Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 142 * 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 142 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 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 -64978.934 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 -64978.934

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 22 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 142 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 124938,6220.009,-1035.186,29,1.4,29,-10.4 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.098,0.195

_SM_DEPTHo -0.20 KALMAN_X -178759.9,804.4,650.7,70705.6,-6907.2

_SM_ANGLEo -60.0 KALMAN_Y -19033.7,1929.4,699.2,101599.6,-4476.4

GPS2 125538,6220.040,-1035.241,13,1.4,30,-10.4 MHEAD_RNG_PITCHd_Wd 37.1,18983,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 732

Post-dive calculations and measurements:

FINISH -0.5,1.027329 XPDR_PINGS 1

SM_CCo 18259,21.83,0.733,1,0,1678,300.00 ALTIM_BOTTOM_PING 625.5,79.5

SM_GC -0.26,0.00,0.00,21.83,0.000,0.000,0.733,44,2899,1678,-10.88,-0.03,300.00 _24V_AH 23.4,27.255

IRIDIUM_FIX 6153.50,-1046.84,071207,111102 _10V_AH 10.1,12.589

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44268,886

HUMID 2089 CFSIZE 260165632,250474496

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,31,1,0

TCM_TEMP 17.10 GPS 071207,180237,6224.849,-1036.125,34,1.0,34,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 160 98.09 SBE_CT 632 24 355.35

Roll_motor 151 94 334.12 SBE_O2 618 19 274.78

VBD_pump_during_apogee 356 1245 10379.33 WL_BB2F 548 105 1347.66

VBD_pump_during_surface 21 733 374.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.54 nil 0 0 0.00

Iridium_during_connect 35 160 134.31 nil 0 0 0.00

Iridium_during_xfer 166 223 871.06

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.55

TT8 1596 19 319.23

LPSleep 14234 2 314.86

TT8_Active 505 19 101.12

TT8_Sampling 1884 39 757.72

TT8_CF8 434 45 200.99

TT8_Kalman 33 81 27.57

Analog_circuits 1447 12 175.40

GPS_charging 0 0 0.00

Compass 1836 8 148.42

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

21 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -61.08 0.000 2 0.000 0.000 30 2902 3345

86 -1.10 -146.6 3.2 -8.3 3 109 12.10 2.58 -2.88 0.000 4 0.160 0.073 2165 1493 3500

141 -1.10 -146.6 14.6 -7.9 5 146 0.00 2.65 0.00 0.000 6 0.000 0.072 2165 2906 3500

463 -1.10 -146.6 36.8 -7.1 21 464 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2907 3501

772 -1.10 -146.6 58.6 -7.4 36 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2906 3501

1081 -1.10 -146.6 80.9 -6.6 51 1086 0.00 2.62 0.00 0.000 4 0.000 0.066 2165 1483 3501

1143 -1.10 -146.6 85.2 -6.9 54 1148 0.00 2.65 0.00 0.000 6 0.000 0.070 2165 2904 3501

1471 -1.10 -146.6 107.9 -6.9 70 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3501

1779 -1.10 -146.6 128.2 -6.5 85 1783 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1494 3501

1827 -1.10 -146.6 131.6 -7.0 87 1832 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2901 3501

2148 -1.10 -146.6 153.0 -6.8 103 2153 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1491 3501

2175 -1.10 -146.6 155.0 -7.4 104 2180 0.00 2.62 0.00 0.000 6 0.000 0.066 2166 2898 3501

2496 -1.10 -146.6 178.2 -7.7 120 2500 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1493 3502

2534 -1.10 -146.6 181.2 -7.3 122 2538 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2899 3501

2859 -1.10 -146.6 206.6 -7.9 138 2860 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3501

3169 -1.10 -146.6 231.2 -7.8 153 3173 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1484 3501

3217 -1.10 -146.6 235.2 -8.3 155 3221 0.00 2.62 0.00 0.000 6 0.000 0.065 2166 2892 3502

3538 -1.10 -146.6 259.5 -7.7 171 3540 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2892 3501

3848 -1.10 -146.6 282.6 -7.4 186 3852 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1492 3502

3896 -1.10 -146.6 286.6 -8.1 188 3901 0.00 2.60 0.00 0.000 6 0.000 0.064 2166 2892 3502

4217 -1.10 -146.6 311.0 -8.4 204 4222 0.00 2.58 0.00 0.000 4 0.000 0.063 2165 1487 3501

4261 -1.10 -146.6 314.9 -8.3 206 4265 0.00 2.60 0.00 0.000 6 0.000 0.064 2165 2903 3501

4587 -1.10 -146.6 342.4 -7.9 222 4588 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2903 3502

4897 -1.10 -146.6 367.9 -9.1 237 4901 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 1492 3501

4939 -1.10 -146.6 371.2 -7.3 239 4944 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2899 3501

5266 -1.10 -146.6 396.5 -8.2 255 5270 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1487 3501

5304 -1.10 -146.6 399.6 -8.2 257 5308 0.00 2.58 0.00 0.000 6 0.000 0.063 2165 2899 3502

5630 -1.10 -146.6 424.2 -7.3 273 5631 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3501

5939 -1.10 -146.6 443.3 -5.3 288 5944 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1484 3502

6007 -1.10 -146.6 446.7 -4.9 291 6011 0.00 2.60 0.00 0.000 6 0.000 0.062 2165 2900 3501

6327 -1.10 -146.6 463.4 -5.7 307 6331 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1482 3501

6365 -1.10 -146.6 465.9 -6.9 309 6370 0.00 2.58 0.00 0.000 6 0.000 0.062 2166 2900 3502

6691 -1.10 -146.6 488.8 -7.5 325 6695 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1483 3501

6739 -1.10 -146.6 492.3 -7.2 327 6744 0.00 2.62 0.00 0.000 6 0.000 0.064 2165 2898 3502

7061 -1.10 -146.6 514.7 -7.6 343 7065 0.00 2.58 0.00 0.000 4 0.000 0.061 2166 1482 3501

7171 -1.10 -146.6 523.5 -7.9 348 7175 0.00 2.60 0.00 0.000 6 0.000 0.063 2165 2908 3502

7498 -1.10 -146.6 540.6 -3.2 364 7502 0.00 2.58 0.00 0.000 4 0.000 0.060 2165 1489 3501

7541 -1.10 -146.6 542.2 -3.9 366 7545 0.00 2.58 0.00 0.000 6 0.000 0.063 2165 2902 3502

7867 -1.10 -146.6 559.5 -6.1 382 7872 0.00 2.58 0.00 0.000 4 0.000 0.059 2165 1483 3501

7933 -1.10 -146.6 564.1 -7.1 385 7938 0.00 2.60 0.00 0.000 6 0.000 0.064 2166 2892 3502

8260 -1.10 -146.6 589.6 -9.4 401 8265 0.00 2.55 0.00 0.000 4 0.000 0.058 2165 1483 3502

8309 -1.10 -146.6 594.8 -10.8 403 8314 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2899 3501

8630 -1.10 -146.6 620.6 -6.6 419 8632 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2899 3501

8940 -1.10 -146.6 635.5 -6.0 434 8944 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1482 3502

9017 -1.10 -146.6 640.9 -7.4 437 9023 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2899 3501

9332 -1.10 -146.6 665.2 -8.3 453 9336 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 1484 3501

9386 -1.10 -146.6 668.9 -6.3 455 9393 0.00 2.62 0.00 0.000 6 0.000 0.068 2166 2892 3502

9702 -1.10 -146.6 691.0 -7.9 471 9705 0.00 1.70 0.00 0.000 4 0.000 0.092 2165 3785 3501

9751 -1.10 -146.6 694.9 -8.6 473 9755 0.00 1.55 0.00 0.000 6 0.000 0.038 2165 2888 3502

9760 end dive: BOTTOM_OBSTACLE_DETECTED

state 9760 begin apogee

9766 -0.42 0.0 695.8 8.4 473 9895 0.73 0.00 125.12 1.246 6 0.089 0.000 2315 2112 2901

9896 end apogee: CONTROL_FINISHED_OK

state 9896 begin climb

9898 1.10 146.6 700.9 0.0 480 10029 1.55 2.72 122.03 1.219 4 0.050 0.064 2650 686 2303

10057 1.23 253.3 701.7 3.0 487 10154 0.12 2.55 89.45 1.192 6 0.042 0.044 2692 2102 1868

10475 1.23 253.3 671.3 9.6 508 10479 0.00 2.67 0.00 0.000 4 0.000 0.076 2692 3512 1866

10551 1.23 253.3 662.3 11.2 511 10558 0.00 2.60 0.00 0.000 6 0.000 0.051 2692 2095 1865

10867 1.23 253.3 632.8 8.3 527 10868 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2095 1864

11176 1.23 253.3 603.4 10.2 542 11177 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2094 1863

11485 1.23 253.3 571.8 8.5 557 11486 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2094 1862

11795 1.26 276.7 553.0 5.4 572 11816 0.00 0.00 19.50 1.167 6 0.000 0.000 2692 2094 1773

12124 1.26 276.7 528.2 9.4 588 12125 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2094 1773

12433 1.26 276.7 495.3 10.1 603 12434 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2094 1773

12742 1.26 276.7 465.2 9.2 618 12747 0.00 2.65 0.00 0.000 4 0.000 0.074 2692 3511 1773

12763 1.26 276.7 463.4 8.3 619 12767 0.00 2.53 0.00 0.000 6 0.000 0.044 2692 2101 1772

13089 1.26 276.7 438.7 7.5 635 13094 0.00 2.55 0.00 0.000 4 0.000 0.059 2692 691 1773

13128 1.26 276.7 435.5 7.6 637 13133 0.00 2.50 0.00 0.000 6 0.000 0.044 2692 2103 1773

13454 1.26 276.7 411.7 7.2 653 13458 0.00 2.62 0.00 0.000 4 0.000 0.074 2692 3512 1773

13480 1.26 276.7 409.5 8.3 654 13484 0.00 2.53 0.00 0.000 6 0.000 0.046 2692 2102 1773

13801 1.26 276.7 386.1 7.1 670 13802 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2102 1774

14110 1.26 276.7 362.7 7.8 685 14111 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2102 1775

14419 1.26 276.7 338.9 7.8 700 14421 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2102 1776

14729 1.26 276.7 315.5 7.6 715 14730 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2102 1776

15038 1.26 276.7 291.8 7.6 730 15042 0.00 2.65 0.00 0.000 4 0.000 0.075 2692 3512 1776

15081 1.26 276.7 288.3 8.2 732 15085 0.00 2.55 0.00 0.000 6 0.000 0.050 2692 2081 1777

15408 1.26 276.7 259.9 9.7 748 15409 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2081 1777

15717 1.26 276.7 231.7 8.9 763 15718 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2081 1777

16026 1.26 276.7 202.9 9.5 778 16027 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2081 1777

16335 1.26 276.7 172.4 10.1 793 16336 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2081 1777

16645 1.26 276.7 144.5 9.1 808 16649 0.00 2.70 0.00 0.000 4 0.000 0.074 2692 3514 1777

16676 1.26 276.7 141.4 8.9 809 16683 0.00 2.55 0.00 0.000 6 0.000 0.051 2692 2102 1777

16994 1.26 276.7 111.1 10.5 825 16998 0.00 2.58 0.00 0.000 4 0.000 0.065 2692 690 1777

17033 1.26 276.7 106.8 11.7 827 17037 0.00 2.50 0.00 0.000 6 0.000 0.049 2692 2099 1777

17359 1.26 276.7 76.9 8.8 843 17360 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2099 1777

17668 1.26 276.7 49.2 8.9 858 17672 0.00 2.62 0.00 0.000 4 0.000 0.071 2692 3515 1778

17707 1.26 276.7 45.8 9.2 860 17711 0.00 2.53 0.00 0.000 6 0.000 0.051 2692 2099 1778

18033 1.26 276.7 19.3 9.1 876 18034 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2099 1778

18216 end climb: SURFACE_DEPTH_REACHED

state 18216 begin surface coast

18238 end surface coast: CONTROL_FINISHED_OK

state 18238 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	142	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	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	-64978.934	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	124938,6220.009,-1035.186,29,1.4,29,-10.4	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.098,0.195
_SM_DEPTHo	-0.20	KALMAN_X	-178759.9,804.4,650.7,70705.6,-6907.2
_SM_ANGLEo	-60.0	KALMAN_Y	-19033.7,1929.4,699.2,101599.6,-4476.4
GPS2	125538,6220.040,-1035.241,13,1.4,30,-10.4	MHEAD_RNG_PITCHd_Wd	37.1,18983,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	732

FINISH	-0.5,1.027329	XPDR_PINGS	1
SM_CCo	18259,21.83,0.733,1,0,1678,300.00	ALTIM_BOTTOM_PING	625.5,79.5
SM_GC	-0.26,0.00,0.00,21.83,0.000,0.000,0.733,44,2899,1678,-10.88,-0.03,300.00	_24V_AH	23.4,27.255
IRIDIUM_FIX	6153.50,-1046.84,071207,111102	_10V_AH	10.1,12.589
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44268,886
HUMID	2089	CFSIZE	260165632,250474496
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,31,1,0
TCM_TEMP	17.10	GPS	071207,180237,6224.849,-1036.125,34,1.0,34,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	160	98.09	SBE_CT	632	24	355.35
Roll_motor	151	94	334.12	SBE_O2	618	19	274.78
VBD_pump_during_apogee	356	1245	10379.33	WL_BB2F	548	105	1347.66
VBD_pump_during_surface	21	733	374.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.54	nil	0	0	0.00
Iridium_during_connect	35	160	134.31	nil	0	0	0.00
Iridium_during_xfer	166	223	871.06
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.55
TT8	1596	19	319.23
LPSleep	14234	2	314.86
TT8_Active	505	19	101.12
TT8_Sampling	1884	39	757.72
TT8_CF8	434	45	200.99
TT8_Kalman	33	81	27.57
Analog_circuits	1447	12	175.40
GPS_charging	0	0	0.00
Compass	1836	8	148.42
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
21	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-61.08	0.000	2	0.000	0.000	30	2902	3345
86	-1.10	-146.6	3.2	-8.3	3	109	12.10	2.58	-2.88	0.000	4	0.160	0.073	2165	1493	3500
141	-1.10	-146.6	14.6	-7.9	5	146	0.00	2.65	0.00	0.000	6	0.000	0.072	2165	2906	3500
463	-1.10	-146.6	36.8	-7.1	21	464	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2907	3501
772	-1.10	-146.6	58.6	-7.4	36	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2906	3501
1081	-1.10	-146.6	80.9	-6.6	51	1086	0.00	2.62	0.00	0.000	4	0.000	0.066	2165	1483	3501
1143	-1.10	-146.6	85.2	-6.9	54	1148	0.00	2.65	0.00	0.000	6	0.000	0.070	2165	2904	3501
1471	-1.10	-146.6	107.9	-6.9	70	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3501
1779	-1.10	-146.6	128.2	-6.5	85	1783	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1494	3501
1827	-1.10	-146.6	131.6	-7.0	87	1832	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2901	3501
2148	-1.10	-146.6	153.0	-6.8	103	2153	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1491	3501
2175	-1.10	-146.6	155.0	-7.4	104	2180	0.00	2.62	0.00	0.000	6	0.000	0.066	2166	2898	3501
2496	-1.10	-146.6	178.2	-7.7	120	2500	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1493	3502
2534	-1.10	-146.6	181.2	-7.3	122	2538	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2899	3501
2859	-1.10	-146.6	206.6	-7.9	138	2860	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3501
3169	-1.10	-146.6	231.2	-7.8	153	3173	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1484	3501
3217	-1.10	-146.6	235.2	-8.3	155	3221	0.00	2.62	0.00	0.000	6	0.000	0.065	2166	2892	3502
3538	-1.10	-146.6	259.5	-7.7	171	3540	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2892	3501
3848	-1.10	-146.6	282.6	-7.4	186	3852	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1492	3502
3896	-1.10	-146.6	286.6	-8.1	188	3901	0.00	2.60	0.00	0.000	6	0.000	0.064	2166	2892	3502
4217	-1.10	-146.6	311.0	-8.4	204	4222	0.00	2.58	0.00	0.000	4	0.000	0.063	2165	1487	3501
4261	-1.10	-146.6	314.9	-8.3	206	4265	0.00	2.60	0.00	0.000	6	0.000	0.064	2165	2903	3501
4587	-1.10	-146.6	342.4	-7.9	222	4588	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2903	3502
4897	-1.10	-146.6	367.9	-9.1	237	4901	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	1492	3501
4939	-1.10	-146.6	371.2	-7.3	239	4944	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2899	3501
5266	-1.10	-146.6	396.5	-8.2	255	5270	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1487	3501
5304	-1.10	-146.6	399.6	-8.2	257	5308	0.00	2.58	0.00	0.000	6	0.000	0.063	2165	2899	3502
5630	-1.10	-146.6	424.2	-7.3	273	5631	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3501
5939	-1.10	-146.6	443.3	-5.3	288	5944	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1484	3502
6007	-1.10	-146.6	446.7	-4.9	291	6011	0.00	2.60	0.00	0.000	6	0.000	0.062	2165	2900	3501
6327	-1.10	-146.6	463.4	-5.7	307	6331	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1482	3501
6365	-1.10	-146.6	465.9	-6.9	309	6370	0.00	2.58	0.00	0.000	6	0.000	0.062	2166	2900	3502
6691	-1.10	-146.6	488.8	-7.5	325	6695	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1483	3501
6739	-1.10	-146.6	492.3	-7.2	327	6744	0.00	2.62	0.00	0.000	6	0.000	0.064	2165	2898	3502
7061	-1.10	-146.6	514.7	-7.6	343	7065	0.00	2.58	0.00	0.000	4	0.000	0.061	2166	1482	3501
7171	-1.10	-146.6	523.5	-7.9	348	7175	0.00	2.60	0.00	0.000	6	0.000	0.063	2165	2908	3502
7498	-1.10	-146.6	540.6	-3.2	364	7502	0.00	2.58	0.00	0.000	4	0.000	0.060	2165	1489	3501
7541	-1.10	-146.6	542.2	-3.9	366	7545	0.00	2.58	0.00	0.000	6	0.000	0.063	2165	2902	3502
7867	-1.10	-146.6	559.5	-6.1	382	7872	0.00	2.58	0.00	0.000	4	0.000	0.059	2165	1483	3501
7933	-1.10	-146.6	564.1	-7.1	385	7938	0.00	2.60	0.00	0.000	6	0.000	0.064	2166	2892	3502
8260	-1.10	-146.6	589.6	-9.4	401	8265	0.00	2.55	0.00	0.000	4	0.000	0.058	2165	1483	3502
8309	-1.10	-146.6	594.8	-10.8	403	8314	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2899	3501
8630	-1.10	-146.6	620.6	-6.6	419	8632	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2899	3501
8940	-1.10	-146.6	635.5	-6.0	434	8944	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1482	3502
9017	-1.10	-146.6	640.9	-7.4	437	9023	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2899	3501
9332	-1.10	-146.6	665.2	-8.3	453	9336	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	1484	3501
9386	-1.10	-146.6	668.9	-6.3	455	9393	0.00	2.62	0.00	0.000	6	0.000	0.068	2166	2892	3502
9702	-1.10	-146.6	691.0	-7.9	471	9705	0.00	1.70	0.00	0.000	4	0.000	0.092	2165	3785	3501
9751	-1.10	-146.6	694.9	-8.6	473	9755	0.00	1.55	0.00	0.000	6	0.000	0.038	2165	2888	3502
9760	end dive: BOTTOM_OBSTACLE_DETECTED
state	9760	begin apogee
9766	-0.42	0.0	695.8	8.4	473	9895	0.73	0.00	125.12	1.246	6	0.089	0.000	2315	2112	2901
9896	end apogee: CONTROL_FINISHED_OK
state	9896	begin climb
9898	1.10	146.6	700.9	0.0	480	10029	1.55	2.72	122.03	1.219	4	0.050	0.064	2650	686	2303
10057	1.23	253.3	701.7	3.0	487	10154	0.12	2.55	89.45	1.192	6	0.042	0.044	2692	2102	1868
10475	1.23	253.3	671.3	9.6	508	10479	0.00	2.67	0.00	0.000	4	0.000	0.076	2692	3512	1866
10551	1.23	253.3	662.3	11.2	511	10558	0.00	2.60	0.00	0.000	6	0.000	0.051	2692	2095	1865
10867	1.23	253.3	632.8	8.3	527	10868	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2095	1864
11176	1.23	253.3	603.4	10.2	542	11177	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2094	1863
11485	1.23	253.3	571.8	8.5	557	11486	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2094	1862
11795	1.26	276.7	553.0	5.4	572	11816	0.00	0.00	19.50	1.167	6	0.000	0.000	2692	2094	1773
12124	1.26	276.7	528.2	9.4	588	12125	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2094	1773
12433	1.26	276.7	495.3	10.1	603	12434	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2094	1773
12742	1.26	276.7	465.2	9.2	618	12747	0.00	2.65	0.00	0.000	4	0.000	0.074	2692	3511	1773
12763	1.26	276.7	463.4	8.3	619	12767	0.00	2.53	0.00	0.000	6	0.000	0.044	2692	2101	1772
13089	1.26	276.7	438.7	7.5	635	13094	0.00	2.55	0.00	0.000	4	0.000	0.059	2692	691	1773
13128	1.26	276.7	435.5	7.6	637	13133	0.00	2.50	0.00	0.000	6	0.000	0.044	2692	2103	1773
13454	1.26	276.7	411.7	7.2	653	13458	0.00	2.62	0.00	0.000	4	0.000	0.074	2692	3512	1773
13480	1.26	276.7	409.5	8.3	654	13484	0.00	2.53	0.00	0.000	6	0.000	0.046	2692	2102	1773
13801	1.26	276.7	386.1	7.1	670	13802	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2102	1774
14110	1.26	276.7	362.7	7.8	685	14111	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2102	1775
14419	1.26	276.7	338.9	7.8	700	14421	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2102	1776
14729	1.26	276.7	315.5	7.6	715	14730	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2102	1776
15038	1.26	276.7	291.8	7.6	730	15042	0.00	2.65	0.00	0.000	4	0.000	0.075	2692	3512	1776
15081	1.26	276.7	288.3	8.2	732	15085	0.00	2.55	0.00	0.000	6	0.000	0.050	2692	2081	1777
15408	1.26	276.7	259.9	9.7	748	15409	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2081	1777
15717	1.26	276.7	231.7	8.9	763	15718	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2081	1777
16026	1.26	276.7	202.9	9.5	778	16027	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2081	1777
16335	1.26	276.7	172.4	10.1	793	16336	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2081	1777
16645	1.26	276.7	144.5	9.1	808	16649	0.00	2.70	0.00	0.000	4	0.000	0.074	2692	3514	1777
16676	1.26	276.7	141.4	8.9	809	16683	0.00	2.55	0.00	0.000	6	0.000	0.051	2692	2102	1777
16994	1.26	276.7	111.1	10.5	825	16998	0.00	2.58	0.00	0.000	4	0.000	0.065	2692	690	1777
17033	1.26	276.7	106.8	11.7	827	17037	0.00	2.50	0.00	0.000	6	0.000	0.049	2692	2099	1777
17359	1.26	276.7	76.9	8.8	843	17360	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2099	1777
17668	1.26	276.7	49.2	8.9	858	17672	0.00	2.62	0.00	0.000	4	0.000	0.071	2692	3515	1778
17707	1.26	276.7	45.8	9.2	860	17711	0.00	2.53	0.00	0.000	6	0.000	0.051	2692	2099	1778
18033	1.26	276.7	19.3	9.1	876	18034	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2099	1778
18216	end climb: SURFACE_DEPTH_REACHED
state	18216	begin surface coast
18238	end surface coast: CONTROL_FINISHED_OK
state	18238	begin surface