Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 151 * 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 151 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -2 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 -65134.402 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 -65134.402

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 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 6 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 151 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 111637,6236.542,-1130.900,38,1.2,43,-11.0 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.027,0.217

_SM_DEPTHo -0.22 KALMAN_X -215761.7,139.3,1013.7,58880.9,-10416.6

_SM_ANGLEo -53.6 KALMAN_Y -6105.1,-1417.0,59.7,123291.0,171.8

GPS2 112215,6236.520,-1131.006,12,1.2,12,-11.0 MHEAD_RNG_PITCHd_Wd 3.9,19684,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 689

Post-dive calculations and measurements:

FINISH -0.4,1.027319 XPDR_PINGS 1

SM_CCo 19908,59.92,0.733,1,0,1678,300.00 ALTIM_BOTTOM_PING 650.9,48.4

SM_GC -0.19,0.00,0.00,59.92,0.000,0.000,0.733,46,2889,1678,-10.87,-0.31,300.00 _24V_AH 23.4,28.488

IRIDIUM_FIX 6211.90,-1116.76,091207,090955 _10V_AH 10.1,13.345

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47422,962

HUMID 2045 CFSIZE 260165632,249896960

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,33,1,0

TCM_TEMP 17.20 GPS 091207,165731,6237.072,-1138.496,41,1.3,41,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.22 SBE_CT 696 24 391.23

Roll_motor 169 89 356.25 SBE_O2 670 19 298.05

VBD_pump_during_apogee 322 1239 9339.90 WL_BB2F 583 105 1432.62

VBD_pump_during_surface 59 733 1028.20 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.77 nil 0 0 0.00

Iridium_during_connect 33 160 124.87 nil 0 0 0.00

Iridium_during_xfer 165 223 862.34

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.48

TT8 1763 19 352.73

LPSleep 15490 2 342.64

TT8_Active 536 19 107.28

TT8_Sampling 2092 39 841.07

TT8_CF8 442 45 204.78

TT8_Kalman 33 81 27.56

Analog_circuits 1582 12 191.84

GPS_charging 0 0 0.00

Compass 2057 8 166.26

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -1.10 -146.6 0.0 0.0 0 88 0.00 0.00 -65.50 0.000 6 0.000 0.000 43 2895 3499

90 -1.10 -146.6 2.8 -6.9 3 106 11.98 1.75 0.00 0.000 4 0.159 0.090 2165 3790 3501

251 -1.10 -146.6 24.0 -7.8 9 255 0.00 1.52 0.00 0.000 6 0.000 0.033 2165 2899 3503

572 -1.10 -146.6 52.2 -9.7 25 576 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1495 3502

620 -1.10 -146.6 56.6 -7.6 27 625 0.00 2.67 0.00 0.000 6 0.000 0.071 2165 2909 3502

942 -1.10 -146.6 78.5 -8.2 43 943 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3502

1251 -1.10 -146.6 104.0 -9.4 58 1252 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3502

1560 -1.10 -146.6 128.7 -7.4 73 1565 0.00 2.62 0.00 0.000 4 0.000 0.068 2165 1494 3503

1586 -1.10 -146.6 130.7 -7.2 74 1591 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2900 3502

1908 -1.10 -146.6 149.7 -4.7 90 1909 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3502

2217 -1.10 -146.6 174.7 -9.4 105 2224 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1495 3503

2253 -1.10 -146.6 177.5 -8.4 106 2257 0.00 2.65 0.00 0.000 6 0.000 0.073 2165 2905 3502

2568 -1.10 -146.6 204.3 -9.1 121 2569 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2905 3503

2877 -1.10 -146.6 228.3 -7.7 136 2878 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2905 3503

3187 -1.10 -146.6 251.9 -7.7 151 3191 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1500 3503

3225 -1.10 -146.6 255.0 -8.4 153 3229 0.00 2.60 0.00 0.000 6 0.000 0.069 2165 2899 3503

3550 -1.10 -146.6 280.2 -7.2 169 3551 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3503

3860 -1.10 -146.6 303.8 -7.2 184 3861 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3503

4169 -1.10 -146.6 327.7 -7.0 199 4173 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1500 3503

4201 -1.10 -146.6 330.1 -6.9 200 4208 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2900 3503

4519 -1.10 -146.6 351.1 -6.6 216 4520 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

4826 -1.10 -146.6 373.4 -7.2 231 4827 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

5135 -1.10 -146.6 394.8 -6.8 246 5139 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1496 3503

5178 -1.10 -146.6 397.6 -6.7 248 5182 0.00 2.62 0.00 0.000 6 0.000 0.069 2165 2914 3503

5505 -1.10 -146.6 421.5 -7.4 264 5509 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1494 3503

5570 -1.10 -146.6 426.5 -7.4 267 5575 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2899 3503

5898 -1.10 -146.6 450.5 -7.5 283 5902 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1491 3503

5959 -1.10 -146.6 455.3 -8.0 286 5963 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2900 3503

6284 -1.10 -146.6 481.5 -8.1 302 6285 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

6594 -1.10 -146.6 503.7 -6.6 317 6595 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

6903 -1.10 -146.6 524.8 -7.0 332 6908 0.00 2.55 0.00 0.000 4 0.000 0.062 2165 1493 3502

6969 -1.10 -146.6 529.7 -6.9 335 6974 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2903 3503

7296 -1.10 -146.6 552.6 -6.4 351 7299 0.00 1.62 0.00 0.000 4 0.000 0.080 2165 3785 3503

7356 -1.10 -146.6 556.4 -6.4 353 7363 0.00 1.50 0.00 0.000 6 0.000 0.032 2165 2898 3503

7672 -1.10 -146.6 572.3 -4.8 369 7676 0.00 2.50 0.00 0.000 4 0.000 0.062 2165 1503 3503

7739 -1.10 -146.6 575.3 -5.0 372 7743 0.00 2.58 0.00 0.000 6 0.000 0.067 2165 2901 3503

8064 -1.10 -146.6 591.1 -4.6 388 8066 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2902 3503

8373 -1.10 -146.6 608.6 -6.8 403 8378 0.00 2.55 0.00 0.000 4 0.000 0.060 2165 1492 3503

8435 -1.10 -146.6 613.2 -7.7 406 8440 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2905 3502

8761 -1.10 -146.6 636.4 -6.7 422 8765 0.00 2.55 0.00 0.000 4 0.000 0.061 2165 1500 3503

8809 -1.10 -146.6 639.5 -6.3 424 8814 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2897 3503

9130 -1.10 -146.6 660.5 -6.8 440 9135 0.00 2.55 0.00 0.000 4 0.000 0.063 2165 1500 3503

9169 -1.10 -146.6 663.5 -7.5 442 9174 0.00 2.60 0.00 0.000 6 0.000 0.071 2165 2899 3503

9495 -1.10 -146.6 685.6 -6.1 458 9496 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3502

9555 end dive: TARGET_DEPTH_EXCEEDED

state 9555 begin apogee

9562 -0.42 0.0 689.6 6.5 461 9690 0.75 0.00 125.07 1.239 6 0.091 0.000 2316 2118 2901

9691 end apogee: CONTROL_FINISHED_OK

state 9691 begin climb

9693 1.10 146.6 692.8 0.0 467 9824 1.55 2.72 121.80 1.202 4 0.054 0.062 2649 685 2303

10015 1.15 186.8 679.6 4.9 482 10057 0.00 2.55 34.53 1.155 6 0.000 0.043 2648 2113 2139

10365 1.15 186.8 660.2 6.7 499 10369 0.00 2.62 0.00 0.000 4 0.000 0.074 2648 3511 2138

10430 1.15 186.8 655.2 7.3 502 10434 0.00 2.55 0.00 0.000 6 0.000 0.043 2648 2094 2138

10757 1.15 186.8 634.8 6.2 518 10761 0.00 2.67 0.00 0.000 4 0.000 0.074 2649 3507 2138

10782 1.15 186.8 633.0 7.2 519 10787 0.00 2.53 0.00 0.000 6 0.000 0.044 2648 2105 2137

11104 1.17 198.0 614.1 5.7 535 11116 0.00 0.00 10.62 1.108 6 0.000 0.000 2648 2105 2093

11413 1.17 198.0 594.9 6.6 550 11414 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2105 2092

11722 1.17 198.0 572.3 7.0 565 11727 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3513 2091

11839 1.17 198.0 563.2 7.4 570 11843 0.00 2.55 0.00 0.000 6 0.000 0.045 2648 2098 2091

12160 1.17 198.0 539.7 7.0 586 12162 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2098 2091

12470 1.17 198.0 519.4 6.6 601 12471 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2098 2091

12779 1.17 200.7 500.2 5.9 616 12784 0.00 2.65 0.00 0.000 4 0.000 0.071 2648 3509 2091

12869 1.17 203.2 495.0 5.9 620 12880 0.00 2.50 5.78 0.922 6 0.000 0.044 2649 2100 2072

13189 1.17 204.2 477.2 6.0 635 13194 0.00 2.65 0.00 0.000 4 0.000 0.072 2648 3515 2072

13227 1.17 204.2 474.5 6.9 637 13232 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2097 2072

13553 1.17 204.2 453.4 6.6 653 13554 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2097 2072

13862 1.17 204.2 430.2 7.7 668 13867 0.00 2.65 0.00 0.000 4 0.000 0.072 2648 3510 2072

13934 1.17 204.2 424.5 8.4 671 13938 0.00 2.50 0.00 0.000 6 0.000 0.041 2648 2100 2073

14255 1.17 204.2 402.0 6.6 687 14259 0.00 2.62 0.00 0.000 4 0.000 0.071 2648 3508 2073

14293 1.17 204.2 399.3 6.9 689 14298 0.00 2.47 0.00 0.000 6 0.000 0.043 2649 2102 2073

14618 1.18 209.7 380.4 5.8 705 14633 0.00 2.70 7.45 0.920 4 0.000 0.072 2648 3506 2046

14667 1.19 217.7 377.6 5.8 707 14684 0.00 2.50 8.32 0.932 6 0.000 0.043 2648 2096 2013

14992 1.19 217.7 358.6 6.3 723 14996 0.00 2.65 0.00 0.000 4 0.000 0.073 2649 3506 2013

15036 1.19 217.7 355.6 7.0 725 15040 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2101 2013

15356 1.19 217.7 335.0 6.3 741 15360 0.00 2.65 0.00 0.000 4 0.000 0.071 2648 3511 2013

15394 1.19 217.7 332.3 6.3 743 15399 0.00 2.50 0.00 0.000 6 0.000 0.044 2648 2098 2013

15720 1.19 217.7 311.5 6.1 759 15724 0.00 2.65 0.00 0.000 4 0.000 0.073 2648 3507 2014

15763 1.20 225.9 309.1 5.8 761 15780 0.10 2.47 8.45 0.860 6 0.049 0.044 2685 2099 1980

16088 1.20 225.9 287.5 6.8 777 16089 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2099 1980

16397 1.20 225.9 265.5 7.1 792 16402 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3515 1980

16436 1.20 225.9 262.5 8.5 794 16441 0.00 2.50 0.00 0.000 6 0.000 0.046 2685 2098 1980

16762 1.20 225.9 239.9 6.7 810 16763 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2098 1980

17071 1.20 225.9 218.0 7.7 825 17076 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3509 1980

17160 1.20 225.9 210.5 8.6 829 17164 0.00 2.50 0.00 0.000 6 0.000 0.047 2685 2097 1980

17486 1.20 225.9 185.3 7.6 845 17487 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2097 1980

17796 1.20 225.9 160.2 8.0 860 17800 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3508 1981

17839 1.20 225.9 156.4 8.1 862 17843 0.00 2.50 0.00 0.000 6 0.000 0.047 2685 2093 1981

18166 1.20 225.9 130.6 8.2 878 18170 0.00 2.65 0.00 0.000 4 0.000 0.071 2685 3508 1981

18204 1.20 225.9 127.4 8.6 880 18208 0.00 2.47 0.00 0.000 6 0.000 0.048 2685 2100 1981

18530 1.20 225.9 102.8 7.2 896 18532 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2101 1981

18840 1.20 225.9 78.8 7.7 911 18844 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3514 1981

18883 1.20 225.9 75.4 7.7 913 18887 0.00 2.50 0.00 0.000 6 0.000 0.048 2685 2099 1981

19210 1.20 225.9 51.6 6.9 929 19211 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2099 1981

19520 1.20 225.9 28.6 7.3 944 19521 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2099 1981

19828 1.20 225.9 4.9 8.4 959 19833 0.00 2.62 0.00 0.000 4 0.000 0.069 2685 3508 1981

19855 1.20 225.9 2.4 8.5 960 19859 0.00 2.50 0.00 0.000 6 0.000 0.047 2685 2095 1981

19865 end climb: SURFACE_DEPTH_REACHED

state 19865 begin surface coast

19887 end surface coast: CONTROL_FINISHED_OK

state 19888 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	151	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-2	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	-65134.402	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	111637,6236.542,-1130.900,38,1.2,43,-11.0	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.027,0.217
_SM_DEPTHo	-0.22	KALMAN_X	-215761.7,139.3,1013.7,58880.9,-10416.6
_SM_ANGLEo	-53.6	KALMAN_Y	-6105.1,-1417.0,59.7,123291.0,171.8
GPS2	112215,6236.520,-1131.006,12,1.2,12,-11.0	MHEAD_RNG_PITCHd_Wd	3.9,19684,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	689

FINISH	-0.4,1.027319	XPDR_PINGS	1
SM_CCo	19908,59.92,0.733,1,0,1678,300.00	ALTIM_BOTTOM_PING	650.9,48.4
SM_GC	-0.19,0.00,0.00,59.92,0.000,0.000,0.733,46,2889,1678,-10.87,-0.31,300.00	_24V_AH	23.4,28.488
IRIDIUM_FIX	6211.90,-1116.76,091207,090955	_10V_AH	10.1,13.345
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47422,962
HUMID	2045	CFSIZE	260165632,249896960
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,33,1,0
TCM_TEMP	17.20	GPS	091207,165731,6237.072,-1138.496,41,1.3,41,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.22	SBE_CT	696	24	391.23
Roll_motor	169	89	356.25	SBE_O2	670	19	298.05
VBD_pump_during_apogee	322	1239	9339.90	WL_BB2F	583	105	1432.62
VBD_pump_during_surface	59	733	1028.20	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.77	nil	0	0	0.00
Iridium_during_connect	33	160	124.87	nil	0	0	0.00
Iridium_during_xfer	165	223	862.34
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.48
TT8	1763	19	352.73
LPSleep	15490	2	342.64
TT8_Active	536	19	107.28
TT8_Sampling	2092	39	841.07
TT8_CF8	442	45	204.78
TT8_Kalman	33	81	27.56
Analog_circuits	1582	12	191.84
GPS_charging	0	0	0.00
Compass	2057	8	166.26
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-1.10	-146.6	0.0	0.0	0	88	0.00	0.00	-65.50	0.000	6	0.000	0.000	43	2895	3499
90	-1.10	-146.6	2.8	-6.9	3	106	11.98	1.75	0.00	0.000	4	0.159	0.090	2165	3790	3501
251	-1.10	-146.6	24.0	-7.8	9	255	0.00	1.52	0.00	0.000	6	0.000	0.033	2165	2899	3503
572	-1.10	-146.6	52.2	-9.7	25	576	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1495	3502
620	-1.10	-146.6	56.6	-7.6	27	625	0.00	2.67	0.00	0.000	6	0.000	0.071	2165	2909	3502
942	-1.10	-146.6	78.5	-8.2	43	943	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3502
1251	-1.10	-146.6	104.0	-9.4	58	1252	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3502
1560	-1.10	-146.6	128.7	-7.4	73	1565	0.00	2.62	0.00	0.000	4	0.000	0.068	2165	1494	3503
1586	-1.10	-146.6	130.7	-7.2	74	1591	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2900	3502
1908	-1.10	-146.6	149.7	-4.7	90	1909	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3502
2217	-1.10	-146.6	174.7	-9.4	105	2224	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1495	3503
2253	-1.10	-146.6	177.5	-8.4	106	2257	0.00	2.65	0.00	0.000	6	0.000	0.073	2165	2905	3502
2568	-1.10	-146.6	204.3	-9.1	121	2569	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2905	3503
2877	-1.10	-146.6	228.3	-7.7	136	2878	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2905	3503
3187	-1.10	-146.6	251.9	-7.7	151	3191	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1500	3503
3225	-1.10	-146.6	255.0	-8.4	153	3229	0.00	2.60	0.00	0.000	6	0.000	0.069	2165	2899	3503
3550	-1.10	-146.6	280.2	-7.2	169	3551	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3503
3860	-1.10	-146.6	303.8	-7.2	184	3861	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3503
4169	-1.10	-146.6	327.7	-7.0	199	4173	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1500	3503
4201	-1.10	-146.6	330.1	-6.9	200	4208	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2900	3503
4519	-1.10	-146.6	351.1	-6.6	216	4520	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
4826	-1.10	-146.6	373.4	-7.2	231	4827	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
5135	-1.10	-146.6	394.8	-6.8	246	5139	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1496	3503
5178	-1.10	-146.6	397.6	-6.7	248	5182	0.00	2.62	0.00	0.000	6	0.000	0.069	2165	2914	3503
5505	-1.10	-146.6	421.5	-7.4	264	5509	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1494	3503
5570	-1.10	-146.6	426.5	-7.4	267	5575	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2899	3503
5898	-1.10	-146.6	450.5	-7.5	283	5902	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1491	3503
5959	-1.10	-146.6	455.3	-8.0	286	5963	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2900	3503
6284	-1.10	-146.6	481.5	-8.1	302	6285	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
6594	-1.10	-146.6	503.7	-6.6	317	6595	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
6903	-1.10	-146.6	524.8	-7.0	332	6908	0.00	2.55	0.00	0.000	4	0.000	0.062	2165	1493	3502
6969	-1.10	-146.6	529.7	-6.9	335	6974	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2903	3503
7296	-1.10	-146.6	552.6	-6.4	351	7299	0.00	1.62	0.00	0.000	4	0.000	0.080	2165	3785	3503
7356	-1.10	-146.6	556.4	-6.4	353	7363	0.00	1.50	0.00	0.000	6	0.000	0.032	2165	2898	3503
7672	-1.10	-146.6	572.3	-4.8	369	7676	0.00	2.50	0.00	0.000	4	0.000	0.062	2165	1503	3503
7739	-1.10	-146.6	575.3	-5.0	372	7743	0.00	2.58	0.00	0.000	6	0.000	0.067	2165	2901	3503
8064	-1.10	-146.6	591.1	-4.6	388	8066	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2902	3503
8373	-1.10	-146.6	608.6	-6.8	403	8378	0.00	2.55	0.00	0.000	4	0.000	0.060	2165	1492	3503
8435	-1.10	-146.6	613.2	-7.7	406	8440	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2905	3502
8761	-1.10	-146.6	636.4	-6.7	422	8765	0.00	2.55	0.00	0.000	4	0.000	0.061	2165	1500	3503
8809	-1.10	-146.6	639.5	-6.3	424	8814	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2897	3503
9130	-1.10	-146.6	660.5	-6.8	440	9135	0.00	2.55	0.00	0.000	4	0.000	0.063	2165	1500	3503
9169	-1.10	-146.6	663.5	-7.5	442	9174	0.00	2.60	0.00	0.000	6	0.000	0.071	2165	2899	3503
9495	-1.10	-146.6	685.6	-6.1	458	9496	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3502
9555	end dive: TARGET_DEPTH_EXCEEDED
state	9555	begin apogee
9562	-0.42	0.0	689.6	6.5	461	9690	0.75	0.00	125.07	1.239	6	0.091	0.000	2316	2118	2901
9691	end apogee: CONTROL_FINISHED_OK
state	9691	begin climb
9693	1.10	146.6	692.8	0.0	467	9824	1.55	2.72	121.80	1.202	4	0.054	0.062	2649	685	2303
10015	1.15	186.8	679.6	4.9	482	10057	0.00	2.55	34.53	1.155	6	0.000	0.043	2648	2113	2139
10365	1.15	186.8	660.2	6.7	499	10369	0.00	2.62	0.00	0.000	4	0.000	0.074	2648	3511	2138
10430	1.15	186.8	655.2	7.3	502	10434	0.00	2.55	0.00	0.000	6	0.000	0.043	2648	2094	2138
10757	1.15	186.8	634.8	6.2	518	10761	0.00	2.67	0.00	0.000	4	0.000	0.074	2649	3507	2138
10782	1.15	186.8	633.0	7.2	519	10787	0.00	2.53	0.00	0.000	6	0.000	0.044	2648	2105	2137
11104	1.17	198.0	614.1	5.7	535	11116	0.00	0.00	10.62	1.108	6	0.000	0.000	2648	2105	2093
11413	1.17	198.0	594.9	6.6	550	11414	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2105	2092
11722	1.17	198.0	572.3	7.0	565	11727	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3513	2091
11839	1.17	198.0	563.2	7.4	570	11843	0.00	2.55	0.00	0.000	6	0.000	0.045	2648	2098	2091
12160	1.17	198.0	539.7	7.0	586	12162	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2098	2091
12470	1.17	198.0	519.4	6.6	601	12471	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2098	2091
12779	1.17	200.7	500.2	5.9	616	12784	0.00	2.65	0.00	0.000	4	0.000	0.071	2648	3509	2091
12869	1.17	203.2	495.0	5.9	620	12880	0.00	2.50	5.78	0.922	6	0.000	0.044	2649	2100	2072
13189	1.17	204.2	477.2	6.0	635	13194	0.00	2.65	0.00	0.000	4	0.000	0.072	2648	3515	2072
13227	1.17	204.2	474.5	6.9	637	13232	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2097	2072
13553	1.17	204.2	453.4	6.6	653	13554	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2097	2072
13862	1.17	204.2	430.2	7.7	668	13867	0.00	2.65	0.00	0.000	4	0.000	0.072	2648	3510	2072
13934	1.17	204.2	424.5	8.4	671	13938	0.00	2.50	0.00	0.000	6	0.000	0.041	2648	2100	2073
14255	1.17	204.2	402.0	6.6	687	14259	0.00	2.62	0.00	0.000	4	0.000	0.071	2648	3508	2073
14293	1.17	204.2	399.3	6.9	689	14298	0.00	2.47	0.00	0.000	6	0.000	0.043	2649	2102	2073
14618	1.18	209.7	380.4	5.8	705	14633	0.00	2.70	7.45	0.920	4	0.000	0.072	2648	3506	2046
14667	1.19	217.7	377.6	5.8	707	14684	0.00	2.50	8.32	0.932	6	0.000	0.043	2648	2096	2013
14992	1.19	217.7	358.6	6.3	723	14996	0.00	2.65	0.00	0.000	4	0.000	0.073	2649	3506	2013
15036	1.19	217.7	355.6	7.0	725	15040	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2101	2013
15356	1.19	217.7	335.0	6.3	741	15360	0.00	2.65	0.00	0.000	4	0.000	0.071	2648	3511	2013
15394	1.19	217.7	332.3	6.3	743	15399	0.00	2.50	0.00	0.000	6	0.000	0.044	2648	2098	2013
15720	1.19	217.7	311.5	6.1	759	15724	0.00	2.65	0.00	0.000	4	0.000	0.073	2648	3507	2014
15763	1.20	225.9	309.1	5.8	761	15780	0.10	2.47	8.45	0.860	6	0.049	0.044	2685	2099	1980
16088	1.20	225.9	287.5	6.8	777	16089	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2099	1980
16397	1.20	225.9	265.5	7.1	792	16402	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3515	1980
16436	1.20	225.9	262.5	8.5	794	16441	0.00	2.50	0.00	0.000	6	0.000	0.046	2685	2098	1980
16762	1.20	225.9	239.9	6.7	810	16763	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2098	1980
17071	1.20	225.9	218.0	7.7	825	17076	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3509	1980
17160	1.20	225.9	210.5	8.6	829	17164	0.00	2.50	0.00	0.000	6	0.000	0.047	2685	2097	1980
17486	1.20	225.9	185.3	7.6	845	17487	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2097	1980
17796	1.20	225.9	160.2	8.0	860	17800	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3508	1981
17839	1.20	225.9	156.4	8.1	862	17843	0.00	2.50	0.00	0.000	6	0.000	0.047	2685	2093	1981
18166	1.20	225.9	130.6	8.2	878	18170	0.00	2.65	0.00	0.000	4	0.000	0.071	2685	3508	1981
18204	1.20	225.9	127.4	8.6	880	18208	0.00	2.47	0.00	0.000	6	0.000	0.048	2685	2100	1981
18530	1.20	225.9	102.8	7.2	896	18532	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2101	1981
18840	1.20	225.9	78.8	7.7	911	18844	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3514	1981
18883	1.20	225.9	75.4	7.7	913	18887	0.00	2.50	0.00	0.000	6	0.000	0.048	2685	2099	1981
19210	1.20	225.9	51.6	6.9	929	19211	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2099	1981
19520	1.20	225.9	28.6	7.3	944	19521	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2099	1981
19828	1.20	225.9	4.9	8.4	959	19833	0.00	2.62	0.00	0.000	4	0.000	0.069	2685	3508	1981
19855	1.20	225.9	2.4	8.5	960	19859	0.00	2.50	0.00	0.000	6	0.000	0.047	2685	2095	1981
19865	end climb: SURFACE_DEPTH_REACHED
state	19865	begin surface coast
19887	end surface coast: CONTROL_FINISHED_OK
state	19888	begin surface