Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 127 * 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 127 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 2050 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -64676.516 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 -64676.516

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 2050 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 22 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 127 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 043608,6221.886,-1012.906,35,1.1,35,-10.2 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,0.192

_SM_DEPTHo -0.25 KALMAN_X -126737.5,-574.3,133.1,40258.6,-3754.5

_SM_ANGLEo -55.9 KALMAN_Y 39955.4,-789.1,607.0,48891.9,-5732.5

GPS2 044157,6221.861,-1012.987,14,1.1,14,-10.2 MHEAD_RNG_PITCHd_Wd 341.8,20949,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 689

Post-dive calculations and measurements:

FINISH 0.8,1.027283 XPDR_PINGS 2

SM_CCo 18652,0.00,0.000,0,0,1321,387.57 ALTIM_BOTTOM_PING 625.1,94.0

SM_GC -0.55,12.15,0.00,0.00,0.041,0.000,0.000,48,2897,1321,-10.80,-0.08,387.57 _24V_AH 23.4,25.018

IRIDIUM_FIX 6158.08,-1000.48,041207,030350 _10V_AH 10.1,11.309

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44295,899

HUMID 2040 CFSIZE 260165632,251424768

INTERNAL_PRESSURE 8.8187 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,40,0,0

TCM_TEMP 19.20 GPS 041207,095532,6221.570,-1019.354,66,1.1,66,-10.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 99.01 SBE_CT 647 24 363.91

Roll_motor 176 121 504.75 SBE_O2 633 19 281.53

VBD_pump_during_apogee 445 1232 12836.90 WL_BB2F 564 105 1386.43

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 98.99 nil 0 0 0.00

Iridium_during_connect 36 160 134.89 nil 0 0 0.00

Iridium_during_xfer 168 223 880.84

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1668 19 333.59

LPSleep 14268 2 315.60

TT8_Active 562 19 112.40

TT8_Sampling 2061 39 828.60

TT8_CF8 453 45 209.81

TT8_Kalman 33 81 27.57

Analog_circuits 1620 12 196.38

GPS_charging 0 0 0.00

Compass 2031 8 164.11

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.10 -146.6 0.0 0.0 0 85 0.00 0.00 -62.28 0.000 2 0.000 0.000 49 2904 3391

87 -1.10 -146.6 3.4 -8.9 3 110 11.98 1.75 -1.98 0.000 4 0.159 0.122 2167 3773 3502

361 -1.10 -146.6 31.3 -10.4 15 366 0.00 1.50 0.00 0.000 6 0.000 0.032 2167 2900 3502

688 -1.10 -146.6 50.9 -5.4 31 692 0.00 1.67 0.00 0.000 4 0.000 0.081 2167 3783 3502

946 -1.10 -146.6 69.1 -5.7 42 950 0.00 1.50 0.00 0.000 6 0.000 0.032 2167 2902 3502

1267 -1.10 -146.6 94.8 -8.4 58 1268 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

1576 -1.10 -146.6 115.1 -6.9 73 1577 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3503

1885 -1.10 -146.6 137.9 -7.9 88 1889 0.00 2.58 0.00 0.000 4 0.000 0.068 2167 1499 3503

1912 -1.10 -146.6 139.3 -5.2 89 1916 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2902 3503

2233 -1.10 -146.6 161.2 -7.8 105 2234 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3503

2542 -1.10 -146.6 182.8 -6.7 120 2546 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 1499 3503

2580 -1.10 -146.6 185.4 -6.8 122 2584 0.00 2.60 0.00 0.000 6 0.000 0.069 2167 2901 3503

2905 -1.10 -146.6 209.3 -7.5 138 2906 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3503

3214 -1.10 -146.6 233.1 -7.5 153 3219 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 1499 3503

3263 -1.10 -146.6 236.9 -7.3 155 3268 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2894 3503

3585 -1.10 -146.6 257.6 -5.8 171 3586 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2894 3503

3894 -1.10 -146.6 276.8 -6.2 186 3899 0.00 2.58 0.00 0.000 4 0.000 0.066 2167 1493 3503

3956 -1.10 -146.6 280.6 -6.0 189 3960 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2908 3503

4281 -1.10 -146.6 302.6 -7.7 205 4285 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1491 3503

4312 -1.10 -146.6 305.1 -7.6 206 4319 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2892 3503

4628 -1.10 -146.6 329.2 -7.6 222 4632 0.00 2.55 0.00 0.000 4 0.000 0.065 2167 1493 3503

4666 -1.10 -146.6 332.1 -7.2 224 4671 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2900 3503

4991 -1.10 -146.6 354.2 -6.9 240 4995 0.00 2.55 0.00 0.000 4 0.000 0.063 2167 1498 3503

5052 -1.10 -146.6 358.3 -6.7 243 5056 0.00 2.58 0.00 0.000 6 0.000 0.067 2167 2900 3503

5377 -1.10 -146.6 376.1 -5.1 259 5382 0.00 2.55 0.00 0.000 4 0.000 0.062 2167 1492 3503

5421 -1.10 -146.6 378.5 -5.4 261 5425 0.00 2.58 0.00 0.000 6 0.000 0.066 2167 2899 3503

5747 -1.10 -146.6 396.6 -6.1 277 5748 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6057 -1.10 -146.6 416.1 -6.2 292 6061 0.00 2.55 0.00 0.000 4 0.000 0.062 2167 1499 3503

6133 -1.10 -146.6 421.4 -7.4 295 6140 0.00 2.60 0.00 0.000 6 0.000 0.066 2167 2899 3503

6449 -1.10 -146.6 444.3 -7.2 311 6453 0.00 2.55 0.00 0.000 4 0.000 0.061 2167 1489 3503

6481 -1.10 -146.6 446.7 -7.7 312 6487 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2892 3503

6796 -1.10 -146.6 469.7 -7.6 328 6797 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2892 3503

7106 -1.10 -146.6 491.9 -7.2 343 7110 0.00 2.55 0.00 0.000 4 0.000 0.061 2167 1492 3503

7173 -1.10 -146.6 496.9 -7.1 346 7177 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2900 3503

7492 -1.10 -146.6 520.9 -7.5 362 7496 0.00 2.55 0.00 0.000 4 0.000 0.060 2167 1496 3503

7554 -1.10 -146.6 525.4 -7.5 365 7558 0.00 2.58 0.00 0.000 6 0.000 0.064 2167 2900 3503

7879 -1.10 -146.6 548.2 -7.3 381 7880 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

8189 -1.10 -146.6 567.5 -5.3 396 8193 0.00 2.55 0.00 0.000 4 0.000 0.059 2167 1493 3503

8238 -1.10 -146.6 570.4 -5.6 398 8242 0.00 2.58 0.00 0.000 6 0.000 0.064 2167 2900 3503

8553 -1.10 -146.6 593.4 -8.1 413 8557 0.00 2.55 0.00 0.000 4 0.000 0.059 2167 1490 3503

8591 -1.10 -146.6 596.6 -8.1 415 8595 0.00 2.58 0.00 0.000 6 0.000 0.064 2167 2900 3503

8917 -1.10 -146.6 621.3 -7.1 431 8922 0.00 2.55 0.00 0.000 4 0.000 0.059 2167 1493 3503

8989 -1.10 -146.6 626.3 -6.9 434 8994 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2896 3503

9311 -1.10 -146.6 647.7 -7.7 450 9315 0.00 2.53 0.00 0.000 4 0.000 0.060 2167 1489 3503

9360 -1.10 -146.6 651.9 -8.4 452 9364 0.00 2.60 0.00 0.000 6 0.000 0.066 2167 2903 3503

9686 -1.10 -146.6 673.9 -5.9 468 9691 0.00 2.58 0.00 0.000 4 0.000 0.062 2167 1491 3503

9719 -1.10 -146.6 675.9 -5.7 469 9725 0.00 2.60 0.00 0.000 6 0.000 0.069 2167 2900 3503

9970 end dive: TARGET_DEPTH_EXCEEDED

state 9971 begin apogee

9977 -0.42 0.0 689.7 5.8 482 10105 0.75 0.00 125.18 1.233 6 0.090 0.000 2318 2062 2901

10106 end apogee: CONTROL_FINISHED_OK

state 10106 begin climb

10108 1.10 146.6 693.2 0.0 488 10240 1.52 2.70 122.12 1.189 4 0.052 0.064 2649 637 2303

10369 1.10 146.6 682.3 7.2 500 10373 0.00 2.53 0.00 0.000 6 0.000 0.039 2648 2056 2302

10696 1.18 212.5 666.0 4.2 516 10759 0.00 2.67 55.75 1.189 4 0.000 0.070 2648 3454 2034

10820 1.20 228.4 659.7 5.6 521 10840 0.10 2.53 14.62 1.085 6 0.051 0.043 2682 2041 1969

11156 1.20 228.4 638.1 7.6 538 11160 0.00 2.65 0.00 0.000 4 0.000 0.067 2682 3455 1968

11221 1.20 228.4 631.7 9.6 541 11226 0.00 2.50 0.00 0.000 6 0.000 0.041 2682 2044 1968

11548 1.20 228.4 600.0 9.1 557 11552 0.00 2.55 0.00 0.000 4 0.000 0.061 2682 646 1966

11658 1.20 228.4 589.6 8.5 562 11662 0.00 2.47 0.00 0.000 6 0.000 0.041 2682 2048 1966

11984 1.20 228.4 562.8 8.6 578 11986 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2048 1966

12294 1.20 228.4 532.4 11.3 593 12298 0.00 2.65 0.00 0.000 4 0.000 0.073 2682 3465 1965

12342 1.20 228.4 527.4 9.3 595 12347 0.00 2.50 0.00 0.000 6 0.000 0.042 2682 2052 1965

12664 1.20 228.4 497.4 8.8 611 12668 0.00 2.65 0.00 0.000 4 0.000 0.070 2682 3464 1965

12712 1.20 228.4 493.3 8.6 613 12717 0.00 2.53 0.00 0.000 6 0.000 0.041 2682 2048 1965

13034 1.22 239.1 472.5 5.7 629 13045 0.00 0.00 9.73 0.996 6 0.000 0.000 2682 2048 1926

13342 1.22 239.1 451.4 7.8 644 13347 0.00 2.65 0.00 0.000 4 0.000 0.071 2682 3460 1926

13374 1.22 239.1 448.5 8.8 645 13381 0.00 2.53 0.00 0.000 6 0.000 0.044 2682 2050 1926

13690 1.22 239.1 420.0 9.6 661 13694 0.00 2.65 0.00 0.000 4 0.000 0.071 2682 3464 1926

13732 1.22 239.1 415.7 9.4 663 13737 0.00 2.53 0.00 0.000 6 0.000 0.045 2682 2053 1926

14059 1.22 239.1 384.9 9.3 679 14060 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2053 1927

14369 1.22 239.1 356.0 9.2 694 14373 0.00 2.62 0.00 0.000 4 0.000 0.072 2682 3460 1927

14417 1.22 239.1 351.2 10.0 696 14422 0.00 2.53 0.00 0.000 6 0.000 0.048 2682 2058 1927

14738 1.22 239.1 323.2 8.6 712 14743 0.00 2.62 0.00 0.000 4 0.000 0.073 2682 3460 1927

14770 1.22 239.1 320.4 8.8 713 14777 0.00 2.53 0.00 0.000 6 0.000 0.050 2682 2045 1927

15085 1.22 239.1 292.8 9.1 729 15089 0.00 2.65 0.00 0.000 4 0.000 0.072 2682 3458 1927

15124 1.22 239.1 289.3 8.5 731 15128 0.00 2.53 0.00 0.000 6 0.000 0.052 2682 2048 1927

15449 1.22 239.1 259.9 9.8 747 15450 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2048 1928

15758 1.22 239.1 231.9 8.7 762 15760 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2049 1928

16068 1.22 239.1 204.5 8.9 777 16072 0.00 2.65 0.00 0.000 4 0.000 0.074 2682 3459 1928

16112 1.22 239.1 200.7 8.5 779 16116 0.00 2.53 0.00 0.000 6 0.000 0.050 2682 2050 1928

16432 1.22 239.1 172.3 9.5 795 16433 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2050 1929

16741 1.22 239.1 147.0 7.5 810 16746 0.00 2.65 0.00 0.000 4 0.000 0.074 2682 3460 1929

16796 1.22 239.1 142.3 8.5 812 16803 0.00 2.55 0.00 0.000 6 0.000 0.051 2682 2053 1929

17113 1.22 239.1 118.2 8.4 828 17114 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2053 1930

17421 1.22 239.1 93.7 7.1 843 17426 0.00 2.65 0.00 0.000 4 0.000 0.074 2682 3458 1930

17465 1.22 239.1 89.9 8.3 845 17469 0.00 2.53 0.00 0.000 6 0.000 0.051 2682 2041 1930

17792 1.22 239.1 63.7 8.2 861 17793 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2041 1930

18101 1.22 239.1 39.3 8.1 876 18105 0.00 2.67 0.00 0.000 4 0.000 0.074 2682 3461 1930

18122 1.27 279.6 38.3 4.9 877 18160 0.00 2.53 33.58 0.761 6 0.000 0.054 2682 2051 1760

18470 1.40 386.4 9.8 3.0 894 18560 0.15 2.75 84.10 0.737 4 0.046 0.077 2719 3461 1324

18565 end climb: SURFACE_DEPTH_REACHED

state 18565 begin surface coast

18571 end surface coast: CONTROL_FINISHED_OK

state 18571 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	127	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	2050	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-64676.516	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	043608,6221.886,-1012.906,35,1.1,35,-10.2	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,0.192
_SM_DEPTHo	-0.25	KALMAN_X	-126737.5,-574.3,133.1,40258.6,-3754.5
_SM_ANGLEo	-55.9	KALMAN_Y	39955.4,-789.1,607.0,48891.9,-5732.5
GPS2	044157,6221.861,-1012.987,14,1.1,14,-10.2	MHEAD_RNG_PITCHd_Wd	341.8,20949,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	689

FINISH	0.8,1.027283	XPDR_PINGS	2
SM_CCo	18652,0.00,0.000,0,0,1321,387.57	ALTIM_BOTTOM_PING	625.1,94.0
SM_GC	-0.55,12.15,0.00,0.00,0.041,0.000,0.000,48,2897,1321,-10.80,-0.08,387.57	_24V_AH	23.4,25.018
IRIDIUM_FIX	6158.08,-1000.48,041207,030350	_10V_AH	10.1,11.309
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44295,899
HUMID	2040	CFSIZE	260165632,251424768
INTERNAL_PRESSURE	8.8187	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,40,0,0
TCM_TEMP	19.20	GPS	041207,095532,6221.570,-1019.354,66,1.1,66,-10.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	99.01	SBE_CT	647	24	363.91
Roll_motor	176	121	504.75	SBE_O2	633	19	281.53
VBD_pump_during_apogee	445	1232	12836.90	WL_BB2F	564	105	1386.43
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	98.99	nil	0	0	0.00
Iridium_during_connect	36	160	134.89	nil	0	0	0.00
Iridium_during_xfer	168	223	880.84
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1668	19	333.59
LPSleep	14268	2	315.60
TT8_Active	562	19	112.40
TT8_Sampling	2061	39	828.60
TT8_CF8	453	45	209.81
TT8_Kalman	33	81	27.57
Analog_circuits	1620	12	196.38
GPS_charging	0	0	0.00
Compass	2031	8	164.11
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.10	-146.6	0.0	0.0	0	85	0.00	0.00	-62.28	0.000	2	0.000	0.000	49	2904	3391
87	-1.10	-146.6	3.4	-8.9	3	110	11.98	1.75	-1.98	0.000	4	0.159	0.122	2167	3773	3502
361	-1.10	-146.6	31.3	-10.4	15	366	0.00	1.50	0.00	0.000	6	0.000	0.032	2167	2900	3502
688	-1.10	-146.6	50.9	-5.4	31	692	0.00	1.67	0.00	0.000	4	0.000	0.081	2167	3783	3502
946	-1.10	-146.6	69.1	-5.7	42	950	0.00	1.50	0.00	0.000	6	0.000	0.032	2167	2902	3502
1267	-1.10	-146.6	94.8	-8.4	58	1268	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
1576	-1.10	-146.6	115.1	-6.9	73	1577	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3503
1885	-1.10	-146.6	137.9	-7.9	88	1889	0.00	2.58	0.00	0.000	4	0.000	0.068	2167	1499	3503
1912	-1.10	-146.6	139.3	-5.2	89	1916	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2902	3503
2233	-1.10	-146.6	161.2	-7.8	105	2234	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3503
2542	-1.10	-146.6	182.8	-6.7	120	2546	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	1499	3503
2580	-1.10	-146.6	185.4	-6.8	122	2584	0.00	2.60	0.00	0.000	6	0.000	0.069	2167	2901	3503
2905	-1.10	-146.6	209.3	-7.5	138	2906	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3503
3214	-1.10	-146.6	233.1	-7.5	153	3219	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	1499	3503
3263	-1.10	-146.6	236.9	-7.3	155	3268	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2894	3503
3585	-1.10	-146.6	257.6	-5.8	171	3586	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2894	3503
3894	-1.10	-146.6	276.8	-6.2	186	3899	0.00	2.58	0.00	0.000	4	0.000	0.066	2167	1493	3503
3956	-1.10	-146.6	280.6	-6.0	189	3960	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2908	3503
4281	-1.10	-146.6	302.6	-7.7	205	4285	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1491	3503
4312	-1.10	-146.6	305.1	-7.6	206	4319	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2892	3503
4628	-1.10	-146.6	329.2	-7.6	222	4632	0.00	2.55	0.00	0.000	4	0.000	0.065	2167	1493	3503
4666	-1.10	-146.6	332.1	-7.2	224	4671	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2900	3503
4991	-1.10	-146.6	354.2	-6.9	240	4995	0.00	2.55	0.00	0.000	4	0.000	0.063	2167	1498	3503
5052	-1.10	-146.6	358.3	-6.7	243	5056	0.00	2.58	0.00	0.000	6	0.000	0.067	2167	2900	3503
5377	-1.10	-146.6	376.1	-5.1	259	5382	0.00	2.55	0.00	0.000	4	0.000	0.062	2167	1492	3503
5421	-1.10	-146.6	378.5	-5.4	261	5425	0.00	2.58	0.00	0.000	6	0.000	0.066	2167	2899	3503
5747	-1.10	-146.6	396.6	-6.1	277	5748	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6057	-1.10	-146.6	416.1	-6.2	292	6061	0.00	2.55	0.00	0.000	4	0.000	0.062	2167	1499	3503
6133	-1.10	-146.6	421.4	-7.4	295	6140	0.00	2.60	0.00	0.000	6	0.000	0.066	2167	2899	3503
6449	-1.10	-146.6	444.3	-7.2	311	6453	0.00	2.55	0.00	0.000	4	0.000	0.061	2167	1489	3503
6481	-1.10	-146.6	446.7	-7.7	312	6487	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2892	3503
6796	-1.10	-146.6	469.7	-7.6	328	6797	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2892	3503
7106	-1.10	-146.6	491.9	-7.2	343	7110	0.00	2.55	0.00	0.000	4	0.000	0.061	2167	1492	3503
7173	-1.10	-146.6	496.9	-7.1	346	7177	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2900	3503
7492	-1.10	-146.6	520.9	-7.5	362	7496	0.00	2.55	0.00	0.000	4	0.000	0.060	2167	1496	3503
7554	-1.10	-146.6	525.4	-7.5	365	7558	0.00	2.58	0.00	0.000	6	0.000	0.064	2167	2900	3503
7879	-1.10	-146.6	548.2	-7.3	381	7880	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
8189	-1.10	-146.6	567.5	-5.3	396	8193	0.00	2.55	0.00	0.000	4	0.000	0.059	2167	1493	3503
8238	-1.10	-146.6	570.4	-5.6	398	8242	0.00	2.58	0.00	0.000	6	0.000	0.064	2167	2900	3503
8553	-1.10	-146.6	593.4	-8.1	413	8557	0.00	2.55	0.00	0.000	4	0.000	0.059	2167	1490	3503
8591	-1.10	-146.6	596.6	-8.1	415	8595	0.00	2.58	0.00	0.000	6	0.000	0.064	2167	2900	3503
8917	-1.10	-146.6	621.3	-7.1	431	8922	0.00	2.55	0.00	0.000	4	0.000	0.059	2167	1493	3503
8989	-1.10	-146.6	626.3	-6.9	434	8994	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2896	3503
9311	-1.10	-146.6	647.7	-7.7	450	9315	0.00	2.53	0.00	0.000	4	0.000	0.060	2167	1489	3503
9360	-1.10	-146.6	651.9	-8.4	452	9364	0.00	2.60	0.00	0.000	6	0.000	0.066	2167	2903	3503
9686	-1.10	-146.6	673.9	-5.9	468	9691	0.00	2.58	0.00	0.000	4	0.000	0.062	2167	1491	3503
9719	-1.10	-146.6	675.9	-5.7	469	9725	0.00	2.60	0.00	0.000	6	0.000	0.069	2167	2900	3503
9970	end dive: TARGET_DEPTH_EXCEEDED
state	9971	begin apogee
9977	-0.42	0.0	689.7	5.8	482	10105	0.75	0.00	125.18	1.233	6	0.090	0.000	2318	2062	2901
10106	end apogee: CONTROL_FINISHED_OK
state	10106	begin climb
10108	1.10	146.6	693.2	0.0	488	10240	1.52	2.70	122.12	1.189	4	0.052	0.064	2649	637	2303
10369	1.10	146.6	682.3	7.2	500	10373	0.00	2.53	0.00	0.000	6	0.000	0.039	2648	2056	2302
10696	1.18	212.5	666.0	4.2	516	10759	0.00	2.67	55.75	1.189	4	0.000	0.070	2648	3454	2034
10820	1.20	228.4	659.7	5.6	521	10840	0.10	2.53	14.62	1.085	6	0.051	0.043	2682	2041	1969
11156	1.20	228.4	638.1	7.6	538	11160	0.00	2.65	0.00	0.000	4	0.000	0.067	2682	3455	1968
11221	1.20	228.4	631.7	9.6	541	11226	0.00	2.50	0.00	0.000	6	0.000	0.041	2682	2044	1968
11548	1.20	228.4	600.0	9.1	557	11552	0.00	2.55	0.00	0.000	4	0.000	0.061	2682	646	1966
11658	1.20	228.4	589.6	8.5	562	11662	0.00	2.47	0.00	0.000	6	0.000	0.041	2682	2048	1966
11984	1.20	228.4	562.8	8.6	578	11986	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2048	1966
12294	1.20	228.4	532.4	11.3	593	12298	0.00	2.65	0.00	0.000	4	0.000	0.073	2682	3465	1965
12342	1.20	228.4	527.4	9.3	595	12347	0.00	2.50	0.00	0.000	6	0.000	0.042	2682	2052	1965
12664	1.20	228.4	497.4	8.8	611	12668	0.00	2.65	0.00	0.000	4	0.000	0.070	2682	3464	1965
12712	1.20	228.4	493.3	8.6	613	12717	0.00	2.53	0.00	0.000	6	0.000	0.041	2682	2048	1965
13034	1.22	239.1	472.5	5.7	629	13045	0.00	0.00	9.73	0.996	6	0.000	0.000	2682	2048	1926
13342	1.22	239.1	451.4	7.8	644	13347	0.00	2.65	0.00	0.000	4	0.000	0.071	2682	3460	1926
13374	1.22	239.1	448.5	8.8	645	13381	0.00	2.53	0.00	0.000	6	0.000	0.044	2682	2050	1926
13690	1.22	239.1	420.0	9.6	661	13694	0.00	2.65	0.00	0.000	4	0.000	0.071	2682	3464	1926
13732	1.22	239.1	415.7	9.4	663	13737	0.00	2.53	0.00	0.000	6	0.000	0.045	2682	2053	1926
14059	1.22	239.1	384.9	9.3	679	14060	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2053	1927
14369	1.22	239.1	356.0	9.2	694	14373	0.00	2.62	0.00	0.000	4	0.000	0.072	2682	3460	1927
14417	1.22	239.1	351.2	10.0	696	14422	0.00	2.53	0.00	0.000	6	0.000	0.048	2682	2058	1927
14738	1.22	239.1	323.2	8.6	712	14743	0.00	2.62	0.00	0.000	4	0.000	0.073	2682	3460	1927
14770	1.22	239.1	320.4	8.8	713	14777	0.00	2.53	0.00	0.000	6	0.000	0.050	2682	2045	1927
15085	1.22	239.1	292.8	9.1	729	15089	0.00	2.65	0.00	0.000	4	0.000	0.072	2682	3458	1927
15124	1.22	239.1	289.3	8.5	731	15128	0.00	2.53	0.00	0.000	6	0.000	0.052	2682	2048	1927
15449	1.22	239.1	259.9	9.8	747	15450	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2048	1928
15758	1.22	239.1	231.9	8.7	762	15760	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2049	1928
16068	1.22	239.1	204.5	8.9	777	16072	0.00	2.65	0.00	0.000	4	0.000	0.074	2682	3459	1928
16112	1.22	239.1	200.7	8.5	779	16116	0.00	2.53	0.00	0.000	6	0.000	0.050	2682	2050	1928
16432	1.22	239.1	172.3	9.5	795	16433	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2050	1929
16741	1.22	239.1	147.0	7.5	810	16746	0.00	2.65	0.00	0.000	4	0.000	0.074	2682	3460	1929
16796	1.22	239.1	142.3	8.5	812	16803	0.00	2.55	0.00	0.000	6	0.000	0.051	2682	2053	1929
17113	1.22	239.1	118.2	8.4	828	17114	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2053	1930
17421	1.22	239.1	93.7	7.1	843	17426	0.00	2.65	0.00	0.000	4	0.000	0.074	2682	3458	1930
17465	1.22	239.1	89.9	8.3	845	17469	0.00	2.53	0.00	0.000	6	0.000	0.051	2682	2041	1930
17792	1.22	239.1	63.7	8.2	861	17793	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2041	1930
18101	1.22	239.1	39.3	8.1	876	18105	0.00	2.67	0.00	0.000	4	0.000	0.074	2682	3461	1930
18122	1.27	279.6	38.3	4.9	877	18160	0.00	2.53	33.58	0.761	6	0.000	0.054	2682	2051	1760
18470	1.40	386.4	9.8	3.0	894	18560	0.15	2.75	84.10	0.737	4	0.046	0.077	2719	3461	1324
18565	end climb: SURFACE_DEPTH_REACHED
state	18565	begin surface coast
18571	end surface coast: CONTROL_FINISHED_OK
state	18571	begin surface