Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 134 * 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 134 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 2100 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 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 -64835.883 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 -64835.883

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 2100 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 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 134 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 161728,6220.968,-1028.915,36,3.0,55,-10.3 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.037,0.215

_SM_DEPTHo -0.47 KALMAN_X -147010.0,409.7,93.6,45430.5,-5811.2

_SM_ANGLEo -60.8 KALMAN_Y 6661.5,1307.0,471.4,78396.9,-12298.2

GPS2 162329,6220.893,-1029.028,15,2.2,34,-10.3 MHEAD_RNG_PITCHd_Wd 19.9,16887,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 712

Post-dive calculations and measurements:

FINISH -0.6,1.027259 XPDR_PINGS 2

SM_CCo 19548,54.25,0.736,1,0,1678,300.00 _24V_AH 23.4,26.023

SM_GC -0.65,0.00,0.00,54.25,0.000,0.000,0.736,32,2895,1678,-10.93,-0.14,300.00 _10V_AH 10.1,11.889

IRIDIUM_FIX 6202.67,-1030.33,051207,151554 DATA_FILE_SIZE 47371,945

TT8_MAMPS 0.028379 CFSIZE 260165632,250986496

HUMID 2068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,35,1,0

INTERNAL_PRESSURE 8.848 GPS 051207,215237,6220.771,-1031.189,38,1.6,43,-10.4

TCM_TEMP 17.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 97.81 SBE_CT 684 24 384.41

Roll_motor 179 86 363.99 SBE_O2 657 19 292.22

VBD_pump_during_apogee 320 1280 9587.81 WL_BB2F 564 105 1386.47

VBD_pump_during_surface 54 735 933.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.05 nil 0 0 0.00

Iridium_during_connect 38 160 143.73 nil 0 0 0.00

Iridium_during_xfer 166 223 867.66

Transponder_ping 6 420 66.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.83

TT8 1734 19 346.90

LPSleep 15112 2 334.27

TT8_Active 537 19 107.48

TT8_Sampling 2152 39 865.40

TT8_CF8 446 45 206.34

TT8_Kalman 33 81 27.57

Analog_circuits 1600 12 193.96

GPS_charging 0 0 0.00

Compass 2091 8 169.01

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 89 0.00 0.00 -67.07 0.000 6 0.000 0.000 45 2906 3499

91 -1.10 -146.6 2.9 -8.0 3 113 12.05 2.67 0.00 0.000 4 0.161 0.067 2166 1490 3502

364 -1.10 -146.6 35.3 -7.6 15 369 0.00 2.70 0.00 0.000 6 0.000 0.081 2167 2900 3502

691 -1.10 -146.6 59.9 -7.5 31 696 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1491 3502

757 -1.10 -146.6 64.6 -7.6 34 762 0.00 2.65 0.00 0.000 6 0.000 0.076 2167 2902 3502

1084 -1.10 -146.6 87.2 -6.6 50 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3502

1393 -1.10 -146.6 107.6 -6.8 65 1398 0.00 2.62 0.00 0.000 4 0.000 0.070 2167 1491 3502

1437 -1.10 -146.6 110.7 -7.3 67 1441 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2896 3502

1764 -1.10 -146.6 134.6 -7.6 83 1768 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1491 3502

1795 -1.10 -146.6 137.3 -8.3 84 1802 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2893 3502

2111 -1.10 -146.6 162.0 -8.4 100 2115 0.00 2.60 0.00 0.000 4 0.000 0.068 2167 1493 3502

2149 -1.10 -146.6 164.8 -7.2 102 2153 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2900 3502

2474 -1.10 -146.6 188.8 -6.9 118 2478 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1485 3502

2528 -1.10 -146.6 192.5 -6.6 120 2535 0.00 2.65 0.00 0.000 6 0.000 0.067 2167 2903 3502

2844 -1.10 -146.6 214.9 -8.1 136 2848 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1490 3502

2887 -1.10 -146.6 218.4 -7.8 138 2891 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2899 3502

3213 -1.10 -146.6 242.7 -7.3 154 3218 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1490 3502

3275 -1.10 -146.6 247.8 -8.3 157 3279 0.00 2.60 0.00 0.000 6 0.000 0.066 2167 2900 3502

3600 -1.10 -146.6 270.7 -6.7 173 3604 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1489 3502

3639 -1.10 -146.6 273.4 -6.6 175 3643 0.00 2.60 0.00 0.000 6 0.000 0.066 2167 2901 3502

3965 -1.10 -146.6 294.8 -6.4 191 3969 0.00 2.58 0.00 0.000 4 0.000 0.063 2167 1489 3502

4019 -1.10 -146.6 298.2 -5.3 193 4025 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2901 3502

4335 -1.10 -146.6 317.0 -5.5 209 4339 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1484 3502

4395 -1.10 -146.6 320.4 -5.5 212 4400 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2900 3502

4721 -1.10 -146.6 340.4 -6.4 228 4725 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1482 3502

4770 -1.10 -146.6 343.7 -6.1 230 4774 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2901 3502

5092 -1.10 -146.6 363.0 -5.5 246 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3502

5400 -1.10 -146.6 381.1 -6.3 261 5404 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1484 3502

5443 -1.10 -146.6 384.1 -6.8 263 5447 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2908 3502

5769 -1.10 -146.6 406.1 -7.3 279 5774 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1486 3502

5813 -1.10 -146.6 409.6 -8.7 281 5817 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2899 3502

6140 -1.10 -146.6 434.6 -7.9 297 6144 0.00 2.58 0.00 0.000 4 0.000 0.063 2167 1489 3502

6178 -1.10 -146.6 437.8 -9.4 299 6182 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2902 3502

6503 -1.10 -146.6 464.6 -7.7 315 6507 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 1487 3502

6546 -1.10 -146.6 468.0 -7.6 317 6550 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2903 3502

6872 -1.10 -146.6 492.0 -7.3 333 6877 0.00 2.58 0.00 0.000 4 0.000 0.062 2167 1483 3502

6938 -1.10 -146.6 497.2 -8.4 336 6943 0.00 2.62 0.00 0.000 6 0.000 0.066 2167 2898 3502

7265 -1.10 -146.6 521.8 -7.0 352 7266 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2898 3502

7574 -1.10 -146.6 544.8 -7.8 367 7578 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 1480 3502

7622 -1.10 -146.6 549.3 -8.9 369 7627 0.00 2.62 0.00 0.000 6 0.000 0.065 2167 2892 3502

7944 -1.10 -146.6 576.5 -8.6 385 7949 0.00 2.55 0.00 0.000 4 0.000 0.059 2167 1482 3502

8033 -1.10 -146.6 584.5 -9.2 389 8037 0.00 2.62 0.00 0.000 6 0.000 0.063 2167 2901 3502

8360 -1.10 -146.6 611.5 -8.7 405 8361 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3502

8669 -1.10 -146.6 630.1 -4.4 420 8673 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 1483 3502

8813 -1.10 -146.6 636.9 -4.8 426 8820 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2904 3502

9129 -1.10 -146.6 651.9 -5.0 442 9130 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3502

9438 -1.10 -146.6 671.6 -6.7 457 9439 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3502

9747 -1.10 -146.6 692.5 -6.4 472 9751 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1483 3502

9790 -1.10 -146.6 695.1 -6.9 474 9794 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2899 3502

10115 end dive: TARGET_DEPTH_EXCEEDED

state 10115 begin apogee

10121 -0.42 0.0 712.7 5.8 490 10248 0.75 0.00 124.03 1.280 6 0.087 0.000 2318 2094 2901

10249 end apogee: CONTROL_FINISHED_OK

state 10249 begin climb

10251 1.10 146.6 716.4 0.0 496 10382 1.52 2.67 120.62 1.266 4 0.054 0.062 2648 689 2303

10477 1.11 149.9 711.6 5.9 506 10488 0.00 2.53 4.72 0.860 6 0.000 0.041 2648 2113 2289

10815 1.16 191.6 695.2 4.8 523 10857 0.00 2.67 35.80 1.202 4 0.000 0.071 2648 3507 2118

10940 1.16 191.6 686.8 6.7 528 10947 0.00 2.55 0.00 0.000 6 0.000 0.043 2648 2093 2119

11256 1.16 191.6 662.7 8.3 544 11257 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2094 2117

11565 1.16 191.6 638.8 7.0 559 11569 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3505 2117

11630 1.16 191.6 633.9 7.2 562 11635 0.00 2.53 0.00 0.000 6 0.000 0.044 2648 2099 2116

11957 1.16 191.6 609.0 7.8 578 11961 0.00 2.58 0.00 0.000 4 0.000 0.064 2648 694 2115

12050 1.16 191.6 601.7 7.2 582 12055 0.00 2.53 0.00 0.000 6 0.000 0.044 2648 2099 2115

12371 1.16 191.6 580.8 6.3 598 12376 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3509 2114

12465 1.16 191.6 574.7 6.7 602 12469 0.00 2.50 0.00 0.000 6 0.000 0.043 2648 2096 2114

12786 1.21 234.0 558.5 4.8 618 12828 0.12 2.60 34.90 1.179 4 0.044 0.059 2687 695 1947

12884 1.21 234.0 551.3 7.5 622 12888 0.00 2.50 0.00 0.000 6 0.000 0.041 2687 2104 1947

13204 1.21 234.0 528.0 7.3 638 13209 0.00 2.58 0.00 0.000 4 0.000 0.057 2687 694 1946

13272 1.21 234.0 523.0 7.6 641 13276 0.00 2.50 0.00 0.000 6 0.000 0.041 2687 2102 1946

13591 1.21 234.0 497.1 8.0 657 13596 0.00 2.62 0.00 0.000 4 0.000 0.071 2687 3513 1946

13640 1.21 234.0 492.8 7.9 659 13645 0.00 2.53 0.00 0.000 6 0.000 0.042 2687 2098 1946

13961 1.21 234.0 467.0 8.1 675 13962 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2098 1946

14271 1.21 234.0 441.1 8.6 690 14272 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2098 1946

14580 1.21 234.0 416.1 7.8 705 14581 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2098 1947

14889 1.21 234.0 390.8 8.3 720 14890 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2098 1947

15199 1.21 234.0 364.1 8.6 735 15200 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2098 1948

15508 1.21 234.0 336.1 8.9 750 15512 0.00 2.65 0.00 0.000 4 0.000 0.073 2687 3513 1948

15539 1.21 234.0 333.2 9.0 751 15546 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2100 1948

15855 1.21 234.0 303.6 9.5 767 15856 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1948

16164 1.21 234.0 275.6 9.1 782 16165 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1949

16473 1.21 234.0 248.2 8.2 797 16477 0.00 2.55 0.00 0.000 4 0.000 0.064 2687 693 1949

16527 1.21 234.0 243.4 8.8 799 16532 0.00 2.47 0.00 0.000 6 0.000 0.045 2687 2100 1949

16848 1.21 234.0 217.9 6.9 815 16849 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1949

17157 1.21 234.0 193.7 7.4 830 17161 0.00 2.58 0.00 0.000 4 0.000 0.061 2687 687 1949

17206 1.21 234.0 190.1 8.1 832 17211 0.00 2.50 0.00 0.000 6 0.000 0.045 2687 2094 1949

17527 1.21 234.0 168.3 7.1 848 17529 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2094 1949

17837 1.21 234.0 144.4 7.2 863 17838 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2094 1950

18146 1.21 234.0 116.8 9.2 878 18147 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2094 1950

18456 1.21 234.0 88.9 8.9 893 18460 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3516 1950

18510 1.21 234.0 83.8 9.3 895 18517 0.00 2.55 0.00 0.000 6 0.000 0.050 2687 2101 1950

18826 1.21 234.0 57.5 8.3 911 18827 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2101 1951

19135 1.21 234.0 32.8 8.2 926 19139 0.00 2.65 0.00 0.000 4 0.000 0.075 2687 3511 1951

19206 1.21 234.0 26.4 9.7 929 19210 0.00 2.55 0.00 0.000 6 0.000 0.055 2687 2108 1951

19507 end climb: SURFACE_DEPTH_REACHED

state 19507 begin surface coast

19527 end surface coast: CONTROL_FINISHED_OK

state 19527 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	134	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	2100	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	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	-64835.883	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	161728,6220.968,-1028.915,36,3.0,55,-10.3	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.037,0.215
_SM_DEPTHo	-0.47	KALMAN_X	-147010.0,409.7,93.6,45430.5,-5811.2
_SM_ANGLEo	-60.8	KALMAN_Y	6661.5,1307.0,471.4,78396.9,-12298.2
GPS2	162329,6220.893,-1029.028,15,2.2,34,-10.3	MHEAD_RNG_PITCHd_Wd	19.9,16887,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	712

FINISH	-0.6,1.027259	XPDR_PINGS	2
SM_CCo	19548,54.25,0.736,1,0,1678,300.00	_24V_AH	23.4,26.023
SM_GC	-0.65,0.00,0.00,54.25,0.000,0.000,0.736,32,2895,1678,-10.93,-0.14,300.00	_10V_AH	10.1,11.889
IRIDIUM_FIX	6202.67,-1030.33,051207,151554	DATA_FILE_SIZE	47371,945
TT8_MAMPS	0.028379	CFSIZE	260165632,250986496
HUMID	2068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,35,1,0
INTERNAL_PRESSURE	8.848	GPS	051207,215237,6220.771,-1031.189,38,1.6,43,-10.4
TCM_TEMP	17.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	97.81	SBE_CT	684	24	384.41
Roll_motor	179	86	363.99	SBE_O2	657	19	292.22
VBD_pump_during_apogee	320	1280	9587.81	WL_BB2F	564	105	1386.47
VBD_pump_during_surface	54	735	933.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.05	nil	0	0	0.00
Iridium_during_connect	38	160	143.73	nil	0	0	0.00
Iridium_during_xfer	166	223	867.66
Transponder_ping	6	420	66.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.83
TT8	1734	19	346.90
LPSleep	15112	2	334.27
TT8_Active	537	19	107.48
TT8_Sampling	2152	39	865.40
TT8_CF8	446	45	206.34
TT8_Kalman	33	81	27.57
Analog_circuits	1600	12	193.96
GPS_charging	0	0	0.00
Compass	2091	8	169.01
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	89	0.00	0.00	-67.07	0.000	6	0.000	0.000	45	2906	3499
91	-1.10	-146.6	2.9	-8.0	3	113	12.05	2.67	0.00	0.000	4	0.161	0.067	2166	1490	3502
364	-1.10	-146.6	35.3	-7.6	15	369	0.00	2.70	0.00	0.000	6	0.000	0.081	2167	2900	3502
691	-1.10	-146.6	59.9	-7.5	31	696	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1491	3502
757	-1.10	-146.6	64.6	-7.6	34	762	0.00	2.65	0.00	0.000	6	0.000	0.076	2167	2902	3502
1084	-1.10	-146.6	87.2	-6.6	50	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3502
1393	-1.10	-146.6	107.6	-6.8	65	1398	0.00	2.62	0.00	0.000	4	0.000	0.070	2167	1491	3502
1437	-1.10	-146.6	110.7	-7.3	67	1441	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2896	3502
1764	-1.10	-146.6	134.6	-7.6	83	1768	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1491	3502
1795	-1.10	-146.6	137.3	-8.3	84	1802	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2893	3502
2111	-1.10	-146.6	162.0	-8.4	100	2115	0.00	2.60	0.00	0.000	4	0.000	0.068	2167	1493	3502
2149	-1.10	-146.6	164.8	-7.2	102	2153	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2900	3502
2474	-1.10	-146.6	188.8	-6.9	118	2478	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1485	3502
2528	-1.10	-146.6	192.5	-6.6	120	2535	0.00	2.65	0.00	0.000	6	0.000	0.067	2167	2903	3502
2844	-1.10	-146.6	214.9	-8.1	136	2848	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1490	3502
2887	-1.10	-146.6	218.4	-7.8	138	2891	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2899	3502
3213	-1.10	-146.6	242.7	-7.3	154	3218	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1490	3502
3275	-1.10	-146.6	247.8	-8.3	157	3279	0.00	2.60	0.00	0.000	6	0.000	0.066	2167	2900	3502
3600	-1.10	-146.6	270.7	-6.7	173	3604	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1489	3502
3639	-1.10	-146.6	273.4	-6.6	175	3643	0.00	2.60	0.00	0.000	6	0.000	0.066	2167	2901	3502
3965	-1.10	-146.6	294.8	-6.4	191	3969	0.00	2.58	0.00	0.000	4	0.000	0.063	2167	1489	3502
4019	-1.10	-146.6	298.2	-5.3	193	4025	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2901	3502
4335	-1.10	-146.6	317.0	-5.5	209	4339	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1484	3502
4395	-1.10	-146.6	320.4	-5.5	212	4400	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2900	3502
4721	-1.10	-146.6	340.4	-6.4	228	4725	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1482	3502
4770	-1.10	-146.6	343.7	-6.1	230	4774	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2901	3502
5092	-1.10	-146.6	363.0	-5.5	246	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3502
5400	-1.10	-146.6	381.1	-6.3	261	5404	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1484	3502
5443	-1.10	-146.6	384.1	-6.8	263	5447	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2908	3502
5769	-1.10	-146.6	406.1	-7.3	279	5774	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1486	3502
5813	-1.10	-146.6	409.6	-8.7	281	5817	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2899	3502
6140	-1.10	-146.6	434.6	-7.9	297	6144	0.00	2.58	0.00	0.000	4	0.000	0.063	2167	1489	3502
6178	-1.10	-146.6	437.8	-9.4	299	6182	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2902	3502
6503	-1.10	-146.6	464.6	-7.7	315	6507	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	1487	3502
6546	-1.10	-146.6	468.0	-7.6	317	6550	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2903	3502
6872	-1.10	-146.6	492.0	-7.3	333	6877	0.00	2.58	0.00	0.000	4	0.000	0.062	2167	1483	3502
6938	-1.10	-146.6	497.2	-8.4	336	6943	0.00	2.62	0.00	0.000	6	0.000	0.066	2167	2898	3502
7265	-1.10	-146.6	521.8	-7.0	352	7266	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2898	3502
7574	-1.10	-146.6	544.8	-7.8	367	7578	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	1480	3502
7622	-1.10	-146.6	549.3	-8.9	369	7627	0.00	2.62	0.00	0.000	6	0.000	0.065	2167	2892	3502
7944	-1.10	-146.6	576.5	-8.6	385	7949	0.00	2.55	0.00	0.000	4	0.000	0.059	2167	1482	3502
8033	-1.10	-146.6	584.5	-9.2	389	8037	0.00	2.62	0.00	0.000	6	0.000	0.063	2167	2901	3502
8360	-1.10	-146.6	611.5	-8.7	405	8361	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3502
8669	-1.10	-146.6	630.1	-4.4	420	8673	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	1483	3502
8813	-1.10	-146.6	636.9	-4.8	426	8820	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2904	3502
9129	-1.10	-146.6	651.9	-5.0	442	9130	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3502
9438	-1.10	-146.6	671.6	-6.7	457	9439	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3502
9747	-1.10	-146.6	692.5	-6.4	472	9751	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1483	3502
9790	-1.10	-146.6	695.1	-6.9	474	9794	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2899	3502
10115	end dive: TARGET_DEPTH_EXCEEDED
state	10115	begin apogee
10121	-0.42	0.0	712.7	5.8	490	10248	0.75	0.00	124.03	1.280	6	0.087	0.000	2318	2094	2901
10249	end apogee: CONTROL_FINISHED_OK
state	10249	begin climb
10251	1.10	146.6	716.4	0.0	496	10382	1.52	2.67	120.62	1.266	4	0.054	0.062	2648	689	2303
10477	1.11	149.9	711.6	5.9	506	10488	0.00	2.53	4.72	0.860	6	0.000	0.041	2648	2113	2289
10815	1.16	191.6	695.2	4.8	523	10857	0.00	2.67	35.80	1.202	4	0.000	0.071	2648	3507	2118
10940	1.16	191.6	686.8	6.7	528	10947	0.00	2.55	0.00	0.000	6	0.000	0.043	2648	2093	2119
11256	1.16	191.6	662.7	8.3	544	11257	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2094	2117
11565	1.16	191.6	638.8	7.0	559	11569	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3505	2117
11630	1.16	191.6	633.9	7.2	562	11635	0.00	2.53	0.00	0.000	6	0.000	0.044	2648	2099	2116
11957	1.16	191.6	609.0	7.8	578	11961	0.00	2.58	0.00	0.000	4	0.000	0.064	2648	694	2115
12050	1.16	191.6	601.7	7.2	582	12055	0.00	2.53	0.00	0.000	6	0.000	0.044	2648	2099	2115
12371	1.16	191.6	580.8	6.3	598	12376	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3509	2114
12465	1.16	191.6	574.7	6.7	602	12469	0.00	2.50	0.00	0.000	6	0.000	0.043	2648	2096	2114
12786	1.21	234.0	558.5	4.8	618	12828	0.12	2.60	34.90	1.179	4	0.044	0.059	2687	695	1947
12884	1.21	234.0	551.3	7.5	622	12888	0.00	2.50	0.00	0.000	6	0.000	0.041	2687	2104	1947
13204	1.21	234.0	528.0	7.3	638	13209	0.00	2.58	0.00	0.000	4	0.000	0.057	2687	694	1946
13272	1.21	234.0	523.0	7.6	641	13276	0.00	2.50	0.00	0.000	6	0.000	0.041	2687	2102	1946
13591	1.21	234.0	497.1	8.0	657	13596	0.00	2.62	0.00	0.000	4	0.000	0.071	2687	3513	1946
13640	1.21	234.0	492.8	7.9	659	13645	0.00	2.53	0.00	0.000	6	0.000	0.042	2687	2098	1946
13961	1.21	234.0	467.0	8.1	675	13962	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2098	1946
14271	1.21	234.0	441.1	8.6	690	14272	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2098	1946
14580	1.21	234.0	416.1	7.8	705	14581	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2098	1947
14889	1.21	234.0	390.8	8.3	720	14890	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2098	1947
15199	1.21	234.0	364.1	8.6	735	15200	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2098	1948
15508	1.21	234.0	336.1	8.9	750	15512	0.00	2.65	0.00	0.000	4	0.000	0.073	2687	3513	1948
15539	1.21	234.0	333.2	9.0	751	15546	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2100	1948
15855	1.21	234.0	303.6	9.5	767	15856	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1948
16164	1.21	234.0	275.6	9.1	782	16165	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1949
16473	1.21	234.0	248.2	8.2	797	16477	0.00	2.55	0.00	0.000	4	0.000	0.064	2687	693	1949
16527	1.21	234.0	243.4	8.8	799	16532	0.00	2.47	0.00	0.000	6	0.000	0.045	2687	2100	1949
16848	1.21	234.0	217.9	6.9	815	16849	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1949
17157	1.21	234.0	193.7	7.4	830	17161	0.00	2.58	0.00	0.000	4	0.000	0.061	2687	687	1949
17206	1.21	234.0	190.1	8.1	832	17211	0.00	2.50	0.00	0.000	6	0.000	0.045	2687	2094	1949
17527	1.21	234.0	168.3	7.1	848	17529	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2094	1949
17837	1.21	234.0	144.4	7.2	863	17838	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2094	1950
18146	1.21	234.0	116.8	9.2	878	18147	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2094	1950
18456	1.21	234.0	88.9	8.9	893	18460	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3516	1950
18510	1.21	234.0	83.8	9.3	895	18517	0.00	2.55	0.00	0.000	6	0.000	0.050	2687	2101	1950
18826	1.21	234.0	57.5	8.3	911	18827	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2101	1951
19135	1.21	234.0	32.8	8.2	926	19139	0.00	2.65	0.00	0.000	4	0.000	0.075	2687	3511	1951
19206	1.21	234.0	26.4	9.7	929	19210	0.00	2.55	0.00	0.000	6	0.000	0.055	2687	2108	1951
19507	end climb: SURFACE_DEPTH_REACHED
state	19507	begin surface coast
19527	end surface coast: CONTROL_FINISHED_OK
state	19527	begin surface