4	432.7	7.3	730	15149	0.00	2.50	0.00	0.000	6	0.000	0.050	2690	1771	1906
15471	1.22	243.4	409.1	7.2	746	15475	0.00	2.60	0.00	0.000	4	0.000	0.064	2690	3180	1906
15581	1.22	243.4	400.0	8.7	751	15586	0.00	2.53	0.00	0.000	6	0.000	0.051	2690	1784	1906
15908	1.22	243.4	370.7	9.0	767	15912	0.00	2.58	0.00	0.000	4	0.000	0.064	2690	3178	1907
16036	1.22	243.4	358.8	10.1	773	16040	0.00	2.53	0.00	0.000	6	0.000	0.052	2690	1766	1907
16361	1.22	243.4	328.7	9.5	789	16365	0.00	2.60	0.00	0.000	4	0.000	0.066	2690	3182	1907
16454	1.22	243.4	319.5	9.7	793	16459	0.00	2.55	0.00	0.000	6	0.000	0.052	2690	1756	1908
16775	1.22	243.4	289.5	9.3	809	16780	0.00	2.62	0.00	0.000	4	0.000	0.066	2690	3176	1908
16904	1.22	243.4	276.9	11.1	815	16908	0.00	2.50	0.00	0.000	6	0.000	0.052	2690	1774	1908
17230	1.22	243.4	246.0	9.6	831	17234	0.00	2.58	0.00	0.000	4	0.000	0.067	2690	3177	1908
17312	1.22	243.4	238.1	9.8	835	17317	0.00	2.50	0.00	0.000	6	0.000	0.053	2690	1776	1908
17639	1.22	243.4	208.1	8.9	851	17643	0.00	2.60	0.00	0.000	4	0.000	0.067	2690	3181	1909
17749	1.22	243.4	198.2	9.1	856	17753	0.00	2.55	0.00	0.000	6	0.000	0.054	2690	1775	1909
18076	1.22	243.4	171.9	7.9	872	18080	0.00	2.60	0.00	0.000	4	0.000	0.067	2690	3178	1909
18191	1.22	243.4	162.5	7.8	877	18196	0.00	2.55	0.00	0.000	6	0.000	0.054	2690	1758	1909
18513	1.22	243.4	137.2	7.8	893	18517	0.00	2.62	0.00	0.000	4	0.000	0.068	2690	3176	1909
18596	1.22	243.4	130.3	8.5	897	18601	0.00	2.53	0.00	0.000	6	0.000	0.055	2690	1776	1909
18922	1.22	243.4	100.9	9.5	913	18927	0.00	2.60	0.00	0.000	4	0.000	0.069	2690	3178	1909
19039	1.22	243.4	89.0	10.2	918	19043	0.00	2.55	0.00	0.000	6	0.000	0.057	2690	1778	1909
19362	1.22	243.4	62.2	7.0	934	19366	0.00	2.58	0.00	0.000	4	0.000	0.069	2690	3176	1909
19445	1.22	243.4	54.9	8.0	938	19450	0.00	2.55	0.00	0.000	6	0.000	0.057	2690	1769	1910
19771	1.22	243.4	32.6	6.9	954	19775	0.00	2.62	0.00	0.000	4	0.000	0.070	2690	3181	1910
19859	1.22	243.4	25.8	9.0	958	19863	0.00	2.58	0.00	0.000	6	0.000	0.063	2690	1772	1910
20122	end climb: SURFACE_DEPTH_REACHED
state	20122	begin surface coast
20144	end surface coast: CONTROL_FINISHED_OK
state	20144	begin surface