Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 153 * 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 153 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 19 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 -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 -65162.906 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 -65162.906

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 19 USE_BATHY -2

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 153 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 223901,6239.057,-1139.455,38,1.2,43,-11.1 TGT_NAME EW

_CALLS 3 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.074,0.206

_SM_DEPTHo -0.11 KALMAN_X -224874.1,1523.0,1478.8,58591.6,-11326.0

_SM_ANGLEo -59.5 KALMAN_Y -14839.5,894.2,740.9,133503.9,-6997.9

GPS2 225133,6238.951,-1139.528,14,1.3,14,-11.1 MHEAD_RNG_PITCHd_Wd 30.9,12126,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 683

Post-dive calculations and measurements:

FINISH -0.9,1.013995 XPDR_PINGS 2

SM_CCo 18401,46.05,0.716,2,0,1678,300.00 ALTIM_BOTTOM_PING 600.3,91.9

SM_GC -0.13,0.00,0.00,46.05,0.000,0.000,0.716,43,2897,1678,-10.89,-0.08,300.00 _24V_AH 23.4,28.773

IRIDIUM_FIX 6216.53,-1137.88,101207,020227 _10V_AH 10.1,13.522

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44301,890

HUMID 2072 CFSIZE 260165632,249774080

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,34,2,0

TCM_TEMP 17.20 GPS 101207,040132,6238.901,-1141.072,41,1.4,41,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.69 SBE_CT 649 24 364.59

Roll_motor 171 114 457.36 SBE_O2 622 19 276.82

VBD_pump_during_apogee 329 1228 9480.38 WL_BB2F 534 105 1313.96

VBD_pump_during_surface 46 716 771.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 281.03 nil 0 0 0.00

Iridium_during_connect 184 160 689.96 nil 0 0 0.00

Iridium_during_xfer 221 223 1156.61

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.10

TT8 1619 19 323.79

LPSleep 14382 2 318.13

TT8_Active 553 19 110.75

TT8_Sampling 1917 39 770.82

TT8_CF8 750 45 347.03

TT8_Kalman 33 81 27.56

Analog_circuits 1531 12 185.64

GPS_charging 0 0 0.00

Compass 1894 8 153.09

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 83 0.00 0.00 -61.90 0.000 2 0.000 0.000 46 2899 3452

85 -1.10 -146.6 4.4 -10.8 3 107 11.98 1.77 -0.80 0.000 4 0.159 0.114 2165 3783 3500

175 -1.10 -146.6 20.3 -7.5 7 179 0.00 1.55 0.00 0.000 6 0.000 0.033 2165 2887 3501

507 -1.10 -146.6 43.8 -7.6 23 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2884 3501

816 -1.10 -146.6 64.3 -5.9 38 821 0.00 2.55 0.00 0.000 4 0.000 0.068 2165 1499 3501

849 -1.10 -146.6 66.5 -5.8 39 856 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2909 3501

1166 -1.10 -146.6 89.1 -9.0 55 1167 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2909 3501

1474 -1.10 -146.6 115.3 -8.8 70 1478 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1501 3501

1528 -1.10 -146.6 120.3 -9.1 72 1535 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2894 3501

1844 -1.10 -146.6 147.4 -8.5 88 1848 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1498 3501

1870 -1.10 -146.6 149.8 -8.6 89 1875 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2907 3501

2190 -1.10 -146.6 172.9 -7.8 105 2195 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1501 3501

2217 -1.10 -146.6 174.9 -7.6 106 2222 0.00 2.58 0.00 0.000 6 0.000 0.066 2165 2900 3501

2537 -1.10 -146.6 198.5 -7.5 122 2539 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3501

2847 -1.10 -146.6 219.4 -6.8 137 2851 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1499 3501

2896 -1.10 -146.6 222.4 -5.9 139 2901 0.00 2.58 0.00 0.000 6 0.000 0.065 2165 2900 3501

3211 -1.10 -146.6 242.6 -6.8 154 3212 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3501

3520 -1.10 -146.6 262.3 -6.0 169 3525 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1497 3501

3586 -1.10 -146.6 266.7 -7.0 172 3591 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2909 3501

3913 -1.10 -146.6 288.5 -6.7 188 3917 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1500 3501

3944 -1.10 -146.6 290.8 -6.9 189 3951 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2898 3501

4260 -1.10 -146.6 309.9 -5.7 205 4262 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3501

4569 -1.10 -146.6 327.9 -5.8 220 4573 0.00 2.58 0.00 0.000 4 0.000 0.063 2165 1492 3501

4601 -1.10 -146.6 330.0 -6.1 221 4606 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2894 3501

4924 -1.10 -146.6 350.3 -5.8 237 4928 0.00 2.55 0.00 0.000 4 0.000 0.062 2165 1499 3501

4985 -1.10 -146.6 354.2 -5.8 240 4989 0.00 2.58 0.00 0.000 6 0.000 0.065 2165 2899 3501

5310 -1.10 -146.6 374.8 -6.4 256 5315 0.00 2.55 0.00 0.000 4 0.000 0.062 2165 1500 3501

5348 -1.10 -146.6 377.5 -6.6 257 5354 0.00 2.58 0.00 0.000 6 0.000 0.065 2165 2901 3501

5663 -1.10 -146.6 399.4 -7.2 273 5667 0.00 2.55 0.00 0.000 4 0.000 0.063 2165 1491 3501

5702 -1.10 -146.6 402.3 -7.4 274 5708 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2900 3501

6017 -1.10 -146.6 424.0 -6.8 290 6021 0.00 2.55 0.00 0.000 4 0.000 0.062 2165 1500 3501

6048 -1.10 -146.6 426.1 -7.2 291 6055 0.00 2.58 0.00 0.000 6 0.000 0.065 2165 2889 3501

6364 -1.10 -146.6 447.1 -6.7 307 6365 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2889 3501

6674 -1.10 -146.6 468.4 -7.1 322 6678 0.00 2.53 0.00 0.000 4 0.000 0.061 2165 1493 3501

6750 -1.10 -146.6 473.9 -6.8 325 6758 0.00 2.60 0.00 0.000 6 0.000 0.064 2165 2899 3501

7066 -1.10 -146.6 495.2 -6.7 341 7070 0.00 2.55 0.00 0.000 4 0.000 0.061 2165 1493 3501

7098 -1.10 -146.6 497.5 -6.8 342 7104 0.00 2.58 0.00 0.000 6 0.000 0.064 2165 2900 3501

7413 -1.10 -146.6 520.7 -7.8 358 7418 0.00 2.55 0.00 0.000 4 0.000 0.060 2165 1491 3501

7475 -1.10 -146.6 525.6 -7.7 361 7480 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2908 3501

7801 -1.10 -146.6 550.2 -7.5 377 7805 0.00 2.58 0.00 0.000 4 0.000 0.060 2165 1489 3501

7856 -1.10 -146.6 554.2 -7.7 379 7862 0.00 2.60 0.00 0.000 6 0.000 0.064 2165 2909 3501

8174 -1.10 -146.6 575.5 -6.1 395 8178 0.00 2.58 0.00 0.000 4 0.000 0.059 2165 1490 3501

8240 -1.10 -146.6 579.8 -5.8 398 8244 0.00 2.58 0.00 0.000 6 0.000 0.065 2165 2899 3501

8561 -1.10 -146.6 599.0 -6.0 414 8562 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3501

8870 -1.10 -146.6 617.5 -6.1 429 8874 0.00 2.55 0.00 0.000 4 0.000 0.059 2165 1491 3501

8947 -1.10 -146.6 622.6 -6.7 432 8953 0.00 2.58 0.00 0.000 6 0.000 0.066 2165 2899 3501

9262 -1.10 -146.6 644.6 -7.0 448 9266 0.00 2.53 0.00 0.000 4 0.000 0.061 2165 1497 3501

9367 -1.10 -146.6 651.8 -7.0 452 9374 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2910 3501

9683 -1.10 -146.6 670.3 -5.4 468 9684 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2911 3501

9887 end dive: TARGET_DEPTH_EXCEEDED

state 9887 begin apogee

9893 -0.42 0.0 683.2 6.2 478 10021 0.75 0.00 125.32 1.229 6 0.083 0.000 2318 2103 2901

10022 end apogee: CONTROL_FINISHED_OK

state 10022 begin climb

10024 1.10 146.6 685.5 0.0 484 10155 1.55 2.67 120.55 1.226 4 0.056 0.061 2649 687 2303

10409 1.15 188.3 668.8 4.8 501 10450 0.00 2.53 35.92 1.177 6 0.000 0.041 2649 2109 2133

10760 1.15 188.3 646.2 6.7 518 10764 0.00 2.60 0.00 0.000 4 0.000 0.063 2649 688 2132

10821 1.15 188.3 642.2 6.1 521 10825 0.00 2.50 0.00 0.000 6 0.000 0.042 2649 2100 2131

11146 1.15 188.3 622.8 6.5 537 11147 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2100 2130

11456 1.22 245.7 606.8 4.4 552 11506 0.12 0.00 47.92 1.186 6 0.041 0.000 2694 2100 1899

11805 1.22 245.7 582.7 7.4 569 11809 0.00 2.67 0.00 0.000 4 0.000 0.077 2694 3511 1898

11844 1.22 245.7 579.8 8.1 571 11848 0.00 2.53 0.00 0.000 6 0.000 0.044 2694 2094 1898

12169 1.22 245.7 555.0 7.9 587 12170 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2094 1897

12478 1.22 245.7 530.2 8.3 602 12483 0.00 2.55 0.00 0.000 4 0.000 0.059 2694 687 1897

12522 1.22 245.7 526.2 8.7 604 12526 0.00 2.53 0.00 0.000 6 0.000 0.043 2694 2096 1897

12848 1.22 245.7 498.7 8.7 620 12853 0.00 2.65 0.00 0.000 4 0.000 0.073 2694 3515 1897

12910 1.22 245.7 492.9 9.6 623 12914 0.00 2.50 0.00 0.000 6 0.000 0.044 2694 2100 1897

13235 1.22 245.7 463.2 9.2 639 13236 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2100 1897

13544 1.22 245.7 435.0 9.3 654 13546 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2100 1897

13854 1.22 245.7 405.6 9.6 669 13858 0.00 2.67 0.00 0.000 4 0.000 0.074 2694 3518 1897

13885 1.22 245.7 402.2 9.9 670 13892 0.00 2.53 0.00 0.000 6 0.000 0.045 2694 2107 1897

14201 1.22 245.7 371.8 9.4 686 14202 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2107 1898

14511 1.22 245.7 344.2 8.5 701 14512 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2107 1898

14820 1.22 245.7 316.9 9.0 716 14821 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2107 1899

15129 1.22 245.7 290.2 7.8 731 15133 0.00 2.65 0.00 0.000 4 0.000 0.077 2694 3512 1899

15155 1.22 245.7 287.8 8.8 732 15159 0.00 2.50 0.00 0.000 6 0.000 0.044 2694 2103 1899

15476 1.22 245.7 263.1 8.0 748 15481 0.00 2.55 0.00 0.000 4 0.000 0.063 2694 693 1899

15531 1.22 245.7 258.2 8.8 750 15538 0.00 2.50 0.00 0.000 6 0.000 0.046 2694 2094 1899

15847 1.22 245.7 232.6 7.9 766 15851 0.00 2.62 0.00 0.000 4 0.000 0.075 2694 3511 1899

15892 1.22 245.7 228.9 7.9 768 15896 0.00 2.50 0.00 0.000 6 0.000 0.044 2694 2102 1899

16211 1.22 245.7 202.2 8.5 784 16215 0.00 2.58 0.00 0.000 4 0.000 0.064 2694 685 1900

16254 1.22 245.7 198.3 9.8 786 16259 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2096 1900

16581 1.22 245.7 165.7 10.3 802 16585 0.00 2.65 0.00 0.000 4 0.000 0.074 2694 3519 1900

16619 1.22 245.7 161.6 10.4 804 16623 0.00 2.53 0.00 0.000 6 0.000 0.046 2694 2096 1900

16944 1.22 245.7 128.5 10.4 820 16946 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2095 1900

17254 1.22 245.7 103.9 8.5 835 17255 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2095 1901

17563 1.22 245.7 74.3 9.5 850 17564 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 2095 1901

17874 1.22 245.7 43.1 10.3 865 17878 0.00 2.67 0.00 0.000 4 0.000 0.074 2694 3515 1901

17913 1.22 245.7 38.5 12.7 867 17917 0.00 2.53 0.00 0.000 6 0.000 0.048 2694 2094 1901

18239 1.22 245.7 11.3 8.2 883 18243 0.00 2.55 0.00 0.000 4 0.000 0.067 2694 695 1901

18270 1.22 245.7 8.1 10.0 884 18277 0.00 2.50 0.00 0.000 6 0.000 0.046 2694 2095 1901

18358 end climb: SURFACE_DEPTH_REACHED

state 18358 begin surface coast

18379 end surface coast: CONTROL_FINISHED_OK

state 18380 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	153	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	19	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	-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	-65162.906	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	223901,6239.057,-1139.455,38,1.2,43,-11.1	TGT_NAME	EW
_CALLS	3	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.074,0.206
_SM_DEPTHo	-0.11	KALMAN_X	-224874.1,1523.0,1478.8,58591.6,-11326.0
_SM_ANGLEo	-59.5	KALMAN_Y	-14839.5,894.2,740.9,133503.9,-6997.9
GPS2	225133,6238.951,-1139.528,14,1.3,14,-11.1	MHEAD_RNG_PITCHd_Wd	30.9,12126,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	683

FINISH	-0.9,1.013995	XPDR_PINGS	2
SM_CCo	18401,46.05,0.716,2,0,1678,300.00	ALTIM_BOTTOM_PING	600.3,91.9
SM_GC	-0.13,0.00,0.00,46.05,0.000,0.000,0.716,43,2897,1678,-10.89,-0.08,300.00	_24V_AH	23.4,28.773
IRIDIUM_FIX	6216.53,-1137.88,101207,020227	_10V_AH	10.1,13.522
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44301,890
HUMID	2072	CFSIZE	260165632,249774080
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,34,2,0
TCM_TEMP	17.20	GPS	101207,040132,6238.901,-1141.072,41,1.4,41,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.69	SBE_CT	649	24	364.59
Roll_motor	171	114	457.36	SBE_O2	622	19	276.82
VBD_pump_during_apogee	329	1228	9480.38	WL_BB2F	534	105	1313.96
VBD_pump_during_surface	46	716	771.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	281.03	nil	0	0	0.00
Iridium_during_connect	184	160	689.96	nil	0	0	0.00
Iridium_during_xfer	221	223	1156.61
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.10
TT8	1619	19	323.79
LPSleep	14382	2	318.13
TT8_Active	553	19	110.75
TT8_Sampling	1917	39	770.82
TT8_CF8	750	45	347.03
TT8_Kalman	33	81	27.56
Analog_circuits	1531	12	185.64
GPS_charging	0	0	0.00
Compass	1894	8	153.09
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	83	0.00	0.00	-61.90	0.000	2	0.000	0.000	46	2899	3452
85	-1.10	-146.6	4.4	-10.8	3	107	11.98	1.77	-0.80	0.000	4	0.159	0.114	2165	3783	3500
175	-1.10	-146.6	20.3	-7.5	7	179	0.00	1.55	0.00	0.000	6	0.000	0.033	2165	2887	3501
507	-1.10	-146.6	43.8	-7.6	23	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2884	3501
816	-1.10	-146.6	64.3	-5.9	38	821	0.00	2.55	0.00	0.000	4	0.000	0.068	2165	1499	3501
849	-1.10	-146.6	66.5	-5.8	39	856	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2909	3501
1166	-1.10	-146.6	89.1	-9.0	55	1167	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2909	3501
1474	-1.10	-146.6	115.3	-8.8	70	1478	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1501	3501
1528	-1.10	-146.6	120.3	-9.1	72	1535	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2894	3501
1844	-1.10	-146.6	147.4	-8.5	88	1848	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1498	3501
1870	-1.10	-146.6	149.8	-8.6	89	1875	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2907	3501
2190	-1.10	-146.6	172.9	-7.8	105	2195	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1501	3501
2217	-1.10	-146.6	174.9	-7.6	106	2222	0.00	2.58	0.00	0.000	6	0.000	0.066	2165	2900	3501
2537	-1.10	-146.6	198.5	-7.5	122	2539	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3501
2847	-1.10	-146.6	219.4	-6.8	137	2851	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1499	3501
2896	-1.10	-146.6	222.4	-5.9	139	2901	0.00	2.58	0.00	0.000	6	0.000	0.065	2165	2900	3501
3211	-1.10	-146.6	242.6	-6.8	154	3212	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3501
3520	-1.10	-146.6	262.3	-6.0	169	3525	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1497	3501
3586	-1.10	-146.6	266.7	-7.0	172	3591	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2909	3501
3913	-1.10	-146.6	288.5	-6.7	188	3917	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1500	3501
3944	-1.10	-146.6	290.8	-6.9	189	3951	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2898	3501
4260	-1.10	-146.6	309.9	-5.7	205	4262	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3501
4569	-1.10	-146.6	327.9	-5.8	220	4573	0.00	2.58	0.00	0.000	4	0.000	0.063	2165	1492	3501
4601	-1.10	-146.6	330.0	-6.1	221	4606	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2894	3501
4924	-1.10	-146.6	350.3	-5.8	237	4928	0.00	2.55	0.00	0.000	4	0.000	0.062	2165	1499	3501
4985	-1.10	-146.6	354.2	-5.8	240	4989	0.00	2.58	0.00	0.000	6	0.000	0.065	2165	2899	3501
5310	-1.10	-146.6	374.8	-6.4	256	5315	0.00	2.55	0.00	0.000	4	0.000	0.062	2165	1500	3501
5348	-1.10	-146.6	377.5	-6.6	257	5354	0.00	2.58	0.00	0.000	6	0.000	0.065	2165	2901	3501
5663	-1.10	-146.6	399.4	-7.2	273	5667	0.00	2.55	0.00	0.000	4	0.000	0.063	2165	1491	3501
5702	-1.10	-146.6	402.3	-7.4	274	5708	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2900	3501
6017	-1.10	-146.6	424.0	-6.8	290	6021	0.00	2.55	0.00	0.000	4	0.000	0.062	2165	1500	3501
6048	-1.10	-146.6	426.1	-7.2	291	6055	0.00	2.58	0.00	0.000	6	0.000	0.065	2165	2889	3501
6364	-1.10	-146.6	447.1	-6.7	307	6365	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2889	3501
6674	-1.10	-146.6	468.4	-7.1	322	6678	0.00	2.53	0.00	0.000	4	0.000	0.061	2165	1493	3501
6750	-1.10	-146.6	473.9	-6.8	325	6758	0.00	2.60	0.00	0.000	6	0.000	0.064	2165	2899	3501
7066	-1.10	-146.6	495.2	-6.7	341	7070	0.00	2.55	0.00	0.000	4	0.000	0.061	2165	1493	3501
7098	-1.10	-146.6	497.5	-6.8	342	7104	0.00	2.58	0.00	0.000	6	0.000	0.064	2165	2900	3501
7413	-1.10	-146.6	520.7	-7.8	358	7418	0.00	2.55	0.00	0.000	4	0.000	0.060	2165	1491	3501
7475	-1.10	-146.6	525.6	-7.7	361	7480	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2908	3501
7801	-1.10	-146.6	550.2	-7.5	377	7805	0.00	2.58	0.00	0.000	4	0.000	0.060	2165	1489	3501
7856	-1.10	-146.6	554.2	-7.7	379	7862	0.00	2.60	0.00	0.000	6	0.000	0.064	2165	2909	3501
8174	-1.10	-146.6	575.5	-6.1	395	8178	0.00	2.58	0.00	0.000	4	0.000	0.059	2165	1490	3501
8240	-1.10	-146.6	579.8	-5.8	398	8244	0.00	2.58	0.00	0.000	6	0.000	0.065	2165	2899	3501
8561	-1.10	-146.6	599.0	-6.0	414	8562	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3501
8870	-1.10	-146.6	617.5	-6.1	429	8874	0.00	2.55	0.00	0.000	4	0.000	0.059	2165	1491	3501
8947	-1.10	-146.6	622.6	-6.7	432	8953	0.00	2.58	0.00	0.000	6	0.000	0.066	2165	2899	3501
9262	-1.10	-146.6	644.6	-7.0	448	9266	0.00	2.53	0.00	0.000	4	0.000	0.061	2165	1497	3501
9367	-1.10	-146.6	651.8	-7.0	452	9374	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2910	3501
9683	-1.10	-146.6	670.3	-5.4	468	9684	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2911	3501
9887	end dive: TARGET_DEPTH_EXCEEDED
state	9887	begin apogee
9893	-0.42	0.0	683.2	6.2	478	10021	0.75	0.00	125.32	1.229	6	0.083	0.000	2318	2103	2901
10022	end apogee: CONTROL_FINISHED_OK
state	10022	begin climb
10024	1.10	146.6	685.5	0.0	484	10155	1.55	2.67	120.55	1.226	4	0.056	0.061	2649	687	2303
10409	1.15	188.3	668.8	4.8	501	10450	0.00	2.53	35.92	1.177	6	0.000	0.041	2649	2109	2133
10760	1.15	188.3	646.2	6.7	518	10764	0.00	2.60	0.00	0.000	4	0.000	0.063	2649	688	2132
10821	1.15	188.3	642.2	6.1	521	10825	0.00	2.50	0.00	0.000	6	0.000	0.042	2649	2100	2131
11146	1.15	188.3	622.8	6.5	537	11147	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2100	2130
11456	1.22	245.7	606.8	4.4	552	11506	0.12	0.00	47.92	1.186	6	0.041	0.000	2694	2100	1899
11805	1.22	245.7	582.7	7.4	569	11809	0.00	2.67	0.00	0.000	4	0.000	0.077	2694	3511	1898
11844	1.22	245.7	579.8	8.1	571	11848	0.00	2.53	0.00	0.000	6	0.000	0.044	2694	2094	1898
12169	1.22	245.7	555.0	7.9	587	12170	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2094	1897
12478	1.22	245.7	530.2	8.3	602	12483	0.00	2.55	0.00	0.000	4	0.000	0.059	2694	687	1897
12522	1.22	245.7	526.2	8.7	604	12526	0.00	2.53	0.00	0.000	6	0.000	0.043	2694	2096	1897
12848	1.22	245.7	498.7	8.7	620	12853	0.00	2.65	0.00	0.000	4	0.000	0.073	2694	3515	1897
12910	1.22	245.7	492.9	9.6	623	12914	0.00	2.50	0.00	0.000	6	0.000	0.044	2694	2100	1897
13235	1.22	245.7	463.2	9.2	639	13236	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2100	1897
13544	1.22	245.7	435.0	9.3	654	13546	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2100	1897
13854	1.22	245.7	405.6	9.6	669	13858	0.00	2.67	0.00	0.000	4	0.000	0.074	2694	3518	1897
13885	1.22	245.7	402.2	9.9	670	13892	0.00	2.53	0.00	0.000	6	0.000	0.045	2694	2107	1897
14201	1.22	245.7	371.8	9.4	686	14202	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2107	1898
14511	1.22	245.7	344.2	8.5	701	14512	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2107	1898
14820	1.22	245.7	316.9	9.0	716	14821	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2107	1899
15129	1.22	245.7	290.2	7.8	731	15133	0.00	2.65	0.00	0.000	4	0.000	0.077	2694	3512	1899
15155	1.22	245.7	287.8	8.8	732	15159	0.00	2.50	0.00	0.000	6	0.000	0.044	2694	2103	1899
15476	1.22	245.7	263.1	8.0	748	15481	0.00	2.55	0.00	0.000	4	0.000	0.063	2694	693	1899
15531	1.22	245.7	258.2	8.8	750	15538	0.00	2.50	0.00	0.000	6	0.000	0.046	2694	2094	1899
15847	1.22	245.7	232.6	7.9	766	15851	0.00	2.62	0.00	0.000	4	0.000	0.075	2694	3511	1899
15892	1.22	245.7	228.9	7.9	768	15896	0.00	2.50	0.00	0.000	6	0.000	0.044	2694	2102	1899
16211	1.22	245.7	202.2	8.5	784	16215	0.00	2.58	0.00	0.000	4	0.000	0.064	2694	685	1900
16254	1.22	245.7	198.3	9.8	786	16259	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2096	1900
16581	1.22	245.7	165.7	10.3	802	16585	0.00	2.65	0.00	0.000	4	0.000	0.074	2694	3519	1900
16619	1.22	245.7	161.6	10.4	804	16623	0.00	2.53	0.00	0.000	6	0.000	0.046	2694	2096	1900
16944	1.22	245.7	128.5	10.4	820	16946	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2095	1900
17254	1.22	245.7	103.9	8.5	835	17255	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2095	1901
17563	1.22	245.7	74.3	9.5	850	17564	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	2095	1901
17874	1.22	245.7	43.1	10.3	865	17878	0.00	2.67	0.00	0.000	4	0.000	0.074	2694	3515	1901
17913	1.22	245.7	38.5	12.7	867	17917	0.00	2.53	0.00	0.000	6	0.000	0.048	2694	2094	1901
18239	1.22	245.7	11.3	8.2	883	18243	0.00	2.55	0.00	0.000	4	0.000	0.067	2694	695	1901
18270	1.22	245.7	8.1	10.0	884	18277	0.00	2.50	0.00	0.000	6	0.000	0.046	2694	2095	1901
18358	end climb: SURFACE_DEPTH_REACHED
state	18358	begin surface coast
18379	end surface coast: CONTROL_FINISHED_OK
state	18380	begin surface