Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 143 * 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 143 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 13 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 -64995.348 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 -64995.348

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 13 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 143 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 180237,6224.849,-1036.125,34,1.0,34,-10.4 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.215,0.039

_SM_DEPTHo -0.17 KALMAN_X -181388.4,974.4,137.2,72894.7,-6226.5

_SM_ANGLEo -62.5 KALMAN_Y -14415.3,1803.8,1067.4,105868.4,-3304.4

GPS2 181245,6224.965,-1036.151,15,1.0,15,-10.4 MHEAD_RNG_PITCHd_Wd 90.0,10706,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 673

Post-dive calculations and measurements:

FINISH -0.3,1.027338 XPDR_PINGS 2

SM_CCo 18548,56.30,0.764,1,0,1677,300.00 ALTIM_BOTTOM_PING 600.9,62.3

SM_GC -0.28,0.00,0.00,56.30,0.000,0.000,0.764,42,2895,1677,-10.89,-0.17,300.00 _24V_AH 23.4,27.401

IRIDIUM_FIX 6202.67,-1044.88,071207,222237 _10V_AH 10.1,12.676

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44312,898

HUMID 2065 CFSIZE 260165632,250404864

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,36,1,0

TCM_TEMP 17.40 GPS 071207,232526,6227.049,-1032.512,33,1.0,52,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.32 SBE_CT 652 24 366.34

Roll_motor 180 83 352.38 SBE_O2 625 19 278.04

VBD_pump_during_apogee 318 1224 9134.07 WL_BB2F 566 105 1390.67

VBD_pump_during_surface 56 763 1006.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 70 103 170.59 nil 0 0 0.00

Iridium_during_connect 91 160 342.77 nil 0 0 0.00

Iridium_during_xfer 277 223 1449.71

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.97

TT8 1642 19 328.50

LPSleep 14454 2 319.72

TT8_Active 545 19 109.09

TT8_Sampling 1936 39 778.61

TT8_CF8 653 45 302.15

TT8_Kalman 33 81 27.58

Analog_circuits 1529 12 185.43

GPS_charging 0 0 0.00

Compass 1906 8 154.02

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 84 0.00 0.00 -61.97 0.000 2 0.000 0.000 44 2901 3360

86 -1.10 -146.6 3.3 -8.2 3 109 11.98 2.60 -2.60 0.000 4 0.159 0.080 2165 1492 3501

225 -1.10 -146.6 20.4 -6.6 9 230 0.00 2.65 0.00 0.000 6 0.000 0.074 2165 2899 3501

553 -1.10 -146.6 45.4 -8.0 25 557 0.00 2.62 0.00 0.000 4 0.000 0.067 2165 1487 3501

578 -1.10 -146.6 47.5 -6.6 26 583 0.00 2.67 0.00 0.000 6 0.000 0.068 2165 2905 3501

901 -1.10 -146.6 70.6 -7.7 42 902 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3501

1209 -1.10 -146.6 92.2 -6.4 57 1214 0.00 2.62 0.00 0.000 4 0.000 0.067 2165 1490 3502

1258 -1.10 -146.6 96.2 -7.1 59 1263 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2906 3501

1580 -1.10 -146.6 120.5 -7.2 75 1584 0.00 2.62 0.00 0.000 4 0.000 0.067 2165 1486 3501

1623 -1.10 -146.6 123.6 -7.0 77 1627 0.00 2.62 0.00 0.000 6 0.000 0.066 2165 2907 3501

1950 -1.10 -146.6 146.1 -7.4 93 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2906 3501

2259 -1.10 -146.6 167.1 -6.4 108 2263 0.00 2.62 0.00 0.000 4 0.000 0.066 2165 1484 3501

2312 -1.10 -146.6 170.6 -6.7 110 2320 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2889 3502

2628 -1.10 -146.6 189.9 -6.0 126 2633 0.00 2.55 0.00 0.000 4 0.000 0.066 2165 1491 3501

2660 -1.10 -146.6 192.0 -6.1 127 2667 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2898 3501

2976 -1.10 -146.6 212.2 -6.3 143 2980 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1483 3501

3009 -1.10 -146.6 214.4 -6.7 144 3015 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2899 3501

3323 -1.10 -146.6 234.6 -6.5 160 3328 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1486 3501

3362 -1.10 -146.6 237.1 -7.0 162 3367 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2899 3502

3687 -1.10 -146.6 258.3 -6.5 178 3692 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1488 3501

3714 -1.10 -146.6 260.2 -7.1 179 3718 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2900 3501

4035 -1.10 -146.6 281.5 -6.8 195 4039 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1486 3501

4078 -1.10 -146.6 284.4 -6.8 197 4082 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2900 3502

4404 -1.10 -146.6 305.7 -6.6 213 4409 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1489 3501

4436 -1.10 -146.6 308.0 -6.8 214 4443 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2894 3501

4752 -1.10 -146.6 327.5 -6.0 230 4756 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1485 3501

4784 -1.10 -146.6 329.3 -5.6 231 4790 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2900 3502

5099 -1.10 -146.6 347.0 -6.0 247 5103 0.00 2.58 0.00 0.000 4 0.000 0.066 2165 1488 3501

5143 -1.10 -146.6 349.8 -6.7 249 5148 0.00 2.62 0.00 0.000 6 0.000 0.065 2165 2908 3501

5469 -1.10 -146.6 369.1 -5.8 265 5473 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1490 3501

5495 -1.10 -146.6 370.9 -6.1 266 5499 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2898 3501

5816 -1.10 -146.6 393.2 -7.1 282 5821 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1490 3501

5882 -1.10 -146.6 398.1 -7.2 285 5886 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2903 3502

6209 -1.10 -146.6 423.1 -8.0 301 6210 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2903 3501

6519 -1.10 -146.6 446.0 -7.0 316 6523 0.00 2.60 0.00 0.000 4 0.000 0.062 2165 1481 3501

6595 -1.10 -146.6 451.9 -8.4 319 6602 0.00 2.65 0.00 0.000 6 0.000 0.067 2165 2916 3501

6913 -1.10 -146.6 476.1 -8.4 335 6914 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2916 3501

7220 -1.10 -146.6 502.9 -8.7 350 7224 0.00 2.60 0.00 0.000 4 0.000 0.063 2165 1486 3501

7313 -1.10 -146.6 511.5 -9.1 354 7318 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2898 3501

7634 -1.10 -146.6 539.1 -8.1 370 7636 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3501

7944 -1.10 -146.6 558.8 -6.0 385 7949 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1483 3501

8016 -1.10 -146.6 563.4 -6.4 388 8020 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2908 3501

8337 -1.10 -146.6 581.4 -5.4 404 8338 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2908 3502

8647 -1.10 -146.6 598.6 -5.5 419 8648 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2908 3501

8956 -1.10 -146.6 617.1 -5.9 434 8957 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2908 3501

9265 -1.10 -146.6 636.7 -6.2 449 9269 0.00 2.60 0.00 0.000 4 0.000 0.069 2165 1490 3501

9296 -1.10 -146.6 638.8 -6.5 450 9304 0.00 2.65 0.00 0.000 6 0.000 0.070 2165 2899 3501

9548 end dive: BOTTOM_OBSTACLE_DETECTED

state 9548 begin apogee

9554 -0.42 0.0 653.8 5.9 463 9682 0.77 0.00 124.62 1.225 6 0.094 0.000 2319 2101 2901

9683 end apogee: CONTROL_FINISHED_OK

state 9683 begin climb

9685 1.10 146.6 657.3 0.0 469 9816 1.52 2.70 121.12 1.193 4 0.055 0.067 2647 689 2303

9963 1.14 178.1 647.8 5.1 482 9997 0.00 2.55 27.08 1.170 6 0.000 0.044 2647 2112 2175

10313 1.14 178.1 626.7 6.4 499 10317 0.00 2.65 0.00 0.000 4 0.000 0.078 2647 3505 2174

10373 1.14 178.1 622.8 6.4 502 10378 0.00 2.55 0.00 0.000 6 0.000 0.048 2648 2086 2174

10700 1.20 225.6 606.6 4.7 518 10746 0.10 2.78 39.95 1.208 4 0.054 0.074 2680 3511 1981

10807 1.21 230.5 600.2 5.9 523 10818 0.00 2.58 5.90 0.946 6 0.000 0.048 2680 2091 1961

11127 1.21 230.5 581.2 6.3 538 11132 0.00 2.70 0.00 0.000 4 0.000 0.074 2680 3512 1959

11159 1.21 230.5 578.9 6.9 539 11165 0.00 2.58 0.00 0.000 6 0.000 0.049 2680 2099 1959

11474 1.21 230.5 555.8 6.7 555 11478 0.00 2.67 0.00 0.000 4 0.000 0.076 2680 3507 1958

11505 1.21 230.5 553.2 7.6 556 11512 0.00 2.55 0.00 0.000 6 0.000 0.049 2680 2105 1958

11821 1.21 230.5 529.9 7.9 572 11822 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2105 1957

12130 1.21 230.5 504.7 7.9 587 12135 0.00 2.65 0.00 0.000 4 0.000 0.073 2680 3515 1957

12179 1.21 230.5 500.5 9.2 589 12184 0.00 2.55 0.00 0.000 6 0.000 0.047 2680 2101 1957

12501 1.21 230.5 475.5 8.4 605 12502 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2101 1957

12810 1.21 230.5 450.6 7.8 620 12814 0.00 2.55 0.00 0.000 4 0.000 0.061 2680 690 1957

12841 1.21 230.5 448.1 7.9 621 12848 0.00 2.50 0.00 0.000 6 0.000 0.042 2680 2093 1957

13157 1.21 230.5 424.2 7.4 637 13161 0.00 2.65 0.00 0.000 4 0.000 0.073 2680 3513 1958

13222 1.21 230.5 418.8 8.0 640 13226 0.00 2.53 0.00 0.000 6 0.000 0.046 2680 2102 1958

13549 1.21 230.5 392.8 8.1 656 13550 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2102 1958

13859 1.21 230.5 366.7 8.6 671 13863 0.00 2.65 0.00 0.000 4 0.000 0.071 2680 3516 1959

13884 1.21 230.5 364.3 8.5 672 13889 0.00 2.53 0.00 0.000 6 0.000 0.044 2680 2103 1959

14206 1.21 230.5 336.4 8.8 688 14207 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2103 1959

14515 1.21 230.5 309.8 8.2 703 14519 0.00 2.55 0.00 0.000 4 0.000 0.062 2680 687 1960

14564 1.21 230.5 306.1 7.3 705 14568 0.00 2.47 0.00 0.000 6 0.000 0.042 2680 2101 1960

14891 1.21 230.5 279.8 8.0 721 14895 0.00 2.62 0.00 0.000 4 0.000 0.073 2680 3512 1960

14939 1.21 230.5 275.5 8.6 723 14943 0.00 2.50 0.00 0.000 6 0.000 0.046 2680 2101 1961

15260 1.21 230.5 250.5 7.8 739 15261 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2101 1961

15569 1.21 230.5 227.1 7.5 754 15574 0.00 2.65 0.00 0.000 4 0.000 0.071 2680 3519 1961

15602 1.21 230.5 224.5 7.6 755 15609 0.00 2.55 0.00 0.000 6 0.000 0.048 2680 2102 1961

15917 1.21 230.5 199.8 7.9 771 15918 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2103 1962

16229 1.21 230.5 175.2 7.7 786 16233 0.00 2.65 0.00 0.000 4 0.000 0.071 2680 3516 1962

16267 1.21 230.5 172.0 8.0 788 16272 0.00 2.53 0.00 0.000 6 0.000 0.048 2680 2093 1962

16593 1.21 230.5 147.1 7.8 804 16595 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2093 1962

16903 1.21 230.5 123.6 7.7 819 16907 0.00 2.65 0.00 0.000 4 0.000 0.071 2680 3512 1963

16934 1.21 230.5 120.9 7.7 820 16941 0.00 2.53 0.00 0.000 6 0.000 0.048 2680 2103 1963

17252 1.21 230.5 95.9 7.9 836 17253 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2103 1963

17560 1.21 230.5 72.9 7.3 851 17561 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2104 1963

17869 1.21 230.5 50.5 7.8 866 17870 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2103 1963

18178 1.21 230.5 26.9 7.6 881 18182 0.00 2.65 0.00 0.000 4 0.000 0.072 2680 3516 1963

18209 1.21 230.5 24.1 8.2 882 18217 0.00 2.58 0.00 0.000 6 0.000 0.056 2680 2103 1963

18503 end climb: SURFACE_DEPTH_REACHED

state 18503 begin surface coast

18526 end surface coast: CONTROL_FINISHED_OK

state 18527 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	143	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	13	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	-64995.348	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	180237,6224.849,-1036.125,34,1.0,34,-10.4	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.215,0.039
_SM_DEPTHo	-0.17	KALMAN_X	-181388.4,974.4,137.2,72894.7,-6226.5
_SM_ANGLEo	-62.5	KALMAN_Y	-14415.3,1803.8,1067.4,105868.4,-3304.4
GPS2	181245,6224.965,-1036.151,15,1.0,15,-10.4	MHEAD_RNG_PITCHd_Wd	90.0,10706,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	673

FINISH	-0.3,1.027338	XPDR_PINGS	2
SM_CCo	18548,56.30,0.764,1,0,1677,300.00	ALTIM_BOTTOM_PING	600.9,62.3
SM_GC	-0.28,0.00,0.00,56.30,0.000,0.000,0.764,42,2895,1677,-10.89,-0.17,300.00	_24V_AH	23.4,27.401
IRIDIUM_FIX	6202.67,-1044.88,071207,222237	_10V_AH	10.1,12.676
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44312,898
HUMID	2065	CFSIZE	260165632,250404864
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,36,1,0
TCM_TEMP	17.40	GPS	071207,232526,6227.049,-1032.512,33,1.0,52,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.32	SBE_CT	652	24	366.34
Roll_motor	180	83	352.38	SBE_O2	625	19	278.04
VBD_pump_during_apogee	318	1224	9134.07	WL_BB2F	566	105	1390.67
VBD_pump_during_surface	56	763	1006.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	70	103	170.59	nil	0	0	0.00
Iridium_during_connect	91	160	342.77	nil	0	0	0.00
Iridium_during_xfer	277	223	1449.71
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.97
TT8	1642	19	328.50
LPSleep	14454	2	319.72
TT8_Active	545	19	109.09
TT8_Sampling	1936	39	778.61
TT8_CF8	653	45	302.15
TT8_Kalman	33	81	27.58
Analog_circuits	1529	12	185.43
GPS_charging	0	0	0.00
Compass	1906	8	154.02
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	84	0.00	0.00	-61.97	0.000	2	0.000	0.000	44	2901	3360
86	-1.10	-146.6	3.3	-8.2	3	109	11.98	2.60	-2.60	0.000	4	0.159	0.080	2165	1492	3501
225	-1.10	-146.6	20.4	-6.6	9	230	0.00	2.65	0.00	0.000	6	0.000	0.074	2165	2899	3501
553	-1.10	-146.6	45.4	-8.0	25	557	0.00	2.62	0.00	0.000	4	0.000	0.067	2165	1487	3501
578	-1.10	-146.6	47.5	-6.6	26	583	0.00	2.67	0.00	0.000	6	0.000	0.068	2165	2905	3501
901	-1.10	-146.6	70.6	-7.7	42	902	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3501
1209	-1.10	-146.6	92.2	-6.4	57	1214	0.00	2.62	0.00	0.000	4	0.000	0.067	2165	1490	3502
1258	-1.10	-146.6	96.2	-7.1	59	1263	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2906	3501
1580	-1.10	-146.6	120.5	-7.2	75	1584	0.00	2.62	0.00	0.000	4	0.000	0.067	2165	1486	3501
1623	-1.10	-146.6	123.6	-7.0	77	1627	0.00	2.62	0.00	0.000	6	0.000	0.066	2165	2907	3501
1950	-1.10	-146.6	146.1	-7.4	93	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2906	3501
2259	-1.10	-146.6	167.1	-6.4	108	2263	0.00	2.62	0.00	0.000	4	0.000	0.066	2165	1484	3501
2312	-1.10	-146.6	170.6	-6.7	110	2320	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2889	3502
2628	-1.10	-146.6	189.9	-6.0	126	2633	0.00	2.55	0.00	0.000	4	0.000	0.066	2165	1491	3501
2660	-1.10	-146.6	192.0	-6.1	127	2667	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2898	3501
2976	-1.10	-146.6	212.2	-6.3	143	2980	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1483	3501
3009	-1.10	-146.6	214.4	-6.7	144	3015	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2899	3501
3323	-1.10	-146.6	234.6	-6.5	160	3328	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1486	3501
3362	-1.10	-146.6	237.1	-7.0	162	3367	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2899	3502
3687	-1.10	-146.6	258.3	-6.5	178	3692	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1488	3501
3714	-1.10	-146.6	260.2	-7.1	179	3718	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2900	3501
4035	-1.10	-146.6	281.5	-6.8	195	4039	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1486	3501
4078	-1.10	-146.6	284.4	-6.8	197	4082	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2900	3502
4404	-1.10	-146.6	305.7	-6.6	213	4409	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1489	3501
4436	-1.10	-146.6	308.0	-6.8	214	4443	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2894	3501
4752	-1.10	-146.6	327.5	-6.0	230	4756	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1485	3501
4784	-1.10	-146.6	329.3	-5.6	231	4790	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2900	3502
5099	-1.10	-146.6	347.0	-6.0	247	5103	0.00	2.58	0.00	0.000	4	0.000	0.066	2165	1488	3501
5143	-1.10	-146.6	349.8	-6.7	249	5148	0.00	2.62	0.00	0.000	6	0.000	0.065	2165	2908	3501
5469	-1.10	-146.6	369.1	-5.8	265	5473	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1490	3501
5495	-1.10	-146.6	370.9	-6.1	266	5499	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2898	3501
5816	-1.10	-146.6	393.2	-7.1	282	5821	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1490	3501
5882	-1.10	-146.6	398.1	-7.2	285	5886	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2903	3502
6209	-1.10	-146.6	423.1	-8.0	301	6210	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2903	3501
6519	-1.10	-146.6	446.0	-7.0	316	6523	0.00	2.60	0.00	0.000	4	0.000	0.062	2165	1481	3501
6595	-1.10	-146.6	451.9	-8.4	319	6602	0.00	2.65	0.00	0.000	6	0.000	0.067	2165	2916	3501
6913	-1.10	-146.6	476.1	-8.4	335	6914	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2916	3501
7220	-1.10	-146.6	502.9	-8.7	350	7224	0.00	2.60	0.00	0.000	4	0.000	0.063	2165	1486	3501
7313	-1.10	-146.6	511.5	-9.1	354	7318	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2898	3501
7634	-1.10	-146.6	539.1	-8.1	370	7636	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3501
7944	-1.10	-146.6	558.8	-6.0	385	7949	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1483	3501
8016	-1.10	-146.6	563.4	-6.4	388	8020	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2908	3501
8337	-1.10	-146.6	581.4	-5.4	404	8338	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2908	3502
8647	-1.10	-146.6	598.6	-5.5	419	8648	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2908	3501
8956	-1.10	-146.6	617.1	-5.9	434	8957	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2908	3501
9265	-1.10	-146.6	636.7	-6.2	449	9269	0.00	2.60	0.00	0.000	4	0.000	0.069	2165	1490	3501
9296	-1.10	-146.6	638.8	-6.5	450	9304	0.00	2.65	0.00	0.000	6	0.000	0.070	2165	2899	3501
9548	end dive: BOTTOM_OBSTACLE_DETECTED
state	9548	begin apogee
9554	-0.42	0.0	653.8	5.9	463	9682	0.77	0.00	124.62	1.225	6	0.094	0.000	2319	2101	2901
9683	end apogee: CONTROL_FINISHED_OK
state	9683	begin climb
9685	1.10	146.6	657.3	0.0	469	9816	1.52	2.70	121.12	1.193	4	0.055	0.067	2647	689	2303
9963	1.14	178.1	647.8	5.1	482	9997	0.00	2.55	27.08	1.170	6	0.000	0.044	2647	2112	2175
10313	1.14	178.1	626.7	6.4	499	10317	0.00	2.65	0.00	0.000	4	0.000	0.078	2647	3505	2174
10373	1.14	178.1	622.8	6.4	502	10378	0.00	2.55	0.00	0.000	6	0.000	0.048	2648	2086	2174
10700	1.20	225.6	606.6	4.7	518	10746	0.10	2.78	39.95	1.208	4	0.054	0.074	2680	3511	1981
10807	1.21	230.5	600.2	5.9	523	10818	0.00	2.58	5.90	0.946	6	0.000	0.048	2680	2091	1961
11127	1.21	230.5	581.2	6.3	538	11132	0.00	2.70	0.00	0.000	4	0.000	0.074	2680	3512	1959
11159	1.21	230.5	578.9	6.9	539	11165	0.00	2.58	0.00	0.000	6	0.000	0.049	2680	2099	1959
11474	1.21	230.5	555.8	6.7	555	11478	0.00	2.67	0.00	0.000	4	0.000	0.076	2680	3507	1958
11505	1.21	230.5	553.2	7.6	556	11512	0.00	2.55	0.00	0.000	6	0.000	0.049	2680	2105	1958
11821	1.21	230.5	529.9	7.9	572	11822	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2105	1957
12130	1.21	230.5	504.7	7.9	587	12135	0.00	2.65	0.00	0.000	4	0.000	0.073	2680	3515	1957
12179	1.21	230.5	500.5	9.2	589	12184	0.00	2.55	0.00	0.000	6	0.000	0.047	2680	2101	1957
12501	1.21	230.5	475.5	8.4	605	12502	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2101	1957
12810	1.21	230.5	450.6	7.8	620	12814	0.00	2.55	0.00	0.000	4	0.000	0.061	2680	690	1957
12841	1.21	230.5	448.1	7.9	621	12848	0.00	2.50	0.00	0.000	6	0.000	0.042	2680	2093	1957
13157	1.21	230.5	424.2	7.4	637	13161	0.00	2.65	0.00	0.000	4	0.000	0.073	2680	3513	1958
13222	1.21	230.5	418.8	8.0	640	13226	0.00	2.53	0.00	0.000	6	0.000	0.046	2680	2102	1958
13549	1.21	230.5	392.8	8.1	656	13550	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2102	1958
13859	1.21	230.5	366.7	8.6	671	13863	0.00	2.65	0.00	0.000	4	0.000	0.071	2680	3516	1959
13884	1.21	230.5	364.3	8.5	672	13889	0.00	2.53	0.00	0.000	6	0.000	0.044	2680	2103	1959
14206	1.21	230.5	336.4	8.8	688	14207	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2103	1959
14515	1.21	230.5	309.8	8.2	703	14519	0.00	2.55	0.00	0.000	4	0.000	0.062	2680	687	1960
14564	1.21	230.5	306.1	7.3	705	14568	0.00	2.47	0.00	0.000	6	0.000	0.042	2680	2101	1960
14891	1.21	230.5	279.8	8.0	721	14895	0.00	2.62	0.00	0.000	4	0.000	0.073	2680	3512	1960
14939	1.21	230.5	275.5	8.6	723	14943	0.00	2.50	0.00	0.000	6	0.000	0.046	2680	2101	1961
15260	1.21	230.5	250.5	7.8	739	15261	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2101	1961
15569	1.21	230.5	227.1	7.5	754	15574	0.00	2.65	0.00	0.000	4	0.000	0.071	2680	3519	1961
15602	1.21	230.5	224.5	7.6	755	15609	0.00	2.55	0.00	0.000	6	0.000	0.048	2680	2102	1961
15917	1.21	230.5	199.8	7.9	771	15918	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2103	1962
16229	1.21	230.5	175.2	7.7	786	16233	0.00	2.65	0.00	0.000	4	0.000	0.071	2680	3516	1962
16267	1.21	230.5	172.0	8.0	788	16272	0.00	2.53	0.00	0.000	6	0.000	0.048	2680	2093	1962
16593	1.21	230.5	147.1	7.8	804	16595	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2093	1962
16903	1.21	230.5	123.6	7.7	819	16907	0.00	2.65	0.00	0.000	4	0.000	0.071	2680	3512	1963
16934	1.21	230.5	120.9	7.7	820	16941	0.00	2.53	0.00	0.000	6	0.000	0.048	2680	2103	1963
17252	1.21	230.5	95.9	7.9	836	17253	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2103	1963
17560	1.21	230.5	72.9	7.3	851	17561	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2104	1963
17869	1.21	230.5	50.5	7.8	866	17870	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2103	1963
18178	1.21	230.5	26.9	7.6	881	18182	0.00	2.65	0.00	0.000	4	0.000	0.072	2680	3516	1963
18209	1.21	230.5	24.1	8.2	882	18217	0.00	2.58	0.00	0.000	6	0.000	0.056	2680	2103	1963
18503	end climb: SURFACE_DEPTH_REACHED
state	18503	begin surface coast
18526	end surface coast: CONTROL_FINISHED_OK
state	18527	begin surface