Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 116 * 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 116 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 23 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 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 -64502.852 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 -64502.852

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 23 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 116 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 185107,6210.699,-947.338,38,1.8,43,-9.9 TGT_NAME BW

_CALLS 4 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,0.133

_SM_DEPTHo -0.31 KALMAN_X -101139.5,324.1,277.2,35900.4,-4278.6

_SM_ANGLEo -53.8 KALMAN_Y 61851.1,-185.3,-498.3,6517.1,-330.2

GPS2 190808,6210.542,-947.692,12,1.8,17,-9.9 MHEAD_RNG_PITCHd_Wd 62.4,17627,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 686

Post-dive calculations and measurements:

FINISH -0.3,1.027269 XPDR_PINGS 2

SM_CCo 17982,43.20,0.704,2,0,1678,300.00 ALTIM_BOTTOM_PING 625.2,61.3

SM_GC -0.67,0.00,0.00,43.20,0.000,0.000,0.704,49,2887,1678,-10.86,-0.37,300.00 _24V_AH 23.4,23.472

IRIDIUM_FIX 6144.36,-938.34,011207,232314 _10V_AH 10.1,10.353

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44231,872

HUMID 2083 CFSIZE 260165632,252133376

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,49,2,0

TCM_TEMP 19.20 GPS 021207,001107,6210.703,-947.941,37,1.0,42,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 99.21 SBE_CT 616 24 346.05

Roll_motor 197 78 362.06 SBE_O2 627 19 279.06

VBD_pump_during_apogee 333 1226 9564.50 WL_BB2F 553 105 1360.77

VBD_pump_during_surface 43 704 711.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 153 103 369.87 nil 0 0 0.00

Iridium_during_connect 153 160 575.38 nil 0 0 0.00

Iridium_during_xfer 411 223 2148.11

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.62

TT8 1622 19 324.42

LPSleep 13933 2 308.19

TT8_Active 553 19 110.65

TT8_Sampling 2017 39 810.87

TT8_CF8 947 45 438.07

TT8_Kalman 33 81 27.57

Analog_circuits 1574 12 190.80

GPS_charging 0 0 0.00

Compass 1984 8 160.36

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

19 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -62.47 0.000 2 0.000 0.000 38 2901 3441

85 -1.10 -146.6 3.9 -9.4 3 107 12.12 2.62 -1.00 0.000 4 0.163 0.075 2164 1493 3502

288 -1.10 -146.6 25.7 -7.3 12 292 0.00 2.67 0.00 0.000 6 0.000 0.078 2164 2899 3502

613 -1.10 -146.6 49.6 -6.6 28 614 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

922 -1.10 -146.6 68.4 -6.3 43 924 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

1232 -1.10 -146.6 89.2 -6.5 58 1236 0.00 2.62 0.00 0.000 4 0.000 0.069 2164 1484 3502

1286 -1.10 -146.6 93.0 -6.5 60 1294 0.00 2.65 0.00 0.000 6 0.000 0.069 2164 2893 3503

1602 -1.10 -146.6 116.5 -7.9 76 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2893 3503

1911 -1.10 -146.6 142.3 -8.5 91 1912 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2893 3503

2220 -1.10 -146.6 168.2 -8.4 106 2225 0.00 2.58 0.00 0.000 4 0.000 0.062 2164 1488 3503

2259 -1.10 -146.6 171.3 -8.6 108 2264 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2906 3503

2585 -1.10 -146.6 196.8 -7.7 124 2589 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1491 3503

2624 -1.10 -146.6 200.0 -8.6 126 2629 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2904 3502

2950 -1.10 -146.6 225.1 -7.7 142 2954 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1494 3503

2976 -1.10 -146.6 227.4 -7.5 143 2981 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2902 3503

3297 -1.10 -146.6 251.6 -7.8 159 3301 0.00 2.58 0.00 0.000 4 0.000 0.063 2164 1493 3503

3340 -1.10 -146.6 255.1 -8.0 161 3345 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2898 3503

3667 -1.10 -146.6 280.4 -8.2 177 3671 0.00 2.55 0.00 0.000 4 0.000 0.065 2164 1493 3503

3716 -1.10 -146.6 284.5 -8.3 179 3721 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2901 3502

4037 -1.10 -146.6 309.2 -7.8 195 4041 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1487 3502

4068 -1.10 -146.6 311.6 -7.5 196 4075 0.00 2.65 0.00 0.000 6 0.000 0.068 2164 2900 3503

4384 -1.10 -146.6 333.7 -6.5 212 4388 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1493 3502

4432 -1.10 -146.6 336.7 -6.0 214 4437 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2900 3503

4753 -1.10 -146.6 357.7 -6.5 230 4758 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1489 3503

4797 -1.10 -146.6 360.6 -6.0 232 4801 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2900 3503

5123 -1.10 -146.6 381.7 -6.5 248 5128 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1487 3502

5178 -1.10 -146.6 385.4 -6.2 250 5185 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2893 3503

5495 -1.10 -146.6 406.7 -6.7 266 5499 0.00 2.58 0.00 0.000 4 0.000 0.065 2164 1491 3503

5543 -1.10 -146.6 410.0 -6.6 268 5547 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2895 3502

5864 -1.10 -146.6 434.0 -8.0 284 5868 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1484 3503

5903 -1.10 -146.6 436.9 -8.5 286 5908 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2902 3503

6228 -1.10 -146.6 461.7 -7.4 302 6229 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3503

6537 -1.10 -146.6 484.1 -6.9 317 6542 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1492 3502

6586 -1.10 -146.6 487.5 -7.0 319 6591 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2899 3502

6907 -1.10 -146.6 509.6 -6.9 335 6911 0.00 2.55 0.00 0.000 4 0.000 0.064 2164 1492 3502

6956 -1.10 -146.6 513.0 -6.6 337 6961 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2915 3502

7283 -1.10 -146.6 535.4 -6.8 353 7287 0.00 2.60 0.00 0.000 4 0.000 0.063 2164 1484 3502

7354 -1.10 -146.6 540.6 -7.1 356 7359 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2892 3502

7676 -1.10 -146.6 562.0 -6.7 372 7680 0.00 2.55 0.00 0.000 4 0.000 0.064 2164 1486 3502

7746 -1.10 -146.6 566.8 -6.5 375 7751 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2892 3502

8068 -1.10 -146.6 586.6 -5.5 391 8073 0.00 2.55 0.00 0.000 4 0.000 0.063 2164 1484 3502

8146 -1.10 -146.6 591.3 -5.1 394 8152 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2899 3502

8461 -1.10 -146.6 609.9 -6.0 410 8465 0.00 2.58 0.00 0.000 4 0.000 0.062 2164 1484 3502

8509 -1.10 -146.6 613.0 -6.5 412 8514 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2898 3502

8831 -1.10 -146.6 635.2 -6.9 428 8832 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2898 3502

9140 -1.10 -146.6 652.0 -5.1 443 9144 0.00 2.58 0.00 0.000 4 0.000 0.062 2164 1488 3502

9245 -1.10 -146.6 658.2 -6.1 447 9252 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2889 3502

9538 end dive: BOTTOM_OBSTACLE_DETECTED

state 9538 begin apogee

9544 -0.42 0.0 676.7 7.0 462 9673 0.77 0.00 125.12 1.226 6 0.093 0.000 2319 2004 2901

9674 end apogee: CONTROL_FINISHED_OK

state 9674 begin climb

9675 1.10 146.6 680.9 0.0 468 9806 1.52 2.72 122.05 1.198 4 0.055 0.069 2647 3406 2303

10026 1.22 244.4 667.4 3.3 484 10114 0.12 2.53 81.32 1.183 6 0.042 0.043 2687 1987 1904

10428 1.22 244.4 638.6 6.7 504 10429 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1988 1902

10738 1.22 244.4 618.5 6.8 519 10739 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1988 1901

11047 1.23 248.9 598.0 5.9 534 11057 0.00 2.70 4.78 0.861 4 0.000 0.070 2687 3416 1886

11086 1.23 248.9 595.7 6.0 536 11090 0.00 2.53 0.00 0.000 6 0.000 0.043 2687 1997 1886

11411 1.23 248.9 571.9 7.9 552 11415 0.00 2.67 0.00 0.000 4 0.000 0.071 2687 3418 1885

11444 1.23 248.9 569.0 9.4 553 11450 0.00 2.53 0.00 0.000 6 0.000 0.042 2687 1997 1885

11758 1.23 248.9 539.3 9.0 569 11759 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1997 1885

12067 1.23 248.9 512.7 8.7 584 12072 0.00 2.62 0.00 0.000 4 0.000 0.069 2687 3413 1884

12144 1.23 248.9 505.2 9.7 587 12151 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2004 1884

12460 1.23 248.9 475.3 9.0 603 12464 0.00 2.65 0.00 0.000 4 0.000 0.072 2687 3413 1885

12498 1.23 248.9 471.8 9.0 605 12502 0.00 2.50 0.00 0.000 6 0.000 0.045 2687 1999 1885

12824 1.23 248.9 441.3 10.6 621 12828 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3412 1885

12878 1.23 248.9 435.2 11.7 623 12885 0.00 2.55 0.00 0.000 6 0.000 0.050 2687 1998 1885

13193 1.23 248.9 402.9 9.8 639 13198 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3415 1885

13236 1.23 248.9 398.4 10.2 641 13241 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 2003 1885

13563 1.23 248.9 366.9 9.9 657 13568 0.00 2.65 0.00 0.000 4 0.000 0.076 2687 3412 1885

13617 1.23 248.9 361.3 10.3 659 13625 0.00 2.55 0.00 0.000 6 0.000 0.051 2687 2004 1885

13933 1.23 248.9 331.3 9.4 675 13937 0.00 2.65 0.00 0.000 4 0.000 0.075 2687 3412 1885

13971 1.23 248.9 327.4 10.7 677 13976 0.00 2.53 0.00 0.000 6 0.000 0.051 2687 1996 1885

14297 1.23 248.9 295.6 9.7 693 14301 0.00 2.67 0.00 0.000 4 0.000 0.075 2687 3417 1886

14362 1.23 248.9 289.3 9.6 696 14367 0.00 2.53 0.00 0.000 6 0.000 0.051 2687 2003 1886

14688 1.23 248.9 260.5 8.6 712 14690 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2003 1887

14998 1.23 248.9 233.7 8.6 727 15002 0.00 2.65 0.00 0.000 4 0.000 0.075 2687 3416 1887

15036 1.23 248.9 230.4 9.4 729 15041 0.00 2.55 0.00 0.000 6 0.000 0.053 2687 1993 1887

15362 1.23 248.9 204.2 7.6 745 15363 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1993 1887

15671 1.23 248.9 180.9 7.9 760 15676 0.00 2.67 0.00 0.000 4 0.000 0.075 2687 3413 1887

15742 1.23 248.9 175.1 8.3 763 15746 0.00 2.53 0.00 0.000 6 0.000 0.054 2687 2000 1887

16063 1.23 248.9 149.7 7.7 779 16067 0.00 2.65 0.00 0.000 4 0.000 0.076 2687 3412 1887

16106 1.23 248.9 146.4 7.7 781 16110 0.00 2.53 0.00 0.000 6 0.000 0.054 2687 2000 1888

16433 1.23 248.9 122.7 6.3 797 16437 0.00 2.67 0.00 0.000 4 0.000 0.076 2687 3417 1888

16487 1.23 248.9 118.7 8.5 799 16494 0.00 2.58 0.00 0.000 6 0.000 0.055 2687 2003 1888

16803 1.23 248.9 97.1 6.7 815 16807 0.00 2.67 0.00 0.000 4 0.000 0.076 2687 3418 1888

16864 1.23 248.9 92.6 6.4 818 16868 0.00 2.58 0.00 0.000 6 0.000 0.056 2687 1996 1888

17189 1.23 248.9 67.9 8.5 834 17194 0.00 2.67 0.00 0.000 4 0.000 0.074 2687 3416 1889

17228 1.23 248.9 64.3 8.9 836 17233 0.00 2.55 0.00 0.000 6 0.000 0.057 2687 2001 1889

17555 1.23 248.9 33.9 9.1 852 17559 0.00 2.67 0.00 0.000 4 0.000 0.077 2687 3417 1889

17593 1.23 248.9 30.4 9.2 854 17597 0.00 2.55 0.00 0.000 6 0.000 0.055 2687 2000 1889

17918 1.23 248.9 3.7 9.5 870 17923 0.00 2.65 0.00 0.000 4 0.000 0.072 2687 3414 1889

17937 end climb: SURFACE_DEPTH_REACHED

state 17937 begin surface coast

17962 end surface coast: CONTROL_FINISHED_OK

state 17962 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	116	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	23	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	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	-64502.852	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	185107,6210.699,-947.338,38,1.8,43,-9.9	TGT_NAME	BW
_CALLS	4	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,0.133
_SM_DEPTHo	-0.31	KALMAN_X	-101139.5,324.1,277.2,35900.4,-4278.6
_SM_ANGLEo	-53.8	KALMAN_Y	61851.1,-185.3,-498.3,6517.1,-330.2
GPS2	190808,6210.542,-947.692,12,1.8,17,-9.9	MHEAD_RNG_PITCHd_Wd	62.4,17627,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	686

FINISH	-0.3,1.027269	XPDR_PINGS	2
SM_CCo	17982,43.20,0.704,2,0,1678,300.00	ALTIM_BOTTOM_PING	625.2,61.3
SM_GC	-0.67,0.00,0.00,43.20,0.000,0.000,0.704,49,2887,1678,-10.86,-0.37,300.00	_24V_AH	23.4,23.472
IRIDIUM_FIX	6144.36,-938.34,011207,232314	_10V_AH	10.1,10.353
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44231,872
HUMID	2083	CFSIZE	260165632,252133376
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,49,2,0
TCM_TEMP	19.20	GPS	021207,001107,6210.703,-947.941,37,1.0,42,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	99.21	SBE_CT	616	24	346.05
Roll_motor	197	78	362.06	SBE_O2	627	19	279.06
VBD_pump_during_apogee	333	1226	9564.50	WL_BB2F	553	105	1360.77
VBD_pump_during_surface	43	704	711.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	153	103	369.87	nil	0	0	0.00
Iridium_during_connect	153	160	575.38	nil	0	0	0.00
Iridium_during_xfer	411	223	2148.11
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.62
TT8	1622	19	324.42
LPSleep	13933	2	308.19
TT8_Active	553	19	110.65
TT8_Sampling	2017	39	810.87
TT8_CF8	947	45	438.07
TT8_Kalman	33	81	27.57
Analog_circuits	1574	12	190.80
GPS_charging	0	0	0.00
Compass	1984	8	160.36
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
19	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-62.47	0.000	2	0.000	0.000	38	2901	3441
85	-1.10	-146.6	3.9	-9.4	3	107	12.12	2.62	-1.00	0.000	4	0.163	0.075	2164	1493	3502
288	-1.10	-146.6	25.7	-7.3	12	292	0.00	2.67	0.00	0.000	6	0.000	0.078	2164	2899	3502
613	-1.10	-146.6	49.6	-6.6	28	614	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
922	-1.10	-146.6	68.4	-6.3	43	924	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
1232	-1.10	-146.6	89.2	-6.5	58	1236	0.00	2.62	0.00	0.000	4	0.000	0.069	2164	1484	3502
1286	-1.10	-146.6	93.0	-6.5	60	1294	0.00	2.65	0.00	0.000	6	0.000	0.069	2164	2893	3503
1602	-1.10	-146.6	116.5	-7.9	76	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2893	3503
1911	-1.10	-146.6	142.3	-8.5	91	1912	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2893	3503
2220	-1.10	-146.6	168.2	-8.4	106	2225	0.00	2.58	0.00	0.000	4	0.000	0.062	2164	1488	3503
2259	-1.10	-146.6	171.3	-8.6	108	2264	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2906	3503
2585	-1.10	-146.6	196.8	-7.7	124	2589	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1491	3503
2624	-1.10	-146.6	200.0	-8.6	126	2629	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2904	3502
2950	-1.10	-146.6	225.1	-7.7	142	2954	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1494	3503
2976	-1.10	-146.6	227.4	-7.5	143	2981	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2902	3503
3297	-1.10	-146.6	251.6	-7.8	159	3301	0.00	2.58	0.00	0.000	4	0.000	0.063	2164	1493	3503
3340	-1.10	-146.6	255.1	-8.0	161	3345	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2898	3503
3667	-1.10	-146.6	280.4	-8.2	177	3671	0.00	2.55	0.00	0.000	4	0.000	0.065	2164	1493	3503
3716	-1.10	-146.6	284.5	-8.3	179	3721	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2901	3502
4037	-1.10	-146.6	309.2	-7.8	195	4041	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1487	3502
4068	-1.10	-146.6	311.6	-7.5	196	4075	0.00	2.65	0.00	0.000	6	0.000	0.068	2164	2900	3503
4384	-1.10	-146.6	333.7	-6.5	212	4388	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1493	3502
4432	-1.10	-146.6	336.7	-6.0	214	4437	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2900	3503
4753	-1.10	-146.6	357.7	-6.5	230	4758	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1489	3503
4797	-1.10	-146.6	360.6	-6.0	232	4801	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2900	3503
5123	-1.10	-146.6	381.7	-6.5	248	5128	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1487	3502
5178	-1.10	-146.6	385.4	-6.2	250	5185	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2893	3503
5495	-1.10	-146.6	406.7	-6.7	266	5499	0.00	2.58	0.00	0.000	4	0.000	0.065	2164	1491	3503
5543	-1.10	-146.6	410.0	-6.6	268	5547	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2895	3502
5864	-1.10	-146.6	434.0	-8.0	284	5868	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1484	3503
5903	-1.10	-146.6	436.9	-8.5	286	5908	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2902	3503
6228	-1.10	-146.6	461.7	-7.4	302	6229	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3503
6537	-1.10	-146.6	484.1	-6.9	317	6542	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1492	3502
6586	-1.10	-146.6	487.5	-7.0	319	6591	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2899	3502
6907	-1.10	-146.6	509.6	-6.9	335	6911	0.00	2.55	0.00	0.000	4	0.000	0.064	2164	1492	3502
6956	-1.10	-146.6	513.0	-6.6	337	6961	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2915	3502
7283	-1.10	-146.6	535.4	-6.8	353	7287	0.00	2.60	0.00	0.000	4	0.000	0.063	2164	1484	3502
7354	-1.10	-146.6	540.6	-7.1	356	7359	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2892	3502
7676	-1.10	-146.6	562.0	-6.7	372	7680	0.00	2.55	0.00	0.000	4	0.000	0.064	2164	1486	3502
7746	-1.10	-146.6	566.8	-6.5	375	7751	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2892	3502
8068	-1.10	-146.6	586.6	-5.5	391	8073	0.00	2.55	0.00	0.000	4	0.000	0.063	2164	1484	3502
8146	-1.10	-146.6	591.3	-5.1	394	8152	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2899	3502
8461	-1.10	-146.6	609.9	-6.0	410	8465	0.00	2.58	0.00	0.000	4	0.000	0.062	2164	1484	3502
8509	-1.10	-146.6	613.0	-6.5	412	8514	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2898	3502
8831	-1.10	-146.6	635.2	-6.9	428	8832	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2898	3502
9140	-1.10	-146.6	652.0	-5.1	443	9144	0.00	2.58	0.00	0.000	4	0.000	0.062	2164	1488	3502
9245	-1.10	-146.6	658.2	-6.1	447	9252	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2889	3502
9538	end dive: BOTTOM_OBSTACLE_DETECTED
state	9538	begin apogee
9544	-0.42	0.0	676.7	7.0	462	9673	0.77	0.00	125.12	1.226	6	0.093	0.000	2319	2004	2901
9674	end apogee: CONTROL_FINISHED_OK
state	9674	begin climb
9675	1.10	146.6	680.9	0.0	468	9806	1.52	2.72	122.05	1.198	4	0.055	0.069	2647	3406	2303
10026	1.22	244.4	667.4	3.3	484	10114	0.12	2.53	81.32	1.183	6	0.042	0.043	2687	1987	1904
10428	1.22	244.4	638.6	6.7	504	10429	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1988	1902
10738	1.22	244.4	618.5	6.8	519	10739	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1988	1901
11047	1.23	248.9	598.0	5.9	534	11057	0.00	2.70	4.78	0.861	4	0.000	0.070	2687	3416	1886
11086	1.23	248.9	595.7	6.0	536	11090	0.00	2.53	0.00	0.000	6	0.000	0.043	2687	1997	1886
11411	1.23	248.9	571.9	7.9	552	11415	0.00	2.67	0.00	0.000	4	0.000	0.071	2687	3418	1885
11444	1.23	248.9	569.0	9.4	553	11450	0.00	2.53	0.00	0.000	6	0.000	0.042	2687	1997	1885
11758	1.23	248.9	539.3	9.0	569	11759	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1997	1885
12067	1.23	248.9	512.7	8.7	584	12072	0.00	2.62	0.00	0.000	4	0.000	0.069	2687	3413	1884
12144	1.23	248.9	505.2	9.7	587	12151	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2004	1884
12460	1.23	248.9	475.3	9.0	603	12464	0.00	2.65	0.00	0.000	4	0.000	0.072	2687	3413	1885
12498	1.23	248.9	471.8	9.0	605	12502	0.00	2.50	0.00	0.000	6	0.000	0.045	2687	1999	1885
12824	1.23	248.9	441.3	10.6	621	12828	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3412	1885
12878	1.23	248.9	435.2	11.7	623	12885	0.00	2.55	0.00	0.000	6	0.000	0.050	2687	1998	1885
13193	1.23	248.9	402.9	9.8	639	13198	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3415	1885
13236	1.23	248.9	398.4	10.2	641	13241	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	2003	1885
13563	1.23	248.9	366.9	9.9	657	13568	0.00	2.65	0.00	0.000	4	0.000	0.076	2687	3412	1885
13617	1.23	248.9	361.3	10.3	659	13625	0.00	2.55	0.00	0.000	6	0.000	0.051	2687	2004	1885
13933	1.23	248.9	331.3	9.4	675	13937	0.00	2.65	0.00	0.000	4	0.000	0.075	2687	3412	1885
13971	1.23	248.9	327.4	10.7	677	13976	0.00	2.53	0.00	0.000	6	0.000	0.051	2687	1996	1885
14297	1.23	248.9	295.6	9.7	693	14301	0.00	2.67	0.00	0.000	4	0.000	0.075	2687	3417	1886
14362	1.23	248.9	289.3	9.6	696	14367	0.00	2.53	0.00	0.000	6	0.000	0.051	2687	2003	1886
14688	1.23	248.9	260.5	8.6	712	14690	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2003	1887
14998	1.23	248.9	233.7	8.6	727	15002	0.00	2.65	0.00	0.000	4	0.000	0.075	2687	3416	1887
15036	1.23	248.9	230.4	9.4	729	15041	0.00	2.55	0.00	0.000	6	0.000	0.053	2687	1993	1887
15362	1.23	248.9	204.2	7.6	745	15363	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	1993	1887
15671	1.23	248.9	180.9	7.9	760	15676	0.00	2.67	0.00	0.000	4	0.000	0.075	2687	3413	1887
15742	1.23	248.9	175.1	8.3	763	15746	0.00	2.53	0.00	0.000	6	0.000	0.054	2687	2000	1887
16063	1.23	248.9	149.7	7.7	779	16067	0.00	2.65	0.00	0.000	4	0.000	0.076	2687	3412	1887
16106	1.23	248.9	146.4	7.7	781	16110	0.00	2.53	0.00	0.000	6	0.000	0.054	2687	2000	1888
16433	1.23	248.9	122.7	6.3	797	16437	0.00	2.67	0.00	0.000	4	0.000	0.076	2687	3417	1888
16487	1.23	248.9	118.7	8.5	799	16494	0.00	2.58	0.00	0.000	6	0.000	0.055	2687	2003	1888
16803	1.23	248.9	97.1	6.7	815	16807	0.00	2.67	0.00	0.000	4	0.000	0.076	2687	3418	1888
16864	1.23	248.9	92.6	6.4	818	16868	0.00	2.58	0.00	0.000	6	0.000	0.056	2687	1996	1888
17189	1.23	248.9	67.9	8.5	834	17194	0.00	2.67	0.00	0.000	4	0.000	0.074	2687	3416	1889
17228	1.23	248.9	64.3	8.9	836	17233	0.00	2.55	0.00	0.000	6	0.000	0.057	2687	2001	1889
17555	1.23	248.9	33.9	9.1	852	17559	0.00	2.67	0.00	0.000	4	0.000	0.077	2687	3417	1889
17593	1.23	248.9	30.4	9.2	854	17597	0.00	2.55	0.00	0.000	6	0.000	0.055	2687	2000	1889
17918	1.23	248.9	3.7	9.5	870	17923	0.00	2.65	0.00	0.000	4	0.000	0.072	2687	3414	1889
17937	end climb: SURFACE_DEPTH_REACHED
state	17937	begin surface coast
17962	end surface coast: CONTROL_FINISHED_OK
state	17962	begin surface