Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 113 * 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 113 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 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 -64437.961 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 -64437.961

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 21 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 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 113 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 020555,6207.597,-951.704,25,1.7,42,-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 0.074,0.205

_SM_DEPTHo -0.33 KALMAN_X -95289.1,423.3,951.1,25753.2,-7458.5

_SM_ANGLEo -59.8 KALMAN_Y 65651.0,-51.1,632.6,-3981.8,-1897.7

GPS2 021057,6207.605,-951.667,15,1.6,15,-9.9 MHEAD_RNG_PITCHd_Wd 29.7,23000,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 733

Post-dive calculations and measurements:

FINISH 0.2,1.027283 XPDR_PINGS 1

SM_CCo 19510,55.25,0.713,2,0,1678,300.00 ALTIM_BOTTOM_PING 676.1,45.7

SM_GC -0.46,0.00,0.00,55.25,0.000,0.000,0.713,37,2894,1678,-10.91,-0.17,300.00 _24V_AH 23.4,23.032

IRIDIUM_FIX 6139.81,-945.85,011207,000057 _10V_AH 10.1,10.080

TT8_MAMPS 0.027612 DATA_FILE_SIZE 47499,945

HUMID 2046 CFSIZE 260165632,252329984

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,42,2,0

TCM_TEMP 17.40 GPS 011207,073932,6209.355,-952.040,39,2.0,39,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 97.72 SBE_CT 667 24 375.13

Roll_motor 187 108 473.80 SBE_O2 675 19 300.36

VBD_pump_during_apogee 321 1237 9312.41 WL_BB2F 565 105 1390.48

VBD_pump_during_surface 55 712 921.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.72 nil 0 0 0.00

Iridium_during_connect 31 160 118.40 nil 0 0 0.00

Iridium_during_xfer 133 223 694.10

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.65

TT8 1755 19 351.16

LPSleep 15045 2 332.78

TT8_Active 556 19 111.33

TT8_Sampling 2138 39 859.60

TT8_CF8 394 45 182.66

TT8_Kalman 33 81 27.56

Analog_circuits 1619 12 196.30

GPS_charging 0 0 0.00

Compass 2098 8 169.55

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -61.58 0.000 2 0.000 0.000 41 2899 3363

85 -1.10 -146.6 3.2 -8.7 3 107 12.02 1.70 -2.55 0.000 4 0.160 0.108 2163 3773 3502

359 -1.10 -146.6 29.9 -7.4 15 363 0.00 1.50 0.00 0.000 6 0.000 0.033 2163 2900 3502

686 -1.10 -146.6 53.3 -7.4 31 687 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

995 -1.10 -146.6 78.0 -8.8 46 996 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

1304 -1.10 -146.6 103.1 -8.0 61 1309 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1486 3503

1389 -1.10 -146.6 109.9 -8.9 65 1393 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2901 3503

1716 -1.10 -146.6 136.0 -8.4 81 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

2023 -1.10 -146.6 162.1 -8.8 96 2027 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1495 3503

2078 -1.10 -146.6 167.1 -9.1 98 2084 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2897 3503

2393 -1.10 -146.6 194.5 -8.4 114 2394 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2897 3503

2702 -1.10 -146.6 219.9 -8.1 129 2707 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1489 3503

2746 -1.10 -146.6 223.5 -8.2 131 2751 0.00 2.62 0.00 0.000 6 0.000 0.066 2163 2898 3503

3073 -1.10 -146.6 250.1 -8.4 147 3075 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2898 3503

3382 -1.10 -146.6 277.7 -9.0 162 3386 0.00 2.55 0.00 0.000 4 0.000 0.059 2164 1492 3503

3430 -1.10 -146.6 282.2 -9.2 164 3435 0.00 2.60 0.00 0.000 6 0.000 0.064 2163 2893 3503

3752 -1.10 -146.6 310.0 -8.3 180 3753 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2893 3503

4061 -1.10 -146.6 335.1 -8.1 195 4065 0.00 2.55 0.00 0.000 4 0.000 0.059 2163 1487 3503

4099 -1.10 -146.6 338.1 -8.1 197 4103 0.00 2.60 0.00 0.000 6 0.000 0.064 2163 2908 3503

4425 -1.10 -146.6 362.6 -7.4 213 4426 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

4734 -1.10 -146.6 384.7 -7.0 228 4738 0.00 2.58 0.00 0.000 4 0.000 0.058 2163 1486 3503

4805 -1.10 -146.6 389.7 -6.7 231 4810 0.00 2.60 0.00 0.000 6 0.000 0.064 2163 2908 3503

5126 -1.10 -146.6 410.6 -6.6 247 5127 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

5435 -1.10 -146.6 430.7 -6.1 262 5439 0.00 2.58 0.00 0.000 4 0.000 0.059 2163 1485 3503

5489 -1.10 -146.6 434.2 -6.6 264 5496 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2892 3503

5805 -1.10 -146.6 452.4 -5.5 280 5809 0.00 2.53 0.00 0.000 4 0.000 0.059 2163 1494 3503

5837 -1.10 -146.6 454.2 -5.6 281 5842 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2898 3503

6158 -1.10 -146.6 470.3 -5.0 297 6163 0.00 2.55 0.00 0.000 4 0.000 0.060 2163 1493 3503

6197 -1.10 -146.6 472.4 -5.6 299 6202 0.00 2.60 0.00 0.000 6 0.000 0.067 2163 2907 3503

6523 -1.10 -146.6 489.3 -5.3 315 6527 0.00 2.55 0.00 0.000 4 0.000 0.060 2163 1493 3503

6594 -1.10 -146.6 493.0 -4.9 318 6598 0.00 2.58 0.00 0.000 6 0.000 0.065 2163 2899 3503

6914 -1.10 -146.6 511.1 -6.0 334 6919 0.00 2.55 0.00 0.000 4 0.000 0.060 2163 1487 3503

6969 -1.10 -146.6 514.7 -6.7 336 6976 0.00 2.60 0.00 0.000 6 0.000 0.062 2163 2900 3503

7285 -1.10 -146.6 535.7 -7.0 352 7289 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1489 3503

7372 -1.10 -146.6 541.9 -6.6 356 7377 0.00 2.60 0.00 0.000 6 0.000 0.063 2163 2899 3503

7699 -1.10 -146.6 561.3 -5.5 372 7701 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3503

8009 -1.10 -146.6 576.1 -4.2 387 8013 0.00 2.55 0.00 0.000 4 0.000 0.056 2163 1482 3503

8052 -1.10 -146.6 577.9 -3.9 389 8056 0.00 2.58 0.00 0.000 6 0.000 0.063 2163 2901 3503

8378 -1.10 -146.6 591.9 -4.5 405 8380 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

8688 -1.10 -146.6 607.7 -5.7 420 8692 0.00 2.53 0.00 0.000 4 0.000 0.054 2163 1489 3502

8731 -1.10 -146.6 610.4 -6.3 422 8735 0.00 2.58 0.00 0.000 6 0.000 0.063 2163 2901 3502

9057 -1.10 -146.6 628.9 -5.3 438 9062 0.00 2.53 0.00 0.000 4 0.000 0.053 2163 1489 3502

9101 -1.10 -146.6 631.1 -5.1 440 9105 0.00 2.58 0.00 0.000 6 0.000 0.064 2163 2902 3502

9428 -1.10 -146.6 647.6 -6.1 456 9429 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3502

9741 -1.10 -146.6 676.1 -9.6 471 9746 0.00 2.58 0.00 0.000 4 0.000 0.059 2163 1483 3502

9790 -1.10 -146.6 681.0 -9.1 473 9795 0.00 2.62 0.00 0.000 6 0.000 0.067 2163 2893 3501

10111 -1.10 -146.6 704.9 -6.6 489 10116 0.00 2.55 0.00 0.000 4 0.000 0.060 2164 1488 3501

10200 -1.10 -146.6 710.4 -5.9 493 10204 0.00 2.60 0.00 0.000 6 0.000 0.069 2163 2898 3501

10216 end dive: BOTTOM_OBSTACLE_DETECTED

state 10216 begin apogee

10221 -0.42 0.0 711.8 7.7 494 10349 0.75 0.00 124.55 1.238 6 0.080 0.000 2318 1997 2901

10350 end apogee: CONTROL_FINISHED_OK

state 10350 begin climb

10352 1.10 146.6 716.4 0.0 500 10484 1.52 2.65 122.80 1.200 4 0.053 0.061 2649 587 2303

10617 1.10 146.6 707.1 6.2 512 10622 0.00 2.55 0.00 0.000 6 0.000 0.041 2649 2007 2303

10938 1.10 146.6 686.6 6.8 528 10943 0.00 2.60 0.00 0.000 4 0.000 0.070 2649 3405 2302

10977 1.10 146.6 683.8 7.5 530 10981 0.00 2.53 0.00 0.000 6 0.000 0.045 2649 1987 2302

11302 1.20 225.4 665.2 3.8 546 11371 0.10 0.00 66.32 1.211 6 0.048 0.000 2687 1987 1982

11671 1.20 225.4 643.5 7.6 564 11676 0.00 2.67 0.00 0.000 4 0.000 0.067 2687 3410 1981

11765 1.20 225.4 635.4 8.5 568 11770 0.00 2.50 0.00 0.000 6 0.000 0.041 2687 1998 1981

12086 1.20 225.4 606.8 8.8 584 12091 0.00 2.62 0.00 0.000 4 0.000 0.068 2687 3408 1980

12126 1.20 225.4 603.4 9.0 586 12130 0.00 2.50 0.00 0.000 6 0.000 0.041 2687 1994 1980

12450 1.20 225.4 576.6 7.9 602 12455 0.00 2.62 0.00 0.000 4 0.000 0.068 2687 3406 1980

12504 1.20 225.4 572.1 8.3 604 12511 0.00 2.50 0.00 0.000 6 0.000 0.041 2687 2004 1980

12820 1.20 225.4 545.7 8.9 620 12825 0.00 2.62 0.00 0.000 4 0.000 0.068 2687 3410 1979

12859 1.20 225.4 541.8 9.2 622 12863 0.00 2.47 0.00 0.000 6 0.000 0.041 2687 1999 1979

13184 1.20 225.4 511.8 9.1 638 13185 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1999 1979

13493 1.20 225.4 481.9 10.1 653 13495 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1999 1979

13802 1.20 225.4 450.1 10.6 668 13807 0.00 2.62 0.00 0.000 4 0.000 0.070 2687 3406 1979

13908 1.20 225.4 438.8 11.2 673 13912 0.00 2.50 0.00 0.000 6 0.000 0.047 2687 1991 1979

14233 1.20 225.4 405.8 10.3 689 14234 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1991 1979

14542 1.20 225.4 376.9 8.9 704 14547 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3404 1980

14626 1.20 225.4 369.6 8.7 708 14630 0.00 2.50 0.00 0.000 6 0.000 0.050 2687 1996 1980

14951 1.20 225.4 345.4 6.8 724 14955 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3404 1980

14982 1.20 225.4 343.3 6.6 725 14990 0.00 2.53 0.00 0.000 6 0.000 0.050 2687 2004 1980

15299 1.21 233.1 324.7 5.8 741 15313 0.00 2.67 7.80 0.848 4 0.000 0.073 2687 3398 1950

15364 1.21 233.1 320.4 7.3 744 15369 0.00 2.53 0.00 0.000 6 0.000 0.052 2687 1996 1950

15690 1.21 233.1 299.3 6.9 760 15694 0.00 2.65 0.00 0.000 4 0.000 0.075 2687 3405 1951

15733 1.21 233.1 296.2 7.1 762 15737 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 1998 1951

16059 1.21 233.1 273.5 6.8 778 16064 0.00 2.65 0.00 0.000 4 0.000 0.073 2687 3407 1951

16098 1.21 233.1 270.8 7.1 780 16102 0.00 2.53 0.00 0.000 6 0.000 0.051 2687 1994 1951

16424 1.21 233.1 247.8 7.6 796 16428 0.00 2.65 0.00 0.000 4 0.000 0.073 2687 3404 1950

16489 1.21 233.1 242.6 7.1 799 16493 0.00 2.53 0.00 0.000 6 0.000 0.053 2687 1994 1951

16815 1.21 233.1 218.3 7.9 815 16816 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1994 1951

17125 1.21 233.1 194.1 8.1 830 17129 0.00 2.67 0.00 0.000 4 0.000 0.076 2687 3407 1951

17190 1.21 233.1 188.5 8.4 833 17194 0.00 2.55 0.00 0.000 6 0.000 0.052 2687 2001 1951

17517 1.21 233.1 162.0 7.9 849 17518 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2001 1951

17828 1.21 233.1 136.7 9.3 864 17833 0.00 2.65 0.00 0.000 4 0.000 0.075 2687 3410 1952

17899 1.21 233.1 130.8 7.4 867 17903 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 1999 1951

18220 1.21 233.1 102.6 8.4 883 18225 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3406 1952

18252 1.21 233.1 99.6 9.0 884 18259 0.00 2.53 0.00 0.000 6 0.000 0.052 2687 2007 1952

18570 1.21 233.1 74.3 8.2 900 18571 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2007 1952

18878 1.21 233.1 49.6 8.3 915 18882 0.00 2.62 0.00 0.000 4 0.000 0.075 2687 3406 1952

18949 1.21 233.1 43.5 8.4 918 18953 0.00 2.55 0.00 0.000 6 0.000 0.054 2687 1982 1953

19270 1.21 233.1 18.1 7.8 934 19274 0.00 2.67 0.00 0.000 4 0.000 0.073 2687 3410 1952

19314 1.21 233.1 14.3 8.8 936 19319 0.00 2.53 0.00 0.000 6 0.000 0.052 2687 2001 1952

19468 end climb: SURFACE_DEPTH_REACHED

state 19468 begin surface coast

19489 end surface coast: CONTROL_FINISHED_OK

state 19489 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	113	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	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	-64437.961	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	020555,6207.597,-951.704,25,1.7,42,-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	0.074,0.205
_SM_DEPTHo	-0.33	KALMAN_X	-95289.1,423.3,951.1,25753.2,-7458.5
_SM_ANGLEo	-59.8	KALMAN_Y	65651.0,-51.1,632.6,-3981.8,-1897.7
GPS2	021057,6207.605,-951.667,15,1.6,15,-9.9	MHEAD_RNG_PITCHd_Wd	29.7,23000,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	733

FINISH	0.2,1.027283	XPDR_PINGS	1
SM_CCo	19510,55.25,0.713,2,0,1678,300.00	ALTIM_BOTTOM_PING	676.1,45.7
SM_GC	-0.46,0.00,0.00,55.25,0.000,0.000,0.713,37,2894,1678,-10.91,-0.17,300.00	_24V_AH	23.4,23.032
IRIDIUM_FIX	6139.81,-945.85,011207,000057	_10V_AH	10.1,10.080
TT8_MAMPS	0.027612	DATA_FILE_SIZE	47499,945
HUMID	2046	CFSIZE	260165632,252329984
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,42,2,0
TCM_TEMP	17.40	GPS	011207,073932,6209.355,-952.040,39,2.0,39,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	97.72	SBE_CT	667	24	375.13
Roll_motor	187	108	473.80	SBE_O2	675	19	300.36
VBD_pump_during_apogee	321	1237	9312.41	WL_BB2F	565	105	1390.48
VBD_pump_during_surface	55	712	921.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.72	nil	0	0	0.00
Iridium_during_connect	31	160	118.40	nil	0	0	0.00
Iridium_during_xfer	133	223	694.10
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.65
TT8	1755	19	351.16
LPSleep	15045	2	332.78
TT8_Active	556	19	111.33
TT8_Sampling	2138	39	859.60
TT8_CF8	394	45	182.66
TT8_Kalman	33	81	27.56
Analog_circuits	1619	12	196.30
GPS_charging	0	0	0.00
Compass	2098	8	169.55
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-61.58	0.000	2	0.000	0.000	41	2899	3363
85	-1.10	-146.6	3.2	-8.7	3	107	12.02	1.70	-2.55	0.000	4	0.160	0.108	2163	3773	3502
359	-1.10	-146.6	29.9	-7.4	15	363	0.00	1.50	0.00	0.000	6	0.000	0.033	2163	2900	3502
686	-1.10	-146.6	53.3	-7.4	31	687	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
995	-1.10	-146.6	78.0	-8.8	46	996	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
1304	-1.10	-146.6	103.1	-8.0	61	1309	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1486	3503
1389	-1.10	-146.6	109.9	-8.9	65	1393	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2901	3503
1716	-1.10	-146.6	136.0	-8.4	81	1717	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
2023	-1.10	-146.6	162.1	-8.8	96	2027	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1495	3503
2078	-1.10	-146.6	167.1	-9.1	98	2084	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2897	3503
2393	-1.10	-146.6	194.5	-8.4	114	2394	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2897	3503
2702	-1.10	-146.6	219.9	-8.1	129	2707	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1489	3503
2746	-1.10	-146.6	223.5	-8.2	131	2751	0.00	2.62	0.00	0.000	6	0.000	0.066	2163	2898	3503
3073	-1.10	-146.6	250.1	-8.4	147	3075	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2898	3503
3382	-1.10	-146.6	277.7	-9.0	162	3386	0.00	2.55	0.00	0.000	4	0.000	0.059	2164	1492	3503
3430	-1.10	-146.6	282.2	-9.2	164	3435	0.00	2.60	0.00	0.000	6	0.000	0.064	2163	2893	3503
3752	-1.10	-146.6	310.0	-8.3	180	3753	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2893	3503
4061	-1.10	-146.6	335.1	-8.1	195	4065	0.00	2.55	0.00	0.000	4	0.000	0.059	2163	1487	3503
4099	-1.10	-146.6	338.1	-8.1	197	4103	0.00	2.60	0.00	0.000	6	0.000	0.064	2163	2908	3503
4425	-1.10	-146.6	362.6	-7.4	213	4426	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
4734	-1.10	-146.6	384.7	-7.0	228	4738	0.00	2.58	0.00	0.000	4	0.000	0.058	2163	1486	3503
4805	-1.10	-146.6	389.7	-6.7	231	4810	0.00	2.60	0.00	0.000	6	0.000	0.064	2163	2908	3503
5126	-1.10	-146.6	410.6	-6.6	247	5127	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
5435	-1.10	-146.6	430.7	-6.1	262	5439	0.00	2.58	0.00	0.000	4	0.000	0.059	2163	1485	3503
5489	-1.10	-146.6	434.2	-6.6	264	5496	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2892	3503
5805	-1.10	-146.6	452.4	-5.5	280	5809	0.00	2.53	0.00	0.000	4	0.000	0.059	2163	1494	3503
5837	-1.10	-146.6	454.2	-5.6	281	5842	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2898	3503
6158	-1.10	-146.6	470.3	-5.0	297	6163	0.00	2.55	0.00	0.000	4	0.000	0.060	2163	1493	3503
6197	-1.10	-146.6	472.4	-5.6	299	6202	0.00	2.60	0.00	0.000	6	0.000	0.067	2163	2907	3503
6523	-1.10	-146.6	489.3	-5.3	315	6527	0.00	2.55	0.00	0.000	4	0.000	0.060	2163	1493	3503
6594	-1.10	-146.6	493.0	-4.9	318	6598	0.00	2.58	0.00	0.000	6	0.000	0.065	2163	2899	3503
6914	-1.10	-146.6	511.1	-6.0	334	6919	0.00	2.55	0.00	0.000	4	0.000	0.060	2163	1487	3503
6969	-1.10	-146.6	514.7	-6.7	336	6976	0.00	2.60	0.00	0.000	6	0.000	0.062	2163	2900	3503
7285	-1.10	-146.6	535.7	-7.0	352	7289	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1489	3503
7372	-1.10	-146.6	541.9	-6.6	356	7377	0.00	2.60	0.00	0.000	6	0.000	0.063	2163	2899	3503
7699	-1.10	-146.6	561.3	-5.5	372	7701	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3503
8009	-1.10	-146.6	576.1	-4.2	387	8013	0.00	2.55	0.00	0.000	4	0.000	0.056	2163	1482	3503
8052	-1.10	-146.6	577.9	-3.9	389	8056	0.00	2.58	0.00	0.000	6	0.000	0.063	2163	2901	3503
8378	-1.10	-146.6	591.9	-4.5	405	8380	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
8688	-1.10	-146.6	607.7	-5.7	420	8692	0.00	2.53	0.00	0.000	4	0.000	0.054	2163	1489	3502
8731	-1.10	-146.6	610.4	-6.3	422	8735	0.00	2.58	0.00	0.000	6	0.000	0.063	2163	2901	3502
9057	-1.10	-146.6	628.9	-5.3	438	9062	0.00	2.53	0.00	0.000	4	0.000	0.053	2163	1489	3502
9101	-1.10	-146.6	631.1	-5.1	440	9105	0.00	2.58	0.00	0.000	6	0.000	0.064	2163	2902	3502
9428	-1.10	-146.6	647.6	-6.1	456	9429	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3502
9741	-1.10	-146.6	676.1	-9.6	471	9746	0.00	2.58	0.00	0.000	4	0.000	0.059	2163	1483	3502
9790	-1.10	-146.6	681.0	-9.1	473	9795	0.00	2.62	0.00	0.000	6	0.000	0.067	2163	2893	3501
10111	-1.10	-146.6	704.9	-6.6	489	10116	0.00	2.55	0.00	0.000	4	0.000	0.060	2164	1488	3501
10200	-1.10	-146.6	710.4	-5.9	493	10204	0.00	2.60	0.00	0.000	6	0.000	0.069	2163	2898	3501
10216	end dive: BOTTOM_OBSTACLE_DETECTED
state	10216	begin apogee
10221	-0.42	0.0	711.8	7.7	494	10349	0.75	0.00	124.55	1.238	6	0.080	0.000	2318	1997	2901
10350	end apogee: CONTROL_FINISHED_OK
state	10350	begin climb
10352	1.10	146.6	716.4	0.0	500	10484	1.52	2.65	122.80	1.200	4	0.053	0.061	2649	587	2303
10617	1.10	146.6	707.1	6.2	512	10622	0.00	2.55	0.00	0.000	6	0.000	0.041	2649	2007	2303
10938	1.10	146.6	686.6	6.8	528	10943	0.00	2.60	0.00	0.000	4	0.000	0.070	2649	3405	2302
10977	1.10	146.6	683.8	7.5	530	10981	0.00	2.53	0.00	0.000	6	0.000	0.045	2649	1987	2302
11302	1.20	225.4	665.2	3.8	546	11371	0.10	0.00	66.32	1.211	6	0.048	0.000	2687	1987	1982
11671	1.20	225.4	643.5	7.6	564	11676	0.00	2.67	0.00	0.000	4	0.000	0.067	2687	3410	1981
11765	1.20	225.4	635.4	8.5	568	11770	0.00	2.50	0.00	0.000	6	0.000	0.041	2687	1998	1981
12086	1.20	225.4	606.8	8.8	584	12091	0.00	2.62	0.00	0.000	4	0.000	0.068	2687	3408	1980
12126	1.20	225.4	603.4	9.0	586	12130	0.00	2.50	0.00	0.000	6	0.000	0.041	2687	1994	1980
12450	1.20	225.4	576.6	7.9	602	12455	0.00	2.62	0.00	0.000	4	0.000	0.068	2687	3406	1980
12504	1.20	225.4	572.1	8.3	604	12511	0.00	2.50	0.00	0.000	6	0.000	0.041	2687	2004	1980
12820	1.20	225.4	545.7	8.9	620	12825	0.00	2.62	0.00	0.000	4	0.000	0.068	2687	3410	1979
12859	1.20	225.4	541.8	9.2	622	12863	0.00	2.47	0.00	0.000	6	0.000	0.041	2687	1999	1979
13184	1.20	225.4	511.8	9.1	638	13185	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1999	1979
13493	1.20	225.4	481.9	10.1	653	13495	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1999	1979
13802	1.20	225.4	450.1	10.6	668	13807	0.00	2.62	0.00	0.000	4	0.000	0.070	2687	3406	1979
13908	1.20	225.4	438.8	11.2	673	13912	0.00	2.50	0.00	0.000	6	0.000	0.047	2687	1991	1979
14233	1.20	225.4	405.8	10.3	689	14234	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1991	1979
14542	1.20	225.4	376.9	8.9	704	14547	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3404	1980
14626	1.20	225.4	369.6	8.7	708	14630	0.00	2.50	0.00	0.000	6	0.000	0.050	2687	1996	1980
14951	1.20	225.4	345.4	6.8	724	14955	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3404	1980
14982	1.20	225.4	343.3	6.6	725	14990	0.00	2.53	0.00	0.000	6	0.000	0.050	2687	2004	1980
15299	1.21	233.1	324.7	5.8	741	15313	0.00	2.67	7.80	0.848	4	0.000	0.073	2687	3398	1950
15364	1.21	233.1	320.4	7.3	744	15369	0.00	2.53	0.00	0.000	6	0.000	0.052	2687	1996	1950
15690	1.21	233.1	299.3	6.9	760	15694	0.00	2.65	0.00	0.000	4	0.000	0.075	2687	3405	1951
15733	1.21	233.1	296.2	7.1	762	15737	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	1998	1951
16059	1.21	233.1	273.5	6.8	778	16064	0.00	2.65	0.00	0.000	4	0.000	0.073	2687	3407	1951
16098	1.21	233.1	270.8	7.1	780	16102	0.00	2.53	0.00	0.000	6	0.000	0.051	2687	1994	1951
16424	1.21	233.1	247.8	7.6	796	16428	0.00	2.65	0.00	0.000	4	0.000	0.073	2687	3404	1950
16489	1.21	233.1	242.6	7.1	799	16493	0.00	2.53	0.00	0.000	6	0.000	0.053	2687	1994	1951
16815	1.21	233.1	218.3	7.9	815	16816	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1994	1951
17125	1.21	233.1	194.1	8.1	830	17129	0.00	2.67	0.00	0.000	4	0.000	0.076	2687	3407	1951
17190	1.21	233.1	188.5	8.4	833	17194	0.00	2.55	0.00	0.000	6	0.000	0.052	2687	2001	1951
17517	1.21	233.1	162.0	7.9	849	17518	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2001	1951
17828	1.21	233.1	136.7	9.3	864	17833	0.00	2.65	0.00	0.000	4	0.000	0.075	2687	3410	1952
17899	1.21	233.1	130.8	7.4	867	17903	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	1999	1951
18220	1.21	233.1	102.6	8.4	883	18225	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3406	1952
18252	1.21	233.1	99.6	9.0	884	18259	0.00	2.53	0.00	0.000	6	0.000	0.052	2687	2007	1952
18570	1.21	233.1	74.3	8.2	900	18571	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2007	1952
18878	1.21	233.1	49.6	8.3	915	18882	0.00	2.62	0.00	0.000	4	0.000	0.075	2687	3406	1952
18949	1.21	233.1	43.5	8.4	918	18953	0.00	2.55	0.00	0.000	6	0.000	0.054	2687	1982	1953
19270	1.21	233.1	18.1	7.8	934	19274	0.00	2.67	0.00	0.000	4	0.000	0.073	2687	3410	1952
19314	1.21	233.1	14.3	8.8	936	19319	0.00	2.53	0.00	0.000	6	0.000	0.052	2687	2001	1952
19468	end climb: SURFACE_DEPTH_REACHED
state	19468	begin surface coast
19489	end surface coast: CONTROL_FINISHED_OK
state	19489	begin surface