Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 155 * 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 155 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 21 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 -65195.219 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 -65195.219

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 -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 21 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 155 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 094855,6240.292,-1140.688,24,1.2,42,-11.1 TGT_NAME EW

_CALLS 2 TGT_LATLONG 6245.000,-1145.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.042,0.214

_SM_DEPTHo -0.09 KALMAN_X -226780.4,457.5,1225.6,60848.7,-6494.6

_SM_ANGLEo -58.2 KALMAN_Y -20546.7,-430.7,762.6,142916.7,-4782.9

GPS2 095815,6240.254,-1140.629,13,1.8,13,-11.1 MHEAD_RNG_PITCHd_Wd 22.3,9539,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 676

Post-dive calculations and measurements:

FINISH -0.6,1.027333 XPDR_PINGS 2

SM_CCo 19224,65.00,0.743,1,0,1678,300.00 ALTIM_BOTTOM_PING 576.1,105.8

SM_GC 0.06,0.00,0.00,65.00,0.000,0.000,0.743,38,2903,1678,-10.91,0.11,300.00 _24V_AH 23.4,29.046

IRIDIUM_FIX 6216.53,-1137.88,101207,131357 _10V_AH 10.1,13.707

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47412,928

HUMID 2047 CFSIZE 260165632,249626624

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,43,1,0

TCM_TEMP 15.60 GPS 101207,152208,6240.100,-1140.828,37,1.2,37,-11.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 95.39 SBE_CT 668 24 375.20

Roll_motor 202 119 567.67 SBE_O2 655 19 291.62

VBD_pump_during_apogee 315 1208 8926.97 WL_BB2F 577 105 1419.55

VBD_pump_during_surface 65 743 1130.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 188.72 nil 0 0 0.00

Iridium_during_connect 82 160 307.30 nil 0 0 0.00

Iridium_during_xfer 225 223 1178.54

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.97

TT8 1724 19 344.81

LPSleep 14798 2 327.32

TT8_Active 568 19 113.68

TT8_Sampling 2150 39 864.55

TT8_CF8 626 45 289.62

TT8_Kalman 33 81 27.57

Analog_circuits 1657 12 200.89

GPS_charging 0 0 0.00

Compass 2124 8 171.64

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 -61.88 0.000 2 0.000 0.000 47 2905 3431

86 -1.10 -146.6 3.8 -8.6 3 108 11.98 1.73 -1.23 0.000 4 0.159 0.120 2163 3766 3501

360 -1.10 -146.6 35.9 -8.0 15 364 0.00 1.50 0.00 0.000 6 0.000 0.032 2163 2891 3501

687 -1.10 -146.6 63.1 -10.0 31 691 0.00 2.58 0.00 0.000 4 0.000 0.068 2163 1492 3501

730 -1.10 -146.6 67.8 -11.1 33 734 0.00 2.60 0.00 0.000 6 0.000 0.069 2164 2891 3501

1057 -1.10 -146.6 97.5 -7.5 49 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2891 3501

1366 -1.10 -146.6 117.2 -6.1 64 1370 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1500 3501

1409 -1.10 -146.6 120.4 -6.7 66 1413 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2900 3501

1736 -1.10 -146.6 141.7 -6.7 82 1740 0.00 2.60 0.00 0.000 4 0.000 0.068 2164 1501 3501

1767 -1.10 -146.6 143.7 -6.7 83 1774 0.00 2.62 0.00 0.000 6 0.000 0.069 2164 2900 3501

2083 -1.10 -146.6 165.9 -7.4 99 2087 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1501 3501

2131 -1.10 -146.6 169.4 -7.3 101 2136 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2901 3501

2453 -1.10 -146.6 194.1 -7.9 117 2454 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3501

2762 -1.10 -146.6 215.9 -6.9 132 2766 0.00 2.60 0.00 0.000 4 0.000 0.067 2164 1493 3501

2838 -1.10 -146.6 221.7 -7.7 135 2845 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2894 3501

3155 -1.10 -146.6 245.9 -7.7 151 3159 0.00 2.58 0.00 0.000 4 0.000 0.067 2164 1498 3501

3188 -1.10 -146.6 248.6 -8.3 152 3194 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2901 3501

3502 -1.10 -146.6 273.7 -8.0 168 3506 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1501 3501

3545 -1.10 -146.6 277.3 -8.1 170 3549 0.00 2.60 0.00 0.000 6 0.000 0.068 2164 2904 3501

3873 -1.10 -146.6 300.5 -6.8 186 3874 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3501

4181 -1.10 -146.6 323.2 -7.5 201 4186 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1501 3501

4259 -1.10 -146.6 329.1 -7.7 204 4265 0.00 2.58 0.00 0.000 6 0.000 0.067 2164 2900 3501

4574 -1.10 -146.6 352.2 -7.3 220 4578 0.00 2.58 0.00 0.000 4 0.000 0.064 2164 1496 3501

4617 -1.10 -146.6 355.5 -7.3 222 4621 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2904 3501

4944 -1.10 -146.6 379.8 -7.8 238 4945 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3501

5253 -1.10 -146.6 404.0 -8.0 253 5257 0.00 2.58 0.00 0.000 4 0.000 0.066 2164 1500 3501

5341 -1.10 -146.6 411.3 -8.4 257 5345 0.00 2.62 0.00 0.000 6 0.000 0.074 2164 2903 3501

5668 -1.10 -146.6 439.0 -8.1 273 5669 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3501

5977 -1.10 -146.6 463.0 -7.7 288 5978 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3501

6286 -1.10 -146.6 485.4 -7.0 303 6287 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3501

6596 -1.10 -146.6 506.8 -6.8 318 6600 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1494 3501

6644 -1.10 -146.6 510.2 -7.2 320 6648 0.00 2.60 0.00 0.000 6 0.000 0.071 2164 2901 3501

6966 -1.10 -146.6 531.9 -6.8 336 6970 0.00 2.55 0.00 0.000 4 0.000 0.063 2163 1498 3501

7015 -1.10 -146.6 535.6 -6.5 338 7019 0.00 2.60 0.00 0.000 6 0.000 0.072 2164 2903 3501

7336 -1.10 -146.6 557.7 -6.7 354 7340 0.00 2.55 0.00 0.000 4 0.000 0.058 2163 1490 3501

7413 -1.10 -146.6 562.9 -6.4 357 7419 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2906 3501

7729 -1.10 -146.6 582.2 -6.0 373 7733 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1490 3501

7783 -1.10 -146.6 585.8 -6.2 375 7790 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2891 3501

8099 -1.10 -146.6 604.7 -6.3 391 8103 0.00 2.53 0.00 0.000 4 0.000 0.061 2164 1494 3501

8160 -1.10 -146.6 608.7 -6.9 394 8165 0.00 2.60 0.00 0.000 6 0.000 0.071 2164 2899 3501

8485 -1.10 -146.6 629.5 -6.5 410 8489 0.00 2.55 0.00 0.000 4 0.000 0.062 2163 1498 3501

8540 -1.10 -146.6 633.3 -6.8 412 8546 0.00 2.60 0.00 0.000 6 0.000 0.069 2164 2904 3501

8855 -1.10 -146.6 653.8 -6.4 428 8860 0.00 2.55 0.00 0.000 4 0.000 0.063 2164 1498 3501

8940 -1.10 -146.6 658.7 -5.8 432 8944 0.00 2.62 0.00 0.000 6 0.000 0.072 2164 2904 3501

9160 end dive: BOTTOM_OBSTACLE_DETECTED

state 9160 begin apogee

9167 -0.42 0.0 672.6 6.4 443 9295 0.75 0.00 124.95 1.208 6 0.089 0.000 2314 2112 2901

9295 end apogee: CONTROL_FINISHED_OK

state 9296 begin climb

9297 1.10 146.6 676.6 0.0 449 9428 1.55 2.70 122.12 1.178 4 0.054 0.061 2649 687 2303

9558 1.11 152.9 666.3 5.8 461 9570 0.00 2.53 6.93 0.953 6 0.000 0.041 2649 2109 2277

9879 1.15 188.7 647.8 5.0 476 9919 0.00 2.67 31.40 1.161 4 0.000 0.072 2649 3511 2131

9969 1.15 188.7 642.2 6.9 480 9973 0.00 2.53 0.00 0.000 6 0.000 0.042 2649 2094 2131

10296 1.15 188.7 621.8 6.3 496 10300 0.00 2.58 0.00 0.000 4 0.000 0.063 2649 691 2129

10361 1.15 188.7 617.3 6.8 499 10365 0.00 2.53 0.00 0.000 6 0.000 0.043 2649 2113 2129

10688 1.16 196.6 597.5 5.8 515 10702 0.00 2.67 7.78 1.015 4 0.000 0.072 2649 3499 2099

10747 1.16 196.6 593.6 7.3 517 10754 0.00 2.53 0.00 0.000 6 0.000 0.043 2649 2099 2099

11063 1.16 196.6 573.3 6.7 533 11067 0.00 2.65 0.00 0.000 4 0.000 0.071 2649 3506 2098

11135 1.16 196.6 567.8 7.6 536 11139 0.00 2.50 0.00 0.000 6 0.000 0.042 2649 2099 2098

11450 1.19 217.3 548.5 5.4 551 11475 0.00 2.67 18.30 1.111 4 0.000 0.063 2649 690 2015

11576 1.19 217.3 540.7 6.2 556 11583 0.00 2.50 0.00 0.000 6 0.000 0.045 2649 2097 2015

11891 1.19 217.3 522.4 6.2 572 11896 0.00 2.65 0.00 0.000 4 0.000 0.073 2649 3515 2015

11976 1.19 217.3 516.6 7.1 576 11980 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2099 2014

12301 1.19 217.3 495.0 6.4 592 12302 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2099 2014

12610 1.19 217.3 474.1 7.2 607 12614 0.00 2.67 0.00 0.000 4 0.000 0.074 2649 3515 2014

12681 1.19 217.3 468.6 7.9 610 12685 0.00 2.53 0.00 0.000 6 0.000 0.045 2649 2094 2014

13003 1.19 217.3 445.2 7.2 626 13007 0.00 2.70 0.00 0.000 4 0.000 0.077 2649 3516 2015

13045 1.19 217.3 441.9 7.2 628 13050 0.00 2.55 0.00 0.000 6 0.000 0.046 2649 2096 2015

13372 1.19 217.3 418.2 7.2 644 13373 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2096 2015

13682 1.19 217.3 396.3 7.0 659 13686 0.00 2.65 0.00 0.000 4 0.000 0.074 2649 3509 2015

13720 1.19 217.3 393.5 7.1 661 13725 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2096 2015

14046 1.19 217.3 371.5 6.4 677 14047 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2095 2016

14355 1.19 217.3 351.4 6.8 692 14357 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2095 2016

14664 1.19 217.3 329.8 7.1 707 14669 0.00 2.67 0.00 0.000 4 0.000 0.074 2649 3515 2017

14714 1.19 217.3 325.9 7.8 709 14718 0.00 2.50 0.00 0.000 6 0.000 0.043 2649 2093 2017

15035 1.19 217.3 302.5 7.2 725 15039 0.00 2.55 0.00 0.000 4 0.000 0.064 2649 687 2017

15078 1.19 217.3 299.1 7.8 727 15082 0.00 2.53 0.00 0.000 6 0.000 0.046 2649 2100 2017

15404 1.19 217.3 276.2 7.1 743 15409 0.00 2.62 0.00 0.000 4 0.000 0.072 2649 3512 2017

15453 1.19 217.3 272.4 7.5 745 15458 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2094 2017

15775 1.19 217.3 248.8 7.3 761 15776 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2094 2017

16084 1.19 217.3 226.6 7.1 776 16089 0.00 2.65 0.00 0.000 4 0.000 0.073 2649 3509 2017

16161 1.19 217.3 220.4 8.3 779 16167 0.00 2.47 0.00 0.000 6 0.000 0.044 2649 2100 2018

16476 1.19 217.3 197.4 7.1 795 16480 0.00 2.65 0.00 0.000 4 0.000 0.074 2649 3515 2018

16530 1.19 217.3 193.5 7.1 797 16537 0.00 2.53 0.00 0.000 6 0.000 0.044 2649 2098 2018

16846 1.19 217.3 168.9 7.8 813 16850 0.00 2.65 0.00 0.000 4 0.000 0.074 2649 3511 2018

16900 1.19 217.3 164.1 8.7 815 16907 0.00 2.53 0.00 0.000 6 0.000 0.046 2649 2098 2018

17217 1.19 217.3 139.5 7.5 831 17222 0.00 2.67 0.00 0.000 4 0.000 0.076 2649 3514 2018

17257 1.19 217.3 136.4 8.4 833 17261 0.00 2.50 0.00 0.000 6 0.000 0.047 2649 2100 2018

17583 1.19 217.3 112.6 7.3 849 17587 0.00 2.67 0.00 0.000 4 0.000 0.076 2649 3514 2019

17621 1.19 217.3 109.6 7.0 851 17626 0.00 2.50 0.00 0.000 6 0.000 0.048 2649 2101 2019

17948 1.19 217.3 86.3 6.5 867 17952 0.00 2.67 0.00 0.000 4 0.000 0.076 2649 3516 2019

17991 1.19 217.3 82.8 8.4 869 17995 0.00 2.53 0.00 0.000 6 0.000 0.048 2649 2107 2019

18318 1.19 217.3 59.0 7.1 885 18319 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2107 2019

18628 1.19 217.3 38.2 7.0 900 18632 0.00 2.62 0.00 0.000 4 0.000 0.075 2649 3509 2019

18699 1.19 219.1 33.0 6.0 903 18711 0.00 2.50 4.32 0.604 6 0.000 0.048 2649 2098 2006

19021 1.19 219.1 12.5 7.1 919 19025 0.00 2.67 0.00 0.000 4 0.000 0.077 2649 3512 2007

19052 1.19 219.1 9.8 6.8 920 19059 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2105 2006

19181 end climb: SURFACE_DEPTH_REACHED

state 19181 begin surface coast

19203 end surface coast: CONTROL_FINISHED_OK

state 19203 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	155	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	21	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	-65195.219	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	094855,6240.292,-1140.688,24,1.2,42,-11.1	TGT_NAME	EW
_CALLS	2	TGT_LATLONG	6245.000,-1145.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.042,0.214
_SM_DEPTHo	-0.09	KALMAN_X	-226780.4,457.5,1225.6,60848.7,-6494.6
_SM_ANGLEo	-58.2	KALMAN_Y	-20546.7,-430.7,762.6,142916.7,-4782.9
GPS2	095815,6240.254,-1140.629,13,1.8,13,-11.1	MHEAD_RNG_PITCHd_Wd	22.3,9539,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	676

FINISH	-0.6,1.027333	XPDR_PINGS	2
SM_CCo	19224,65.00,0.743,1,0,1678,300.00	ALTIM_BOTTOM_PING	576.1,105.8
SM_GC	0.06,0.00,0.00,65.00,0.000,0.000,0.743,38,2903,1678,-10.91,0.11,300.00	_24V_AH	23.4,29.046
IRIDIUM_FIX	6216.53,-1137.88,101207,131357	_10V_AH	10.1,13.707
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47412,928
HUMID	2047	CFSIZE	260165632,249626624
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,43,1,0
TCM_TEMP	15.60	GPS	101207,152208,6240.100,-1140.828,37,1.2,37,-11.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	95.39	SBE_CT	668	24	375.20
Roll_motor	202	119	567.67	SBE_O2	655	19	291.62
VBD_pump_during_apogee	315	1208	8926.97	WL_BB2F	577	105	1419.55
VBD_pump_during_surface	65	743	1130.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	188.72	nil	0	0	0.00
Iridium_during_connect	82	160	307.30	nil	0	0	0.00
Iridium_during_xfer	225	223	1178.54
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.97
TT8	1724	19	344.81
LPSleep	14798	2	327.32
TT8_Active	568	19	113.68
TT8_Sampling	2150	39	864.55
TT8_CF8	626	45	289.62
TT8_Kalman	33	81	27.57
Analog_circuits	1657	12	200.89
GPS_charging	0	0	0.00
Compass	2124	8	171.64
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	-61.88	0.000	2	0.000	0.000	47	2905	3431
86	-1.10	-146.6	3.8	-8.6	3	108	11.98	1.73	-1.23	0.000	4	0.159	0.120	2163	3766	3501
360	-1.10	-146.6	35.9	-8.0	15	364	0.00	1.50	0.00	0.000	6	0.000	0.032	2163	2891	3501
687	-1.10	-146.6	63.1	-10.0	31	691	0.00	2.58	0.00	0.000	4	0.000	0.068	2163	1492	3501
730	-1.10	-146.6	67.8	-11.1	33	734	0.00	2.60	0.00	0.000	6	0.000	0.069	2164	2891	3501
1057	-1.10	-146.6	97.5	-7.5	49	1058	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2891	3501
1366	-1.10	-146.6	117.2	-6.1	64	1370	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1500	3501
1409	-1.10	-146.6	120.4	-6.7	66	1413	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2900	3501
1736	-1.10	-146.6	141.7	-6.7	82	1740	0.00	2.60	0.00	0.000	4	0.000	0.068	2164	1501	3501
1767	-1.10	-146.6	143.7	-6.7	83	1774	0.00	2.62	0.00	0.000	6	0.000	0.069	2164	2900	3501
2083	-1.10	-146.6	165.9	-7.4	99	2087	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1501	3501
2131	-1.10	-146.6	169.4	-7.3	101	2136	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2901	3501
2453	-1.10	-146.6	194.1	-7.9	117	2454	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3501
2762	-1.10	-146.6	215.9	-6.9	132	2766	0.00	2.60	0.00	0.000	4	0.000	0.067	2164	1493	3501
2838	-1.10	-146.6	221.7	-7.7	135	2845	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2894	3501
3155	-1.10	-146.6	245.9	-7.7	151	3159	0.00	2.58	0.00	0.000	4	0.000	0.067	2164	1498	3501
3188	-1.10	-146.6	248.6	-8.3	152	3194	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2901	3501
3502	-1.10	-146.6	273.7	-8.0	168	3506	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1501	3501
3545	-1.10	-146.6	277.3	-8.1	170	3549	0.00	2.60	0.00	0.000	6	0.000	0.068	2164	2904	3501
3873	-1.10	-146.6	300.5	-6.8	186	3874	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3501
4181	-1.10	-146.6	323.2	-7.5	201	4186	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1501	3501
4259	-1.10	-146.6	329.1	-7.7	204	4265	0.00	2.58	0.00	0.000	6	0.000	0.067	2164	2900	3501
4574	-1.10	-146.6	352.2	-7.3	220	4578	0.00	2.58	0.00	0.000	4	0.000	0.064	2164	1496	3501
4617	-1.10	-146.6	355.5	-7.3	222	4621	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2904	3501
4944	-1.10	-146.6	379.8	-7.8	238	4945	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3501
5253	-1.10	-146.6	404.0	-8.0	253	5257	0.00	2.58	0.00	0.000	4	0.000	0.066	2164	1500	3501
5341	-1.10	-146.6	411.3	-8.4	257	5345	0.00	2.62	0.00	0.000	6	0.000	0.074	2164	2903	3501
5668	-1.10	-146.6	439.0	-8.1	273	5669	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3501
5977	-1.10	-146.6	463.0	-7.7	288	5978	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3501
6286	-1.10	-146.6	485.4	-7.0	303	6287	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3501
6596	-1.10	-146.6	506.8	-6.8	318	6600	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1494	3501
6644	-1.10	-146.6	510.2	-7.2	320	6648	0.00	2.60	0.00	0.000	6	0.000	0.071	2164	2901	3501
6966	-1.10	-146.6	531.9	-6.8	336	6970	0.00	2.55	0.00	0.000	4	0.000	0.063	2163	1498	3501
7015	-1.10	-146.6	535.6	-6.5	338	7019	0.00	2.60	0.00	0.000	6	0.000	0.072	2164	2903	3501
7336	-1.10	-146.6	557.7	-6.7	354	7340	0.00	2.55	0.00	0.000	4	0.000	0.058	2163	1490	3501
7413	-1.10	-146.6	562.9	-6.4	357	7419	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2906	3501
7729	-1.10	-146.6	582.2	-6.0	373	7733	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1490	3501
7783	-1.10	-146.6	585.8	-6.2	375	7790	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2891	3501
8099	-1.10	-146.6	604.7	-6.3	391	8103	0.00	2.53	0.00	0.000	4	0.000	0.061	2164	1494	3501
8160	-1.10	-146.6	608.7	-6.9	394	8165	0.00	2.60	0.00	0.000	6	0.000	0.071	2164	2899	3501
8485	-1.10	-146.6	629.5	-6.5	410	8489	0.00	2.55	0.00	0.000	4	0.000	0.062	2163	1498	3501
8540	-1.10	-146.6	633.3	-6.8	412	8546	0.00	2.60	0.00	0.000	6	0.000	0.069	2164	2904	3501
8855	-1.10	-146.6	653.8	-6.4	428	8860	0.00	2.55	0.00	0.000	4	0.000	0.063	2164	1498	3501
8940	-1.10	-146.6	658.7	-5.8	432	8944	0.00	2.62	0.00	0.000	6	0.000	0.072	2164	2904	3501
9160	end dive: BOTTOM_OBSTACLE_DETECTED
state	9160	begin apogee
9167	-0.42	0.0	672.6	6.4	443	9295	0.75	0.00	124.95	1.208	6	0.089	0.000	2314	2112	2901
9295	end apogee: CONTROL_FINISHED_OK
state	9296	begin climb
9297	1.10	146.6	676.6	0.0	449	9428	1.55	2.70	122.12	1.178	4	0.054	0.061	2649	687	2303
9558	1.11	152.9	666.3	5.8	461	9570	0.00	2.53	6.93	0.953	6	0.000	0.041	2649	2109	2277
9879	1.15	188.7	647.8	5.0	476	9919	0.00	2.67	31.40	1.161	4	0.000	0.072	2649	3511	2131
9969	1.15	188.7	642.2	6.9	480	9973	0.00	2.53	0.00	0.000	6	0.000	0.042	2649	2094	2131
10296	1.15	188.7	621.8	6.3	496	10300	0.00	2.58	0.00	0.000	4	0.000	0.063	2649	691	2129
10361	1.15	188.7	617.3	6.8	499	10365	0.00	2.53	0.00	0.000	6	0.000	0.043	2649	2113	2129
10688	1.16	196.6	597.5	5.8	515	10702	0.00	2.67	7.78	1.015	4	0.000	0.072	2649	3499	2099
10747	1.16	196.6	593.6	7.3	517	10754	0.00	2.53	0.00	0.000	6	0.000	0.043	2649	2099	2099
11063	1.16	196.6	573.3	6.7	533	11067	0.00	2.65	0.00	0.000	4	0.000	0.071	2649	3506	2098
11135	1.16	196.6	567.8	7.6	536	11139	0.00	2.50	0.00	0.000	6	0.000	0.042	2649	2099	2098
11450	1.19	217.3	548.5	5.4	551	11475	0.00	2.67	18.30	1.111	4	0.000	0.063	2649	690	2015
11576	1.19	217.3	540.7	6.2	556	11583	0.00	2.50	0.00	0.000	6	0.000	0.045	2649	2097	2015
11891	1.19	217.3	522.4	6.2	572	11896	0.00	2.65	0.00	0.000	4	0.000	0.073	2649	3515	2015
11976	1.19	217.3	516.6	7.1	576	11980	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2099	2014
12301	1.19	217.3	495.0	6.4	592	12302	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2099	2014
12610	1.19	217.3	474.1	7.2	607	12614	0.00	2.67	0.00	0.000	4	0.000	0.074	2649	3515	2014
12681	1.19	217.3	468.6	7.9	610	12685	0.00	2.53	0.00	0.000	6	0.000	0.045	2649	2094	2014
13003	1.19	217.3	445.2	7.2	626	13007	0.00	2.70	0.00	0.000	4	0.000	0.077	2649	3516	2015
13045	1.19	217.3	441.9	7.2	628	13050	0.00	2.55	0.00	0.000	6	0.000	0.046	2649	2096	2015
13372	1.19	217.3	418.2	7.2	644	13373	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2096	2015
13682	1.19	217.3	396.3	7.0	659	13686	0.00	2.65	0.00	0.000	4	0.000	0.074	2649	3509	2015
13720	1.19	217.3	393.5	7.1	661	13725	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2096	2015
14046	1.19	217.3	371.5	6.4	677	14047	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2095	2016
14355	1.19	217.3	351.4	6.8	692	14357	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2095	2016
14664	1.19	217.3	329.8	7.1	707	14669	0.00	2.67	0.00	0.000	4	0.000	0.074	2649	3515	2017
14714	1.19	217.3	325.9	7.8	709	14718	0.00	2.50	0.00	0.000	6	0.000	0.043	2649	2093	2017
15035	1.19	217.3	302.5	7.2	725	15039	0.00	2.55	0.00	0.000	4	0.000	0.064	2649	687	2017
15078	1.19	217.3	299.1	7.8	727	15082	0.00	2.53	0.00	0.000	6	0.000	0.046	2649	2100	2017
15404	1.19	217.3	276.2	7.1	743	15409	0.00	2.62	0.00	0.000	4	0.000	0.072	2649	3512	2017
15453	1.19	217.3	272.4	7.5	745	15458	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2094	2017
15775	1.19	217.3	248.8	7.3	761	15776	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2094	2017
16084	1.19	217.3	226.6	7.1	776	16089	0.00	2.65	0.00	0.000	4	0.000	0.073	2649	3509	2017
16161	1.19	217.3	220.4	8.3	779	16167	0.00	2.47	0.00	0.000	6	0.000	0.044	2649	2100	2018
16476	1.19	217.3	197.4	7.1	795	16480	0.00	2.65	0.00	0.000	4	0.000	0.074	2649	3515	2018
16530	1.19	217.3	193.5	7.1	797	16537	0.00	2.53	0.00	0.000	6	0.000	0.044	2649	2098	2018
16846	1.19	217.3	168.9	7.8	813	16850	0.00	2.65	0.00	0.000	4	0.000	0.074	2649	3511	2018
16900	1.19	217.3	164.1	8.7	815	16907	0.00	2.53	0.00	0.000	6	0.000	0.046	2649	2098	2018
17217	1.19	217.3	139.5	7.5	831	17222	0.00	2.67	0.00	0.000	4	0.000	0.076	2649	3514	2018
17257	1.19	217.3	136.4	8.4	833	17261	0.00	2.50	0.00	0.000	6	0.000	0.047	2649	2100	2018
17583	1.19	217.3	112.6	7.3	849	17587	0.00	2.67	0.00	0.000	4	0.000	0.076	2649	3514	2019
17621	1.19	217.3	109.6	7.0	851	17626	0.00	2.50	0.00	0.000	6	0.000	0.048	2649	2101	2019
17948	1.19	217.3	86.3	6.5	867	17952	0.00	2.67	0.00	0.000	4	0.000	0.076	2649	3516	2019
17991	1.19	217.3	82.8	8.4	869	17995	0.00	2.53	0.00	0.000	6	0.000	0.048	2649	2107	2019
18318	1.19	217.3	59.0	7.1	885	18319	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2107	2019
18628	1.19	217.3	38.2	7.0	900	18632	0.00	2.62	0.00	0.000	4	0.000	0.075	2649	3509	2019
18699	1.19	219.1	33.0	6.0	903	18711	0.00	2.50	4.32	0.604	6	0.000	0.048	2649	2098	2006
19021	1.19	219.1	12.5	7.1	919	19025	0.00	2.67	0.00	0.000	4	0.000	0.077	2649	3512	2007
19052	1.19	219.1	9.8	6.8	920	19059	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2105	2006
19181	end climb: SURFACE_DEPTH_REACHED
state	19181	begin surface coast
19203	end surface coast: CONTROL_FINISHED_OK
state	19203	begin surface