Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 112 * 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 112 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 2000 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 11 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 300 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 -64422.191 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 -64422.191

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

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 2000 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 11 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 112 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 202508,6204.535,-951.101,36,0.9,36,-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 0.068,0.208

_SM_DEPTHo -0.30 KALMAN_X -93593.0,1205.7,270.0,24415.8,-7869.5

_SM_ANGLEo -62.9 KALMAN_Y 66600.3,-214.7,-709.0,-9129.0,1408.6

GPS2 202956,6204.530,-951.132,11,1.6,11,-9.9 MHEAD_RNG_PITCHd_Wd 28.0,28666,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 737

Post-dive calculations and measurements:

FINISH -0.8,1.027234 XPDR_PINGS 2

SM_CCo 19955,57.60,0.729,1,0,1678,300.00 ALTIM_BOTTOM_PING 650.6,82.6

SM_GC -0.30,0.00,0.00,57.60,0.000,0.000,0.729,41,2896,1678,-10.90,-0.11,300.00 _24V_AH 23.4,22.898

IRIDIUM_FIX 6135.28,-949.59,301107,181830 _10V_AH 10.1,9.992

TT8_MAMPS 0.027612 DATA_FILE_SIZE 47486,963

HUMID 2060 CFSIZE 260165632,252395520

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,47,1,0

TCM_TEMP 17.50 GPS 011207,020555,6207.597,-951.704,25,1.7,42,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 163 99.11 SBE_CT 675 24 379.22

Roll_motor 194 85 387.28 SBE_O2 697 19 310.33

VBD_pump_during_apogee 324 1237 9394.21 WL_BB2F 574 105 1411.45

VBD_pump_during_surface 57 728 982.10 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 24 160 93.44 nil 0 0 0.00

Iridium_during_xfer 131 223 685.48

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.57

TT8 1795 19 359.07

LPSleep 15331 2 339.11

TT8_Active 557 19 111.44

TT8_Sampling 2238 39 899.96

TT8_CF8 395 45 182.74

TT8_Kalman 33 81 27.56

Analog_circuits 1678 12 203.40

GPS_charging 0 0 0.00

Compass 2205 8 178.20

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 88 0.00 0.00 -65.50 0.000 6 0.000 0.000 50 2892 3502

89 -1.10 -146.6 2.7 -6.5 3 111 12.07 2.62 0.00 0.000 4 0.163 0.061 2165 1487 3503

362 -1.10 -146.6 31.6 -6.3 15 367 0.00 2.70 0.00 0.000 6 0.000 0.082 2165 2901 3503

689 -1.10 -146.6 54.3 -7.0 31 694 0.00 2.65 0.00 0.000 4 0.000 0.073 2165 1488 3503

789 -1.10 -146.6 61.2 -7.5 35 796 0.00 2.70 0.00 0.000 6 0.000 0.077 2166 2899 3503

1106 -1.10 -146.6 82.0 -4.9 51 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3503

1414 -1.10 -146.6 103.3 -8.0 66 1418 0.00 2.62 0.00 0.000 4 0.000 0.070 2165 1486 3503

1468 -1.10 -146.6 107.4 -7.6 68 1476 0.00 2.67 0.00 0.000 6 0.000 0.074 2165 2896 3503

1784 -1.10 -146.6 131.0 -7.4 84 1788 0.00 2.62 0.00 0.000 4 0.000 0.067 2165 1481 3503

1815 -1.10 -146.6 133.6 -8.0 85 1822 0.00 2.67 0.00 0.000 6 0.000 0.070 2165 2900 3504

2131 -1.10 -146.6 157.8 -7.2 101 2132 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3504

2440 -1.10 -146.6 180.1 -7.4 116 2441 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3504

2750 -1.10 -146.6 201.7 -6.8 131 2754 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1488 3503

2815 -1.10 -146.6 206.8 -8.4 134 2819 0.00 2.65 0.00 0.000 6 0.000 0.072 2165 2908 3503

3141 -1.10 -146.6 233.3 -8.1 150 3146 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1484 3504

3196 -1.10 -146.6 237.8 -8.0 152 3203 0.00 2.67 0.00 0.000 6 0.000 0.073 2165 2898 3503

3511 -1.10 -146.6 262.8 -7.9 168 3513 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3503

3821 -1.10 -146.6 287.4 -7.9 183 3825 0.00 2.60 0.00 0.000 4 0.000 0.068 2166 1479 3503

3869 -1.10 -146.6 291.3 -8.1 185 3874 0.00 2.67 0.00 0.000 6 0.000 0.072 2165 2898 3503

4191 -1.10 -146.6 316.1 -7.4 201 4195 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1488 3503

4239 -1.10 -146.6 319.7 -7.1 203 4244 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2898 3503

4560 -1.10 -146.6 341.2 -6.4 219 4561 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3503

4869 -1.10 -146.6 360.6 -6.5 234 4874 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1488 3503

4918 -1.10 -146.6 363.8 -6.2 236 4923 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2899 3503

5239 -1.10 -146.6 383.8 -6.1 252 5244 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1483 3503

5294 -1.10 -146.6 387.0 -5.9 254 5301 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2908 3503

5609 -1.10 -146.6 407.1 -6.6 270 5613 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1479 3503

5652 -1.10 -146.6 409.9 -6.6 272 5657 0.00 2.67 0.00 0.000 6 0.000 0.071 2165 2917 3503

5979 -1.10 -146.6 431.0 -6.6 288 5980 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2917 3503

6288 -1.10 -146.6 451.8 -6.8 303 6293 0.00 2.62 0.00 0.000 4 0.000 0.065 2165 1478 3503

6360 -1.10 -146.6 456.7 -7.1 306 6364 0.00 2.65 0.00 0.000 6 0.000 0.069 2165 2896 3503

6681 -1.10 -146.6 479.7 -7.7 322 6682 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2896 3503

6990 -1.10 -146.6 501.5 -6.7 337 6994 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 1481 3503

7078 -1.10 -146.6 507.6 -7.0 341 7082 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2895 3503

7405 -1.10 -146.6 529.6 -6.8 357 7406 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2894 3503

7716 -1.10 -146.6 550.5 -6.4 372 7720 0.00 2.55 0.00 0.000 4 0.000 0.059 2165 1483 3503

7755 -1.10 -146.6 553.1 -6.7 374 7759 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2899 3503

8080 -1.10 -146.6 574.6 -6.7 390 8084 0.00 2.55 0.00 0.000 4 0.000 0.058 2166 1482 3503

8150 -1.10 -146.6 579.8 -6.8 393 8155 0.00 2.62 0.00 0.000 6 0.000 0.065 2165 2896 3503

8474 -1.10 -146.6 601.2 -6.6 409 8475 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2897 3503

8781 -1.10 -146.6 622.1 -6.0 424 8782 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2897 3503

9090 -1.10 -146.6 636.5 -4.4 439 9095 0.00 2.55 0.00 0.000 4 0.000 0.056 2166 1478 3503

9185 -1.10 -146.6 641.0 -5.5 443 9189 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2899 3503

9505 -1.10 -146.6 659.9 -6.8 459 9510 0.00 2.55 0.00 0.000 4 0.000 0.061 2165 1485 3503

9567 -1.10 -146.6 664.3 -7.4 462 9571 0.00 2.62 0.00 0.000 6 0.000 0.071 2166 2906 3503

9892 -1.10 -146.6 686.8 -7.3 478 9895 0.00 1.65 0.00 0.000 4 0.000 0.085 2165 3789 3503

9969 -1.10 -146.6 693.0 -7.4 481 9973 0.00 1.55 0.00 0.000 6 0.000 0.036 2165 2892 3503

10290 -1.10 -146.6 716.1 -6.7 497 10291 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2891 3503

10412 end dive: BOTTOM_OBSTACLE_DETECTED

state 10412 begin apogee

10418 -0.42 0.0 723.9 6.1 503 10547 0.75 0.00 125.45 1.237 6 0.085 0.000 2318 2007 2901

10548 end apogee: CONTROL_FINISHED_OK

state 10548 begin climb

10550 1.10 146.6 728.4 0.0 509 10681 1.52 2.70 122.85 1.205 4 0.050 0.064 2651 586 2303

10725 1.10 146.6 723.3 6.1 517 10730 0.00 2.55 0.00 0.000 6 0.000 0.041 2651 2002 2303

11047 1.11 154.6 706.0 5.8 533 11061 0.00 2.70 8.60 1.032 4 0.000 0.073 2651 3396 2270

11196 1.14 176.9 696.4 5.4 539 11223 0.00 2.55 20.25 1.151 6 0.000 0.049 2650 1986 2179

11531 1.14 179.9 675.1 5.9 556 11540 0.00 2.70 4.22 0.813 4 0.000 0.074 2651 3405 2167

11698 1.14 179.9 664.7 6.0 563 11703 0.00 2.53 0.00 0.000 6 0.000 0.049 2651 1996 2167

12013 1.18 207.9 647.2 5.2 578 12043 0.00 2.72 24.40 1.180 4 0.000 0.071 2651 3408 2053

12109 1.18 207.9 641.1 6.8 582 12116 0.00 2.55 0.00 0.000 6 0.000 0.048 2650 1990 2052

12424 1.18 207.9 620.0 6.7 598 12429 0.00 2.65 0.00 0.000 4 0.000 0.071 2650 3406 2052

12463 1.18 207.9 617.3 7.0 600 12467 0.00 2.50 0.00 0.000 6 0.000 0.046 2651 1996 2052

12788 1.18 207.9 595.8 6.9 616 12793 0.00 2.67 0.00 0.000 4 0.000 0.072 2651 3413 2051

12905 1.18 207.9 587.2 8.0 621 12909 0.00 2.55 0.00 0.000 6 0.000 0.047 2650 2000 2052

13226 1.18 207.9 562.6 8.0 637 13230 0.00 2.65 0.00 0.000 4 0.000 0.072 2650 3407 2051

13296 1.18 207.9 556.7 8.0 640 13301 0.00 2.53 0.00 0.000 6 0.000 0.049 2650 2008 2051

13618 1.18 207.9 531.7 8.0 656 13619 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2008 2051

13927 1.18 207.9 506.5 7.7 671 13931 0.00 2.65 0.00 0.000 4 0.000 0.077 2650 3406 2051

14010 1.18 207.9 500.2 7.0 675 14015 0.00 2.50 0.00 0.000 6 0.000 0.049 2651 1999 2051

14336 1.18 207.9 477.6 6.9 691 14341 0.00 2.62 0.00 0.000 4 0.000 0.072 2651 3405 2051

14430 1.18 207.9 470.6 6.8 695 14435 0.00 2.50 0.00 0.000 6 0.000 0.050 2650 1999 2052

14752 1.18 207.9 447.4 7.2 711 14756 0.00 2.62 0.00 0.000 4 0.000 0.073 2651 3405 2052

14805 1.18 207.9 443.5 6.9 713 14812 0.00 2.55 0.00 0.000 6 0.000 0.051 2651 1998 2052

15121 1.18 207.9 422.2 6.3 729 15125 0.00 2.62 0.00 0.000 4 0.000 0.072 2650 3407 2052

15163 1.18 207.9 419.4 6.4 731 15168 0.00 2.55 0.00 0.000 6 0.000 0.051 2651 1999 2052

15490 1.20 229.3 400.8 5.4 747 15515 0.10 2.67 18.73 0.999 4 0.050 0.067 2688 3410 1966

15565 1.20 229.3 395.6 7.5 750 15569 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 1995 1966

15886 1.20 229.3 372.1 7.5 766 15887 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1995 1966

16195 1.20 229.3 346.1 9.0 781 16200 0.00 2.65 0.00 0.000 4 0.000 0.071 2688 3409 1966

16250 1.20 229.3 340.4 9.9 783 16257 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 2001 1966

16565 1.20 229.3 307.8 11.3 799 16570 0.00 2.60 0.00 0.000 4 0.000 0.073 2688 3406 1966

16626 1.20 229.3 300.8 11.5 802 16631 0.00 2.53 0.00 0.000 6 0.000 0.052 2688 1996 1966

16952 1.20 229.3 266.0 10.7 818 16953 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1996 1966

17261 1.20 229.3 234.6 9.8 833 17266 0.00 2.65 0.00 0.000 4 0.000 0.074 2688 3406 1967

17345 1.20 229.3 226.0 9.1 837 17349 0.00 2.53 0.00 0.000 6 0.000 0.053 2688 1996 1966

17670 1.20 229.3 195.3 9.4 853 17675 0.00 2.65 0.00 0.000 4 0.000 0.073 2688 3404 1967

17702 1.20 229.3 192.1 9.4 854 17709 0.00 2.55 0.00 0.000 6 0.000 0.054 2688 2000 1967

18018 1.20 229.3 163.8 8.8 870 18022 0.00 2.62 0.00 0.000 4 0.000 0.073 2687 3409 1967

18073 1.20 229.3 158.8 9.7 872 18079 0.00 2.55 0.00 0.000 6 0.000 0.054 2688 1999 1967

18388 1.20 229.3 131.6 8.6 888 18392 0.00 2.65 0.00 0.000 4 0.000 0.074 2688 3405 1967

18431 1.20 229.3 127.7 8.8 890 18435 0.00 2.53 0.00 0.000 6 0.000 0.054 2688 1999 1967

18758 1.20 229.3 99.5 8.5 906 18759 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1999 1967

19068 1.20 229.3 73.5 8.5 921 19070 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1999 1968

19376 1.20 229.3 45.3 8.7 936 19381 0.00 2.65 0.00 0.000 4 0.000 0.074 2688 3407 1968

19442 1.20 229.3 40.0 6.9 939 19447 0.00 2.55 0.00 0.000 6 0.000 0.059 2688 1998 1968

19769 1.20 229.3 12.3 8.1 955 19770 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1998 1968

19912 end climb: SURFACE_DEPTH_REACHED

state 19912 begin surface coast

19934 end surface coast: CONTROL_FINISHED_OK

state 19934 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	112	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	2000	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	11	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	300	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	-64422.191	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	202508,6204.535,-951.101,36,0.9,36,-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	0.068,0.208
_SM_DEPTHo	-0.30	KALMAN_X	-93593.0,1205.7,270.0,24415.8,-7869.5
_SM_ANGLEo	-62.9	KALMAN_Y	66600.3,-214.7,-709.0,-9129.0,1408.6
GPS2	202956,6204.530,-951.132,11,1.6,11,-9.9	MHEAD_RNG_PITCHd_Wd	28.0,28666,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	737

FINISH	-0.8,1.027234	XPDR_PINGS	2
SM_CCo	19955,57.60,0.729,1,0,1678,300.00	ALTIM_BOTTOM_PING	650.6,82.6
SM_GC	-0.30,0.00,0.00,57.60,0.000,0.000,0.729,41,2896,1678,-10.90,-0.11,300.00	_24V_AH	23.4,22.898
IRIDIUM_FIX	6135.28,-949.59,301107,181830	_10V_AH	10.1,9.992
TT8_MAMPS	0.027612	DATA_FILE_SIZE	47486,963
HUMID	2060	CFSIZE	260165632,252395520
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,47,1,0
TCM_TEMP	17.50	GPS	011207,020555,6207.597,-951.704,25,1.7,42,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	163	99.11	SBE_CT	675	24	379.22
Roll_motor	194	85	387.28	SBE_O2	697	19	310.33
VBD_pump_during_apogee	324	1237	9394.21	WL_BB2F	574	105	1411.45
VBD_pump_during_surface	57	728	982.10	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	24	160	93.44	nil	0	0	0.00
Iridium_during_xfer	131	223	685.48
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.57
TT8	1795	19	359.07
LPSleep	15331	2	339.11
TT8_Active	557	19	111.44
TT8_Sampling	2238	39	899.96
TT8_CF8	395	45	182.74
TT8_Kalman	33	81	27.56
Analog_circuits	1678	12	203.40
GPS_charging	0	0	0.00
Compass	2205	8	178.20
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	88	0.00	0.00	-65.50	0.000	6	0.000	0.000	50	2892	3502
89	-1.10	-146.6	2.7	-6.5	3	111	12.07	2.62	0.00	0.000	4	0.163	0.061	2165	1487	3503
362	-1.10	-146.6	31.6	-6.3	15	367	0.00	2.70	0.00	0.000	6	0.000	0.082	2165	2901	3503
689	-1.10	-146.6	54.3	-7.0	31	694	0.00	2.65	0.00	0.000	4	0.000	0.073	2165	1488	3503
789	-1.10	-146.6	61.2	-7.5	35	796	0.00	2.70	0.00	0.000	6	0.000	0.077	2166	2899	3503
1106	-1.10	-146.6	82.0	-4.9	51	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3503
1414	-1.10	-146.6	103.3	-8.0	66	1418	0.00	2.62	0.00	0.000	4	0.000	0.070	2165	1486	3503
1468	-1.10	-146.6	107.4	-7.6	68	1476	0.00	2.67	0.00	0.000	6	0.000	0.074	2165	2896	3503
1784	-1.10	-146.6	131.0	-7.4	84	1788	0.00	2.62	0.00	0.000	4	0.000	0.067	2165	1481	3503
1815	-1.10	-146.6	133.6	-8.0	85	1822	0.00	2.67	0.00	0.000	6	0.000	0.070	2165	2900	3504
2131	-1.10	-146.6	157.8	-7.2	101	2132	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3504
2440	-1.10	-146.6	180.1	-7.4	116	2441	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3504
2750	-1.10	-146.6	201.7	-6.8	131	2754	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1488	3503
2815	-1.10	-146.6	206.8	-8.4	134	2819	0.00	2.65	0.00	0.000	6	0.000	0.072	2165	2908	3503
3141	-1.10	-146.6	233.3	-8.1	150	3146	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1484	3504
3196	-1.10	-146.6	237.8	-8.0	152	3203	0.00	2.67	0.00	0.000	6	0.000	0.073	2165	2898	3503
3511	-1.10	-146.6	262.8	-7.9	168	3513	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3503
3821	-1.10	-146.6	287.4	-7.9	183	3825	0.00	2.60	0.00	0.000	4	0.000	0.068	2166	1479	3503
3869	-1.10	-146.6	291.3	-8.1	185	3874	0.00	2.67	0.00	0.000	6	0.000	0.072	2165	2898	3503
4191	-1.10	-146.6	316.1	-7.4	201	4195	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1488	3503
4239	-1.10	-146.6	319.7	-7.1	203	4244	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2898	3503
4560	-1.10	-146.6	341.2	-6.4	219	4561	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3503
4869	-1.10	-146.6	360.6	-6.5	234	4874	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1488	3503
4918	-1.10	-146.6	363.8	-6.2	236	4923	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2899	3503
5239	-1.10	-146.6	383.8	-6.1	252	5244	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1483	3503
5294	-1.10	-146.6	387.0	-5.9	254	5301	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2908	3503
5609	-1.10	-146.6	407.1	-6.6	270	5613	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1479	3503
5652	-1.10	-146.6	409.9	-6.6	272	5657	0.00	2.67	0.00	0.000	6	0.000	0.071	2165	2917	3503
5979	-1.10	-146.6	431.0	-6.6	288	5980	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2917	3503
6288	-1.10	-146.6	451.8	-6.8	303	6293	0.00	2.62	0.00	0.000	4	0.000	0.065	2165	1478	3503
6360	-1.10	-146.6	456.7	-7.1	306	6364	0.00	2.65	0.00	0.000	6	0.000	0.069	2165	2896	3503
6681	-1.10	-146.6	479.7	-7.7	322	6682	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2896	3503
6990	-1.10	-146.6	501.5	-6.7	337	6994	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	1481	3503
7078	-1.10	-146.6	507.6	-7.0	341	7082	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2895	3503
7405	-1.10	-146.6	529.6	-6.8	357	7406	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2894	3503
7716	-1.10	-146.6	550.5	-6.4	372	7720	0.00	2.55	0.00	0.000	4	0.000	0.059	2165	1483	3503
7755	-1.10	-146.6	553.1	-6.7	374	7759	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2899	3503
8080	-1.10	-146.6	574.6	-6.7	390	8084	0.00	2.55	0.00	0.000	4	0.000	0.058	2166	1482	3503
8150	-1.10	-146.6	579.8	-6.8	393	8155	0.00	2.62	0.00	0.000	6	0.000	0.065	2165	2896	3503
8474	-1.10	-146.6	601.2	-6.6	409	8475	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2897	3503
8781	-1.10	-146.6	622.1	-6.0	424	8782	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2897	3503
9090	-1.10	-146.6	636.5	-4.4	439	9095	0.00	2.55	0.00	0.000	4	0.000	0.056	2166	1478	3503
9185	-1.10	-146.6	641.0	-5.5	443	9189	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2899	3503
9505	-1.10	-146.6	659.9	-6.8	459	9510	0.00	2.55	0.00	0.000	4	0.000	0.061	2165	1485	3503
9567	-1.10	-146.6	664.3	-7.4	462	9571	0.00	2.62	0.00	0.000	6	0.000	0.071	2166	2906	3503
9892	-1.10	-146.6	686.8	-7.3	478	9895	0.00	1.65	0.00	0.000	4	0.000	0.085	2165	3789	3503
9969	-1.10	-146.6	693.0	-7.4	481	9973	0.00	1.55	0.00	0.000	6	0.000	0.036	2165	2892	3503
10290	-1.10	-146.6	716.1	-6.7	497	10291	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2891	3503
10412	end dive: BOTTOM_OBSTACLE_DETECTED
state	10412	begin apogee
10418	-0.42	0.0	723.9	6.1	503	10547	0.75	0.00	125.45	1.237	6	0.085	0.000	2318	2007	2901
10548	end apogee: CONTROL_FINISHED_OK
state	10548	begin climb
10550	1.10	146.6	728.4	0.0	509	10681	1.52	2.70	122.85	1.205	4	0.050	0.064	2651	586	2303
10725	1.10	146.6	723.3	6.1	517	10730	0.00	2.55	0.00	0.000	6	0.000	0.041	2651	2002	2303
11047	1.11	154.6	706.0	5.8	533	11061	0.00	2.70	8.60	1.032	4	0.000	0.073	2651	3396	2270
11196	1.14	176.9	696.4	5.4	539	11223	0.00	2.55	20.25	1.151	6	0.000	0.049	2650	1986	2179
11531	1.14	179.9	675.1	5.9	556	11540	0.00	2.70	4.22	0.813	4	0.000	0.074	2651	3405	2167
11698	1.14	179.9	664.7	6.0	563	11703	0.00	2.53	0.00	0.000	6	0.000	0.049	2651	1996	2167
12013	1.18	207.9	647.2	5.2	578	12043	0.00	2.72	24.40	1.180	4	0.000	0.071	2651	3408	2053
12109	1.18	207.9	641.1	6.8	582	12116	0.00	2.55	0.00	0.000	6	0.000	0.048	2650	1990	2052
12424	1.18	207.9	620.0	6.7	598	12429	0.00	2.65	0.00	0.000	4	0.000	0.071	2650	3406	2052
12463	1.18	207.9	617.3	7.0	600	12467	0.00	2.50	0.00	0.000	6	0.000	0.046	2651	1996	2052
12788	1.18	207.9	595.8	6.9	616	12793	0.00	2.67	0.00	0.000	4	0.000	0.072	2651	3413	2051
12905	1.18	207.9	587.2	8.0	621	12909	0.00	2.55	0.00	0.000	6	0.000	0.047	2650	2000	2052
13226	1.18	207.9	562.6	8.0	637	13230	0.00	2.65	0.00	0.000	4	0.000	0.072	2650	3407	2051
13296	1.18	207.9	556.7	8.0	640	13301	0.00	2.53	0.00	0.000	6	0.000	0.049	2650	2008	2051
13618	1.18	207.9	531.7	8.0	656	13619	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2008	2051
13927	1.18	207.9	506.5	7.7	671	13931	0.00	2.65	0.00	0.000	4	0.000	0.077	2650	3406	2051
14010	1.18	207.9	500.2	7.0	675	14015	0.00	2.50	0.00	0.000	6	0.000	0.049	2651	1999	2051
14336	1.18	207.9	477.6	6.9	691	14341	0.00	2.62	0.00	0.000	4	0.000	0.072	2651	3405	2051
14430	1.18	207.9	470.6	6.8	695	14435	0.00	2.50	0.00	0.000	6	0.000	0.050	2650	1999	2052
14752	1.18	207.9	447.4	7.2	711	14756	0.00	2.62	0.00	0.000	4	0.000	0.073	2651	3405	2052
14805	1.18	207.9	443.5	6.9	713	14812	0.00	2.55	0.00	0.000	6	0.000	0.051	2651	1998	2052
15121	1.18	207.9	422.2	6.3	729	15125	0.00	2.62	0.00	0.000	4	0.000	0.072	2650	3407	2052
15163	1.18	207.9	419.4	6.4	731	15168	0.00	2.55	0.00	0.000	6	0.000	0.051	2651	1999	2052
15490	1.20	229.3	400.8	5.4	747	15515	0.10	2.67	18.73	0.999	4	0.050	0.067	2688	3410	1966
15565	1.20	229.3	395.6	7.5	750	15569	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	1995	1966
15886	1.20	229.3	372.1	7.5	766	15887	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	1995	1966
16195	1.20	229.3	346.1	9.0	781	16200	0.00	2.65	0.00	0.000	4	0.000	0.071	2688	3409	1966
16250	1.20	229.3	340.4	9.9	783	16257	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	2001	1966
16565	1.20	229.3	307.8	11.3	799	16570	0.00	2.60	0.00	0.000	4	0.000	0.073	2688	3406	1966
16626	1.20	229.3	300.8	11.5	802	16631	0.00	2.53	0.00	0.000	6	0.000	0.052	2688	1996	1966
16952	1.20	229.3	266.0	10.7	818	16953	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	1996	1966
17261	1.20	229.3	234.6	9.8	833	17266	0.00	2.65	0.00	0.000	4	0.000	0.074	2688	3406	1967
17345	1.20	229.3	226.0	9.1	837	17349	0.00	2.53	0.00	0.000	6	0.000	0.053	2688	1996	1966
17670	1.20	229.3	195.3	9.4	853	17675	0.00	2.65	0.00	0.000	4	0.000	0.073	2688	3404	1967
17702	1.20	229.3	192.1	9.4	854	17709	0.00	2.55	0.00	0.000	6	0.000	0.054	2688	2000	1967
18018	1.20	229.3	163.8	8.8	870	18022	0.00	2.62	0.00	0.000	4	0.000	0.073	2687	3409	1967
18073	1.20	229.3	158.8	9.7	872	18079	0.00	2.55	0.00	0.000	6	0.000	0.054	2688	1999	1967
18388	1.20	229.3	131.6	8.6	888	18392	0.00	2.65	0.00	0.000	4	0.000	0.074	2688	3405	1967
18431	1.20	229.3	127.7	8.8	890	18435	0.00	2.53	0.00	0.000	6	0.000	0.054	2688	1999	1967
18758	1.20	229.3	99.5	8.5	906	18759	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	1999	1967
19068	1.20	229.3	73.5	8.5	921	19070	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1999	1968
19376	1.20	229.3	45.3	8.7	936	19381	0.00	2.65	0.00	0.000	4	0.000	0.074	2688	3407	1968
19442	1.20	229.3	40.0	6.9	939	19447	0.00	2.55	0.00	0.000	6	0.000	0.059	2688	1998	1968
19769	1.20	229.3	12.3	8.1	955	19770	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1998	1968
19912	end climb: SURFACE_DEPTH_REACHED
state	19912	begin surface coast
19934	end surface coast: CONTROL_FINISHED_OK
state	19934	begin surface