Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 118 * 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 118 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -64533.961 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 -64533.961

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 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 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 118 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 054138,6212.336,-946.320,43,1.2,43,-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 0.022,0.217

_SM_DEPTHo -0.30 KALMAN_X -107545.3,-41.8,571.4,43521.0,-4900.5

_SM_ANGLEo -59.3 KALMAN_Y 57347.4,254.2,481.7,12889.9,-3100.8

GPS2 055827,6212.325,-946.406,12,1.5,12,-9.9 MHEAD_RNG_PITCHd_Wd 15.6,14546,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 667

Post-dive calculations and measurements:

FINISH -0.5,1.027287 XPDR_PINGS 2

SM_CCo 19289,42.08,0.736,0,0,1678,300.00 ALTIM_BOTTOM_PING 575.2,80.6

SM_GC -0.13,0.00,0.00,42.08,0.000,0.000,0.736,39,2890,1678,-10.91,-0.28,300.00 _24V_AH 23.5,23.754

IRIDIUM_FIX 6144.36,-1034.35,021207,090957 _10V_AH 10.1,10.540

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47460,932

HUMID 2063 CFSIZE 260165632,251985920

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,44,0,0

TCM_TEMP 17.40 GPS 021207,112256,6213.599,-950.655,38,1.6,38,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 160 97.85 SBE_CT 660 24 372.26

Roll_motor 211 82 411.03 SBE_O2 668 19 298.56

VBD_pump_during_apogee 333 1203 9426.58 WL_BB2F 591 105 1459.57

VBD_pump_during_surface 42 735 727.29 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 151 103 367.22 nil 0 0 0.00

Iridium_during_connect 170 160 641.08 nil 0 0 0.00

Iridium_during_xfer 388 223 2038.50

Transponder_ping 5 420 51.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.23

TT8 1766 19 353.22

LPSleep 14847 2 328.40

TT8_Active 536 19 107.31

TT8_Sampling 2270 39 912.81

TT8_CF8 932 45 431.50

TT8_Kalman 33 81 27.56

Analog_circuits 1674 12 202.90

GPS_charging 0 0 0.00

Compass 2238 8 180.87

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 -60.97 0.000 2 0.000 0.000 45 2897 3363

85 -1.10 -146.6 3.6 -9.5 3 108 12.02 2.60 -2.53 0.000 4 0.160 0.078 2164 1484 3502

162 -1.10 -146.6 16.1 -7.1 6 167 0.00 2.67 0.00 0.000 6 0.000 0.074 2163 2904 3503

485 -1.10 -146.6 39.3 -6.7 22 486 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3503

793 -1.10 -146.6 62.2 -7.1 37 798 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1491 3503

848 -1.10 -146.6 66.3 -7.5 39 855 0.00 2.65 0.00 0.000 6 0.000 0.069 2163 2900 3503

1164 -1.10 -146.6 87.8 -6.0 55 1165 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

1473 -1.10 -146.6 109.2 -8.4 70 1474 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

1782 -1.10 -146.6 139.2 -9.5 85 1787 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1487 3503

1848 -1.10 -146.6 145.7 -9.9 88 1853 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2893 3503

2175 -1.10 -146.6 167.1 -6.1 104 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2893 3503

2484 -1.10 -146.6 184.2 -6.7 119 2488 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1491 3503

2539 -1.10 -146.6 188.1 -7.5 121 2545 0.00 2.62 0.00 0.000 6 0.000 0.066 2164 2904 3503

2854 -1.10 -146.6 207.5 -5.8 137 2855 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3503

3163 -1.10 -146.6 227.1 -6.1 152 3164 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2905 3503

3472 -1.10 -146.6 247.3 -6.6 167 3476 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1490 3503

3539 -1.10 -146.6 251.7 -6.0 170 3543 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2900 3503

3865 -1.10 -146.6 273.6 -6.7 186 3869 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1485 3503

3907 -1.10 -146.6 276.7 -6.7 188 3912 0.00 2.65 0.00 0.000 6 0.000 0.068 2164 2901 3503

4234 -1.10 -146.6 298.6 -6.7 204 4239 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1482 3503

4289 -1.10 -146.6 302.5 -7.1 206 4296 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2902 3503

4607 -1.10 -146.6 325.5 -7.4 222 4611 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1483 3503

4655 -1.10 -146.6 329.5 -7.6 224 4659 0.00 2.65 0.00 0.000 6 0.000 0.069 2164 2900 3503

4976 -1.10 -146.6 354.6 -7.9 240 4977 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

5285 -1.10 -146.6 379.3 -7.8 255 5289 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1483 3503

5346 -1.10 -146.6 384.0 -7.7 258 5351 0.00 2.62 0.00 0.000 6 0.000 0.069 2163 2902 3503

5672 -1.10 -146.6 408.7 -7.5 274 5673 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3503

5981 -1.10 -146.6 431.3 -7.2 289 5985 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1490 3503

6068 -1.10 -146.6 437.9 -7.6 293 6073 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2895 3503

6395 -1.10 -146.6 459.9 -6.8 309 6400 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1483 3503

6456 -1.10 -146.6 464.2 -6.8 312 6461 0.00 2.60 0.00 0.000 6 0.000 0.068 2163 2900 3503

6782 -1.10 -146.6 486.8 -7.0 328 6786 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1489 3503

6843 -1.10 -146.6 491.4 -7.9 331 6848 0.00 2.60 0.00 0.000 6 0.000 0.068 2163 2900 3503

7168 -1.10 -146.6 518.5 -8.7 347 7172 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1485 3503

7195 -1.10 -146.6 520.9 -9.4 348 7200 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2900 3503

7510 -1.10 -146.6 548.2 -8.9 363 7514 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1482 3503

7565 -1.10 -146.6 552.9 -8.7 365 7571 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2904 3503

7880 -1.10 -146.6 574.7 -5.8 381 7884 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1486 3503

7923 -1.10 -146.6 577.0 -5.2 383 7928 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2900 3503

8244 -1.10 -146.6 593.0 -4.7 399 8248 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1486 3503

8309 -1.10 -146.6 596.4 -5.6 402 8313 0.00 2.60 0.00 0.000 6 0.000 0.068 2163 2900 3503

8636 -1.10 -146.6 613.0 -5.7 418 8640 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1484 3503

8735 -1.10 -146.6 619.9 -5.8 422 8742 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2899 3503

9051 -1.10 -146.6 634.6 -4.6 438 9052 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

9275 end dive: BOTTOM_OBSTACLE_DETECTED

state 9276 begin apogee

9281 -0.42 0.0 646.2 5.5 449 9409 0.75 0.00 124.30 1.203 6 0.087 0.000 2314 1994 2901

9410 end apogee: CONTROL_FINISHED_OK

state 9410 begin climb

9411 1.10 146.6 649.5 0.0 455 9543 1.55 2.67 121.68 1.163 4 0.057 0.064 2648 590 2303

9631 1.13 168.3 644.4 5.4 465 9657 0.00 2.53 19.80 1.072 6 0.000 0.040 2648 2016 2214

9973 1.13 168.3 619.1 7.1 482 9978 0.00 2.62 0.00 0.000 4 0.000 0.074 2648 3409 2213

10196 1.13 168.3 603.9 7.3 492 10201 0.00 2.55 0.00 0.000 6 0.000 0.048 2648 2002 2212

10523 1.13 168.3 583.2 6.3 508 10528 0.00 2.60 0.00 0.000 4 0.000 0.066 2648 589 2211

10607 1.13 168.3 577.6 7.1 512 10611 0.00 2.53 0.00 0.000 6 0.000 0.043 2648 2005 2211

10932 1.13 168.3 558.1 6.1 528 10936 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3408 2210

11003 1.13 168.3 553.5 6.4 531 11007 0.00 2.53 0.00 0.000 6 0.000 0.046 2648 1991 2209

11324 1.16 189.5 535.5 5.4 547 11348 0.00 2.72 17.73 1.091 4 0.000 0.068 2648 3402 2128

11434 1.16 189.5 528.2 6.6 552 11438 0.00 2.50 0.00 0.000 6 0.000 0.044 2647 1998 2128

11759 1.16 189.5 507.0 6.8 568 11763 0.00 2.62 0.00 0.000 4 0.000 0.070 2648 3406 2128

11813 1.16 189.5 503.4 6.8 570 11820 0.00 2.53 0.00 0.000 6 0.000 0.044 2648 2001 2128

12129 1.16 189.5 483.1 6.5 586 12133 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3409 2128

12222 1.16 189.5 476.7 6.8 590 12227 0.00 2.53 0.00 0.000 6 0.000 0.048 2648 2006 2128

12544 1.16 196.0 456.8 5.8 606 12558 0.00 2.70 7.47 0.930 4 0.000 0.071 2648 3404 2101

12642 1.16 196.0 450.6 6.3 610 12646 0.00 2.55 0.00 0.000 6 0.000 0.051 2648 1985 2101

12964 1.16 196.0 429.5 6.8 626 12968 0.00 2.67 0.00 0.000 4 0.000 0.074 2648 3405 2101

13024 1.16 196.0 425.3 6.8 629 13029 0.00 2.53 0.00 0.000 6 0.000 0.051 2648 1997 2101

13350 1.16 196.0 403.8 6.5 645 13351 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 1997 2101

13659 1.16 196.0 385.1 6.2 660 13664 0.00 2.65 0.00 0.000 4 0.000 0.074 2648 3405 2101

13766 1.16 196.0 378.0 6.3 665 13770 0.00 2.53 0.00 0.000 6 0.000 0.052 2648 1997 2101

14092 1.16 196.0 356.6 6.5 681 14096 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3407 2101

14185 1.16 196.0 350.3 6.3 685 14189 0.00 2.55 0.00 0.000 6 0.000 0.052 2648 2002 2102

14506 1.16 196.0 329.7 6.5 701 14511 0.00 2.65 0.00 0.000 4 0.000 0.074 2648 3407 2102

14600 1.16 196.0 323.0 6.8 705 14605 0.00 2.55 0.00 0.000 6 0.000 0.052 2648 1999 2102

14922 1.16 196.0 302.8 6.1 721 14927 0.00 2.65 0.00 0.000 4 0.000 0.074 2648 3407 2102

15029 1.16 196.0 295.8 7.0 726 15033 0.00 2.53 0.00 0.000 6 0.000 0.054 2648 1998 2103

15354 1.16 196.0 273.9 6.8 742 15358 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3410 2103

15424 1.16 196.0 268.6 7.8 745 15429 0.00 2.55 0.00 0.000 6 0.000 0.053 2648 1989 2103

15746 1.16 196.0 245.9 7.2 761 15750 0.00 2.67 0.00 0.000 4 0.000 0.074 2648 3407 2103

15816 1.16 196.0 240.6 7.2 764 15821 0.00 2.55 0.00 0.000 6 0.000 0.054 2648 2003 2103

16138 1.16 196.0 217.4 7.5 780 16143 0.00 2.62 0.00 0.000 4 0.000 0.073 2648 3404 2103

16181 1.16 196.0 213.9 8.2 782 16186 0.00 2.55 0.00 0.000 6 0.000 0.052 2648 1996 2104

16508 1.16 196.0 188.8 7.8 798 16513 0.00 2.62 0.00 0.000 4 0.000 0.074 2648 3404 2104

16580 1.16 196.0 183.0 7.6 801 16584 0.00 2.50 0.00 0.000 6 0.000 0.051 2648 2000 2104

16901 1.16 196.0 158.2 7.8 817 16905 0.00 2.62 0.00 0.000 4 0.000 0.075 2648 3404 2104

16972 1.16 196.0 152.5 7.6 820 16976 0.00 2.53 0.00 0.000 6 0.000 0.052 2648 1994 2104

17293 1.16 196.0 127.5 7.8 836 17298 0.00 2.65 0.00 0.000 4 0.000 0.074 2648 3403 2104

17359 1.16 196.0 121.9 8.7 839 17364 0.00 2.50 0.00 0.000 6 0.000 0.050 2648 1998 2104

17686 1.16 196.0 98.0 6.6 855 17691 0.00 2.65 0.00 0.000 4 0.000 0.074 2648 3409 2104

17771 1.16 196.0 91.9 7.3 859 17775 0.00 2.53 0.00 0.000 6 0.000 0.052 2648 1998 2104

18096 1.16 196.0 69.3 6.7 875 18100 0.00 2.65 0.00 0.000 4 0.000 0.075 2648 3410 2104

18180 1.16 196.0 63.6 6.6 879 18184 0.00 2.53 0.00 0.000 6 0.000 0.053 2648 1999 2104

18505 1.16 196.0 44.6 6.0 895 18510 0.00 2.65 0.00 0.000 4 0.000 0.077 2648 3406 2104

18567 1.17 200.1 40.5 5.9 898 18578 0.00 2.53 5.68 0.662 6 0.000 0.053 2648 1994 2085

18893 1.22 245.5 27.7 4.7 914 18937 0.12 2.67 36.67 0.779 4 0.048 0.067 2683 3404 1900

19004 1.22 245.5 19.4 7.9 919 19009 0.00 2.50 0.00 0.000 6 0.000 0.046 2683 1999 1899

19247 end climb: SURFACE_DEPTH_REACHED

state 19247 begin surface coast

19268 end surface coast: CONTROL_FINISHED_OK

state 19268 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	118	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-64533.961	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	054138,6212.336,-946.320,43,1.2,43,-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	0.022,0.217
_SM_DEPTHo	-0.30	KALMAN_X	-107545.3,-41.8,571.4,43521.0,-4900.5
_SM_ANGLEo	-59.3	KALMAN_Y	57347.4,254.2,481.7,12889.9,-3100.8
GPS2	055827,6212.325,-946.406,12,1.5,12,-9.9	MHEAD_RNG_PITCHd_Wd	15.6,14546,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	667

FINISH	-0.5,1.027287	XPDR_PINGS	2
SM_CCo	19289,42.08,0.736,0,0,1678,300.00	ALTIM_BOTTOM_PING	575.2,80.6
SM_GC	-0.13,0.00,0.00,42.08,0.000,0.000,0.736,39,2890,1678,-10.91,-0.28,300.00	_24V_AH	23.5,23.754
IRIDIUM_FIX	6144.36,-1034.35,021207,090957	_10V_AH	10.1,10.540
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47460,932
HUMID	2063	CFSIZE	260165632,251985920
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,44,0,0
TCM_TEMP	17.40	GPS	021207,112256,6213.599,-950.655,38,1.6,38,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	160	97.85	SBE_CT	660	24	372.26
Roll_motor	211	82	411.03	SBE_O2	668	19	298.56
VBD_pump_during_apogee	333	1203	9426.58	WL_BB2F	591	105	1459.57
VBD_pump_during_surface	42	735	727.29	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	151	103	367.22	nil	0	0	0.00
Iridium_during_connect	170	160	641.08	nil	0	0	0.00
Iridium_during_xfer	388	223	2038.50
Transponder_ping	5	420	51.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.23
TT8	1766	19	353.22
LPSleep	14847	2	328.40
TT8_Active	536	19	107.31
TT8_Sampling	2270	39	912.81
TT8_CF8	932	45	431.50
TT8_Kalman	33	81	27.56
Analog_circuits	1674	12	202.90
GPS_charging	0	0	0.00
Compass	2238	8	180.87
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	-60.97	0.000	2	0.000	0.000	45	2897	3363
85	-1.10	-146.6	3.6	-9.5	3	108	12.02	2.60	-2.53	0.000	4	0.160	0.078	2164	1484	3502
162	-1.10	-146.6	16.1	-7.1	6	167	0.00	2.67	0.00	0.000	6	0.000	0.074	2163	2904	3503
485	-1.10	-146.6	39.3	-6.7	22	486	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3503
793	-1.10	-146.6	62.2	-7.1	37	798	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1491	3503
848	-1.10	-146.6	66.3	-7.5	39	855	0.00	2.65	0.00	0.000	6	0.000	0.069	2163	2900	3503
1164	-1.10	-146.6	87.8	-6.0	55	1165	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
1473	-1.10	-146.6	109.2	-8.4	70	1474	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
1782	-1.10	-146.6	139.2	-9.5	85	1787	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1487	3503
1848	-1.10	-146.6	145.7	-9.9	88	1853	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2893	3503
2175	-1.10	-146.6	167.1	-6.1	104	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2893	3503
2484	-1.10	-146.6	184.2	-6.7	119	2488	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1491	3503
2539	-1.10	-146.6	188.1	-7.5	121	2545	0.00	2.62	0.00	0.000	6	0.000	0.066	2164	2904	3503
2854	-1.10	-146.6	207.5	-5.8	137	2855	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3503
3163	-1.10	-146.6	227.1	-6.1	152	3164	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2905	3503
3472	-1.10	-146.6	247.3	-6.6	167	3476	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1490	3503
3539	-1.10	-146.6	251.7	-6.0	170	3543	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2900	3503
3865	-1.10	-146.6	273.6	-6.7	186	3869	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1485	3503
3907	-1.10	-146.6	276.7	-6.7	188	3912	0.00	2.65	0.00	0.000	6	0.000	0.068	2164	2901	3503
4234	-1.10	-146.6	298.6	-6.7	204	4239	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1482	3503
4289	-1.10	-146.6	302.5	-7.1	206	4296	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2902	3503
4607	-1.10	-146.6	325.5	-7.4	222	4611	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1483	3503
4655	-1.10	-146.6	329.5	-7.6	224	4659	0.00	2.65	0.00	0.000	6	0.000	0.069	2164	2900	3503
4976	-1.10	-146.6	354.6	-7.9	240	4977	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
5285	-1.10	-146.6	379.3	-7.8	255	5289	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1483	3503
5346	-1.10	-146.6	384.0	-7.7	258	5351	0.00	2.62	0.00	0.000	6	0.000	0.069	2163	2902	3503
5672	-1.10	-146.6	408.7	-7.5	274	5673	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3503
5981	-1.10	-146.6	431.3	-7.2	289	5985	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1490	3503
6068	-1.10	-146.6	437.9	-7.6	293	6073	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2895	3503
6395	-1.10	-146.6	459.9	-6.8	309	6400	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1483	3503
6456	-1.10	-146.6	464.2	-6.8	312	6461	0.00	2.60	0.00	0.000	6	0.000	0.068	2163	2900	3503
6782	-1.10	-146.6	486.8	-7.0	328	6786	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1489	3503
6843	-1.10	-146.6	491.4	-7.9	331	6848	0.00	2.60	0.00	0.000	6	0.000	0.068	2163	2900	3503
7168	-1.10	-146.6	518.5	-8.7	347	7172	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1485	3503
7195	-1.10	-146.6	520.9	-9.4	348	7200	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2900	3503
7510	-1.10	-146.6	548.2	-8.9	363	7514	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1482	3503
7565	-1.10	-146.6	552.9	-8.7	365	7571	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2904	3503
7880	-1.10	-146.6	574.7	-5.8	381	7884	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1486	3503
7923	-1.10	-146.6	577.0	-5.2	383	7928	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2900	3503
8244	-1.10	-146.6	593.0	-4.7	399	8248	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1486	3503
8309	-1.10	-146.6	596.4	-5.6	402	8313	0.00	2.60	0.00	0.000	6	0.000	0.068	2163	2900	3503
8636	-1.10	-146.6	613.0	-5.7	418	8640	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1484	3503
8735	-1.10	-146.6	619.9	-5.8	422	8742	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2899	3503
9051	-1.10	-146.6	634.6	-4.6	438	9052	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
9275	end dive: BOTTOM_OBSTACLE_DETECTED
state	9276	begin apogee
9281	-0.42	0.0	646.2	5.5	449	9409	0.75	0.00	124.30	1.203	6	0.087	0.000	2314	1994	2901
9410	end apogee: CONTROL_FINISHED_OK
state	9410	begin climb
9411	1.10	146.6	649.5	0.0	455	9543	1.55	2.67	121.68	1.163	4	0.057	0.064	2648	590	2303
9631	1.13	168.3	644.4	5.4	465	9657	0.00	2.53	19.80	1.072	6	0.000	0.040	2648	2016	2214
9973	1.13	168.3	619.1	7.1	482	9978	0.00	2.62	0.00	0.000	4	0.000	0.074	2648	3409	2213
10196	1.13	168.3	603.9	7.3	492	10201	0.00	2.55	0.00	0.000	6	0.000	0.048	2648	2002	2212
10523	1.13	168.3	583.2	6.3	508	10528	0.00	2.60	0.00	0.000	4	0.000	0.066	2648	589	2211
10607	1.13	168.3	577.6	7.1	512	10611	0.00	2.53	0.00	0.000	6	0.000	0.043	2648	2005	2211
10932	1.13	168.3	558.1	6.1	528	10936	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3408	2210
11003	1.13	168.3	553.5	6.4	531	11007	0.00	2.53	0.00	0.000	6	0.000	0.046	2648	1991	2209
11324	1.16	189.5	535.5	5.4	547	11348	0.00	2.72	17.73	1.091	4	0.000	0.068	2648	3402	2128
11434	1.16	189.5	528.2	6.6	552	11438	0.00	2.50	0.00	0.000	6	0.000	0.044	2647	1998	2128
11759	1.16	189.5	507.0	6.8	568	11763	0.00	2.62	0.00	0.000	4	0.000	0.070	2648	3406	2128
11813	1.16	189.5	503.4	6.8	570	11820	0.00	2.53	0.00	0.000	6	0.000	0.044	2648	2001	2128
12129	1.16	189.5	483.1	6.5	586	12133	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3409	2128
12222	1.16	189.5	476.7	6.8	590	12227	0.00	2.53	0.00	0.000	6	0.000	0.048	2648	2006	2128
12544	1.16	196.0	456.8	5.8	606	12558	0.00	2.70	7.47	0.930	4	0.000	0.071	2648	3404	2101
12642	1.16	196.0	450.6	6.3	610	12646	0.00	2.55	0.00	0.000	6	0.000	0.051	2648	1985	2101
12964	1.16	196.0	429.5	6.8	626	12968	0.00	2.67	0.00	0.000	4	0.000	0.074	2648	3405	2101
13024	1.16	196.0	425.3	6.8	629	13029	0.00	2.53	0.00	0.000	6	0.000	0.051	2648	1997	2101
13350	1.16	196.0	403.8	6.5	645	13351	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	1997	2101
13659	1.16	196.0	385.1	6.2	660	13664	0.00	2.65	0.00	0.000	4	0.000	0.074	2648	3405	2101
13766	1.16	196.0	378.0	6.3	665	13770	0.00	2.53	0.00	0.000	6	0.000	0.052	2648	1997	2101
14092	1.16	196.0	356.6	6.5	681	14096	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3407	2101
14185	1.16	196.0	350.3	6.3	685	14189	0.00	2.55	0.00	0.000	6	0.000	0.052	2648	2002	2102
14506	1.16	196.0	329.7	6.5	701	14511	0.00	2.65	0.00	0.000	4	0.000	0.074	2648	3407	2102
14600	1.16	196.0	323.0	6.8	705	14605	0.00	2.55	0.00	0.000	6	0.000	0.052	2648	1999	2102
14922	1.16	196.0	302.8	6.1	721	14927	0.00	2.65	0.00	0.000	4	0.000	0.074	2648	3407	2102
15029	1.16	196.0	295.8	7.0	726	15033	0.00	2.53	0.00	0.000	6	0.000	0.054	2648	1998	2103
15354	1.16	196.0	273.9	6.8	742	15358	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3410	2103
15424	1.16	196.0	268.6	7.8	745	15429	0.00	2.55	0.00	0.000	6	0.000	0.053	2648	1989	2103
15746	1.16	196.0	245.9	7.2	761	15750	0.00	2.67	0.00	0.000	4	0.000	0.074	2648	3407	2103
15816	1.16	196.0	240.6	7.2	764	15821	0.00	2.55	0.00	0.000	6	0.000	0.054	2648	2003	2103
16138	1.16	196.0	217.4	7.5	780	16143	0.00	2.62	0.00	0.000	4	0.000	0.073	2648	3404	2103
16181	1.16	196.0	213.9	8.2	782	16186	0.00	2.55	0.00	0.000	6	0.000	0.052	2648	1996	2104
16508	1.16	196.0	188.8	7.8	798	16513	0.00	2.62	0.00	0.000	4	0.000	0.074	2648	3404	2104
16580	1.16	196.0	183.0	7.6	801	16584	0.00	2.50	0.00	0.000	6	0.000	0.051	2648	2000	2104
16901	1.16	196.0	158.2	7.8	817	16905	0.00	2.62	0.00	0.000	4	0.000	0.075	2648	3404	2104
16972	1.16	196.0	152.5	7.6	820	16976	0.00	2.53	0.00	0.000	6	0.000	0.052	2648	1994	2104
17293	1.16	196.0	127.5	7.8	836	17298	0.00	2.65	0.00	0.000	4	0.000	0.074	2648	3403	2104
17359	1.16	196.0	121.9	8.7	839	17364	0.00	2.50	0.00	0.000	6	0.000	0.050	2648	1998	2104
17686	1.16	196.0	98.0	6.6	855	17691	0.00	2.65	0.00	0.000	4	0.000	0.074	2648	3409	2104
17771	1.16	196.0	91.9	7.3	859	17775	0.00	2.53	0.00	0.000	6	0.000	0.052	2648	1998	2104
18096	1.16	196.0	69.3	6.7	875	18100	0.00	2.65	0.00	0.000	4	0.000	0.075	2648	3410	2104
18180	1.16	196.0	63.6	6.6	879	18184	0.00	2.53	0.00	0.000	6	0.000	0.053	2648	1999	2104
18505	1.16	196.0	44.6	6.0	895	18510	0.00	2.65	0.00	0.000	4	0.000	0.077	2648	3406	2104
18567	1.17	200.1	40.5	5.9	898	18578	0.00	2.53	5.68	0.662	6	0.000	0.053	2648	1994	2085
18893	1.22	245.5	27.7	4.7	914	18937	0.12	2.67	36.67	0.779	4	0.048	0.067	2683	3404	1900
19004	1.22	245.5	19.4	7.9	919	19009	0.00	2.50	0.00	0.000	6	0.000	0.046	2683	1999	1899
19247	end climb: SURFACE_DEPTH_REACHED
state	19247	begin surface coast
19268	end surface coast: CONTROL_FINISHED_OK
state	19268	begin surface