Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 163 * 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 163 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 23 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 -65310.223 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 -65310.223

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 23 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 163 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 051656,6244.343,-1147.539,41,1.3,41,-11.2 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6252.000,-1230.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,0.092

_SM_DEPTHo -0.08 KALMAN_X -228857.7,226.4,-305.8,58607.8,1424.9

_SM_ANGLEo -60.2 KALMAN_Y -43588.9,-254.5,-1112.2,175028.4,-897.1

GPS2 052715,6244.225,-1147.547,13,1.3,13,-11.2 MHEAD_RNG_PITCHd_Wd 306.2,38641,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 650

Post-dive calculations and measurements:

FINISH -0.3,1.027316 XPDR_PINGS 2

SM_CCo 18974,59.80,0.747,1,0,1678,300.00 ALTIM_BOTTOM_PING 625.6,48.9

SM_GC 0.19,0.00,0.00,59.80,0.000,0.000,0.747,40,2897,1678,-10.90,-0.08,300.00 _24V_AH 23.4,30.155

IRIDIUM_FIX 6216.53,-1144.37,121207,090954 _10V_AH 10.1,14.409

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47392,917

HUMID 2058 CFSIZE 260165632,249106432

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,39,1,0

TCM_TEMP 17.20 GPS 121207,104656,6244.276,-1150.733,40,1.5,40,-11.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 157 95.02 SBE_CT 668 24 375.32

Roll_motor 179 94 396.48 SBE_O2 638 19 283.87

VBD_pump_during_apogee 322 1194 9024.95 WL_BB2F 560 105 1378.11

VBD_pump_during_surface 59 747 1045.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 179.61 nil 0 0 0.00

Iridium_during_connect 84 160 317.13 nil 0 0 0.00

Iridium_during_xfer 289 223 1510.26

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.94

TT8 1693 19 338.76

LPSleep 14718 2 325.55

TT8_Active 551 19 110.38

TT8_Sampling 2022 39 812.96

TT8_CF8 686 45 317.69

TT8_Kalman 33 81 27.57

Analog_circuits 1577 12 191.24

GPS_charging 0 0 0.00

Compass 1995 8 161.26

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

19 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.10 -146.6 0.0 0.0 0 85 0.00 0.00 -61.55 0.000 2 0.000 0.000 48 2895 3426

87 -1.10 -146.6 3.5 -8.0 3 110 11.93 2.60 -1.33 0.000 4 0.157 0.073 2164 1491 3502

159 -1.10 -146.6 17.2 -7.8 6 164 0.00 2.65 0.00 0.000 6 0.000 0.070 2164 2906 3503

488 -1.10 -146.6 42.7 -8.1 22 491 0.00 1.65 0.00 0.000 4 0.000 0.084 2164 3784 3503

537 -1.10 -146.6 47.1 -8.5 24 541 0.00 1.52 0.00 0.000 6 0.000 0.032 2164 2893 3503

864 -1.10 -146.6 72.8 -7.5 40 869 0.00 2.55 0.00 0.000 4 0.000 0.067 2164 1500 3503

919 -1.10 -146.6 76.9 -7.7 42 926 0.00 2.62 0.00 0.000 6 0.000 0.067 2164 2903 3503

1235 -1.10 -146.6 101.2 -7.9 58 1236 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3503

1544 -1.10 -146.6 126.3 -8.1 73 1548 0.00 2.58 0.00 0.000 4 0.000 0.061 2164 1497 3503

1605 -1.10 -146.6 131.3 -8.9 76 1610 0.00 2.60 0.00 0.000 6 0.000 0.065 2164 2906 3503

1931 -1.10 -146.6 157.1 -7.9 92 1935 0.00 2.58 0.00 0.000 4 0.000 0.062 2164 1497 3503

1957 -1.10 -146.6 159.2 -7.9 93 1962 0.00 2.58 0.00 0.000 6 0.000 0.064 2164 2899 3503

2278 -1.10 -146.6 183.2 -7.2 109 2279 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2588 -1.10 -146.6 205.8 -7.0 124 2589 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

2897 -1.10 -146.6 228.3 -7.2 139 2901 0.00 2.55 0.00 0.000 4 0.000 0.062 2164 1499 3503

2957 -1.10 -146.6 232.7 -7.9 142 2962 0.00 2.55 0.00 0.000 6 0.000 0.064 2164 2899 3503

3283 -1.10 -146.6 256.5 -7.5 158 3284 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

3592 -1.10 -146.6 279.6 -7.4 173 3596 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1496 3503

3653 -1.10 -146.6 284.0 -7.6 175 3660 0.00 2.60 0.00 0.000 6 0.000 0.064 2164 2899 3503

3969 -1.10 -146.6 306.4 -7.1 191 3970 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3503

4278 -1.10 -146.6 328.7 -7.4 206 4282 0.00 2.55 0.00 0.000 4 0.000 0.061 2164 1490 3503

4321 -1.10 -146.6 332.0 -7.3 208 4325 0.00 2.58 0.00 0.000 6 0.000 0.065 2164 2899 3503

4648 -1.10 -146.6 354.8 -6.9 224 4652 0.00 2.53 0.00 0.000 4 0.000 0.060 2164 1497 3503

4680 -1.10 -146.6 357.2 -7.1 225 4685 0.00 2.58 0.00 0.000 6 0.000 0.065 2164 2900 3503

5002 -1.10 -146.6 379.1 -6.8 241 5003 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

5311 -1.10 -146.6 399.8 -6.6 256 5319 0.00 2.53 0.00 0.000 4 0.000 0.061 2164 1499 3503

5363 -1.10 -146.6 403.5 -7.3 258 5367 0.00 2.58 0.00 0.000 6 0.000 0.065 2164 2900 3503

5689 -1.10 -146.6 425.0 -6.6 274 5694 0.00 2.55 0.00 0.000 4 0.000 0.061 2164 1496 3503

5738 -1.10 -146.6 428.2 -6.7 276 5742 0.00 2.60 0.00 0.000 6 0.000 0.064 2164 2912 3503

6065 -1.10 -146.6 448.5 -5.9 292 6066 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2912 3503

6374 -1.10 -146.6 467.8 -6.5 307 6378 0.00 2.55 0.00 0.000 4 0.000 0.055 2164 1494 3503

6422 -1.10 -146.6 471.0 -6.8 309 6427 0.00 2.58 0.00 0.000 6 0.000 0.061 2164 2908 3503

6743 -1.10 -146.6 492.5 -6.7 325 6747 0.00 2.53 0.00 0.000 4 0.000 0.054 2164 1492 3503

6781 -1.10 -146.6 494.9 -6.5 327 6786 0.00 2.58 0.00 0.000 6 0.000 0.062 2164 2905 3503

7107 -1.10 -146.6 515.4 -6.3 343 7109 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3503

7416 -1.10 -146.6 537.0 -7.0 358 7421 0.00 2.50 0.00 0.000 4 0.000 0.050 2164 1492 3503

7527 -1.10 -146.6 544.9 -7.3 363 7532 0.00 2.55 0.00 0.000 6 0.000 0.060 2164 2902 3503

7854 -1.10 -146.6 564.7 -5.7 379 7858 0.00 2.50 0.00 0.000 4 0.000 0.047 2164 1482 3503

7894 -1.10 -146.6 567.0 -5.9 381 7898 0.00 2.58 0.00 0.000 6 0.000 0.058 2164 2908 3503

8219 -1.10 -146.6 588.1 -7.3 397 8221 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2908 3503

8528 -1.10 -146.6 609.2 -6.2 412 8533 0.00 2.47 0.00 0.000 4 0.000 0.044 2164 1490 3503

8572 -1.10 -146.6 611.9 -6.0 414 8576 0.00 2.55 0.00 0.000 6 0.000 0.056 2164 2908 3503

8899 -1.10 -146.6 632.4 -6.4 430 8900 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2907 3503

9165 end dive: TARGET_DEPTH_EXCEEDED

state 9165 begin apogee

9171 -0.42 0.0 650.3 6.5 443 9299 0.75 0.00 125.20 1.195 6 0.074 0.000 2321 2093 2901

9300 end apogee: CONTROL_FINISHED_OK

state 9300 begin climb

9302 1.10 146.6 654.7 0.0 449 9433 1.50 2.58 121.62 1.162 4 0.048 0.054 2649 710 2303

9592 1.11 153.6 646.0 5.8 462 9606 0.00 2.45 7.78 0.968 6 0.000 0.035 2649 2113 2274

9933 1.15 186.0 629.0 5.1 479 9967 0.00 2.62 28.12 1.135 4 0.000 0.059 2649 3492 2142

10019 1.15 186.0 624.2 6.3 483 10024 0.00 2.42 0.00 0.000 6 0.000 0.035 2649 2102 2142

10345 1.16 196.1 605.6 5.7 499 10360 0.00 2.62 9.98 1.051 4 0.000 0.059 2649 3502 2101

10437 1.16 197.2 600.4 6.0 502 10442 0.00 2.45 0.00 0.000 6 0.000 0.035 2649 2096 2101

10759 1.17 204.8 581.4 5.8 518 10769 0.00 0.00 8.68 1.036 6 0.000 0.000 2649 2097 2066

11068 1.17 204.8 559.1 7.8 533 11072 0.00 2.58 0.00 0.000 4 0.000 0.061 2649 3505 2066

11167 1.17 204.8 551.5 7.1 537 11174 0.00 2.42 0.00 0.000 6 0.000 0.035 2649 2101 2065

11482 1.17 204.8 532.2 6.4 553 11483 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2101 2065

11791 1.17 204.8 509.4 7.7 568 11796 0.00 2.58 0.00 0.000 4 0.000 0.063 2649 3496 2064

11823 1.17 204.8 506.6 7.9 569 11830 0.00 2.45 0.00 0.000 6 0.000 0.035 2649 2102 2064

12139 1.17 204.8 483.8 6.6 585 12143 0.00 2.53 0.00 0.000 4 0.000 0.055 2649 697 2064

12165 1.17 204.8 481.9 6.1 586 12170 0.00 2.45 0.00 0.000 6 0.000 0.038 2649 2090 2064

12486 1.17 204.8 461.8 6.3 602 12490 0.00 2.60 0.00 0.000 4 0.000 0.064 2649 3512 2064

12552 1.17 204.8 457.3 6.4 605 12556 0.00 2.45 0.00 0.000 6 0.000 0.038 2649 2104 2065

12879 1.17 204.8 436.3 6.6 621 12883 0.00 2.60 0.00 0.000 4 0.000 0.067 2649 3506 2065

12910 1.17 204.8 434.0 7.0 622 12917 0.00 2.47 0.00 0.000 6 0.000 0.039 2649 2099 2065

13226 1.17 204.8 411.5 7.1 638 13227 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2099 2065

13535 1.17 204.8 390.4 6.4 653 13539 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3511 2066

13598 1.17 204.8 386.3 6.8 656 13602 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2096 2066

13924 1.19 220.6 367.1 5.6 672 13943 0.00 0.00 14.60 0.958 6 0.000 0.000 2649 2096 2001

14252 1.19 220.6 347.3 6.2 688 14257 0.00 2.62 0.00 0.000 4 0.000 0.069 2649 3511 2001

14329 1.19 220.6 341.6 7.5 691 14336 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2100 2001

14645 1.19 220.6 318.6 7.3 707 14649 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3515 2001

14677 1.19 220.6 316.1 7.6 708 14683 0.00 2.50 0.00 0.000 6 0.000 0.041 2649 2103 2001

14992 1.19 220.6 292.9 7.1 724 14997 0.00 2.62 0.00 0.000 4 0.000 0.070 2649 3509 2001

15032 1.19 220.6 289.9 8.1 726 15036 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2099 2001

15357 1.19 220.6 266.2 6.8 742 15361 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3507 2002

15411 1.19 220.6 262.2 7.5 744 15418 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2100 2002

15727 1.19 220.6 241.3 6.6 760 15731 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3507 2002

15758 1.19 220.6 238.9 7.3 761 15765 0.00 2.50 0.00 0.000 6 0.000 0.043 2649 2098 2002

16074 1.19 220.6 217.4 7.0 777 16078 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3505 2002

16117 1.19 220.6 214.0 7.4 779 16121 0.00 2.47 0.00 0.000 6 0.000 0.044 2649 2094 2003

16443 1.19 220.6 190.1 7.3 795 16444 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2094 2003

16753 1.20 226.3 169.6 5.8 810 16767 0.10 2.70 6.78 0.762 4 0.051 0.071 2685 3505 1978

16840 1.20 226.3 163.0 8.8 814 16845 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2093 1978

17167 1.20 226.3 138.1 7.7 830 17168 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 1978

17476 1.20 226.3 113.5 7.8 845 17477 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 1978

17785 1.20 226.3 88.9 7.9 860 17790 0.00 2.65 0.00 0.000 4 0.000 0.071 2685 3512 1978

17829 1.20 226.3 85.1 8.2 862 17833 0.00 2.53 0.00 0.000 6 0.000 0.048 2685 2102 1978

18156 1.20 226.3 59.4 7.9 878 18157 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2102 1979

18465 1.20 226.3 36.1 7.0 893 18470 0.00 2.62 0.00 0.000 4 0.000 0.071 2685 3512 1978

18505 1.20 226.3 33.2 8.2 895 18509 0.00 2.50 0.00 0.000 6 0.000 0.048 2685 2099 1978

18830 1.20 226.3 9.5 7.5 911 18834 0.00 2.55 0.00 0.000 4 0.000 0.061 2685 686 1979

18879 1.20 226.3 5.1 8.3 913 18884 0.00 2.47 0.00 0.000 6 0.000 0.043 2685 2096 1979

18931 end climb: SURFACE_DEPTH_REACHED

state 18931 begin surface coast

18953 end surface coast: CONTROL_FINISHED_OK

state 18953 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	163	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	23	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	-65310.223	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	051656,6244.343,-1147.539,41,1.3,41,-11.2	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6252.000,-1230.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,0.092
_SM_DEPTHo	-0.08	KALMAN_X	-228857.7,226.4,-305.8,58607.8,1424.9
_SM_ANGLEo	-60.2	KALMAN_Y	-43588.9,-254.5,-1112.2,175028.4,-897.1
GPS2	052715,6244.225,-1147.547,13,1.3,13,-11.2	MHEAD_RNG_PITCHd_Wd	306.2,38641,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	650

FINISH	-0.3,1.027316	XPDR_PINGS	2
SM_CCo	18974,59.80,0.747,1,0,1678,300.00	ALTIM_BOTTOM_PING	625.6,48.9
SM_GC	0.19,0.00,0.00,59.80,0.000,0.000,0.747,40,2897,1678,-10.90,-0.08,300.00	_24V_AH	23.4,30.155
IRIDIUM_FIX	6216.53,-1144.37,121207,090954	_10V_AH	10.1,14.409
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47392,917
HUMID	2058	CFSIZE	260165632,249106432
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,39,1,0
TCM_TEMP	17.20	GPS	121207,104656,6244.276,-1150.733,40,1.5,40,-11.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	157	95.02	SBE_CT	668	24	375.32
Roll_motor	179	94	396.48	SBE_O2	638	19	283.87
VBD_pump_during_apogee	322	1194	9024.95	WL_BB2F	560	105	1378.11
VBD_pump_during_surface	59	747	1045.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	179.61	nil	0	0	0.00
Iridium_during_connect	84	160	317.13	nil	0	0	0.00
Iridium_during_xfer	289	223	1510.26
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.94
TT8	1693	19	338.76
LPSleep	14718	2	325.55
TT8_Active	551	19	110.38
TT8_Sampling	2022	39	812.96
TT8_CF8	686	45	317.69
TT8_Kalman	33	81	27.57
Analog_circuits	1577	12	191.24
GPS_charging	0	0	0.00
Compass	1995	8	161.26
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
19	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.10	-146.6	0.0	0.0	0	85	0.00	0.00	-61.55	0.000	2	0.000	0.000	48	2895	3426
87	-1.10	-146.6	3.5	-8.0	3	110	11.93	2.60	-1.33	0.000	4	0.157	0.073	2164	1491	3502
159	-1.10	-146.6	17.2	-7.8	6	164	0.00	2.65	0.00	0.000	6	0.000	0.070	2164	2906	3503
488	-1.10	-146.6	42.7	-8.1	22	491	0.00	1.65	0.00	0.000	4	0.000	0.084	2164	3784	3503
537	-1.10	-146.6	47.1	-8.5	24	541	0.00	1.52	0.00	0.000	6	0.000	0.032	2164	2893	3503
864	-1.10	-146.6	72.8	-7.5	40	869	0.00	2.55	0.00	0.000	4	0.000	0.067	2164	1500	3503
919	-1.10	-146.6	76.9	-7.7	42	926	0.00	2.62	0.00	0.000	6	0.000	0.067	2164	2903	3503
1235	-1.10	-146.6	101.2	-7.9	58	1236	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3503
1544	-1.10	-146.6	126.3	-8.1	73	1548	0.00	2.58	0.00	0.000	4	0.000	0.061	2164	1497	3503
1605	-1.10	-146.6	131.3	-8.9	76	1610	0.00	2.60	0.00	0.000	6	0.000	0.065	2164	2906	3503
1931	-1.10	-146.6	157.1	-7.9	92	1935	0.00	2.58	0.00	0.000	4	0.000	0.062	2164	1497	3503
1957	-1.10	-146.6	159.2	-7.9	93	1962	0.00	2.58	0.00	0.000	6	0.000	0.064	2164	2899	3503
2278	-1.10	-146.6	183.2	-7.2	109	2279	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2588	-1.10	-146.6	205.8	-7.0	124	2589	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
2897	-1.10	-146.6	228.3	-7.2	139	2901	0.00	2.55	0.00	0.000	4	0.000	0.062	2164	1499	3503
2957	-1.10	-146.6	232.7	-7.9	142	2962	0.00	2.55	0.00	0.000	6	0.000	0.064	2164	2899	3503
3283	-1.10	-146.6	256.5	-7.5	158	3284	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
3592	-1.10	-146.6	279.6	-7.4	173	3596	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1496	3503
3653	-1.10	-146.6	284.0	-7.6	175	3660	0.00	2.60	0.00	0.000	6	0.000	0.064	2164	2899	3503
3969	-1.10	-146.6	306.4	-7.1	191	3970	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3503
4278	-1.10	-146.6	328.7	-7.4	206	4282	0.00	2.55	0.00	0.000	4	0.000	0.061	2164	1490	3503
4321	-1.10	-146.6	332.0	-7.3	208	4325	0.00	2.58	0.00	0.000	6	0.000	0.065	2164	2899	3503
4648	-1.10	-146.6	354.8	-6.9	224	4652	0.00	2.53	0.00	0.000	4	0.000	0.060	2164	1497	3503
4680	-1.10	-146.6	357.2	-7.1	225	4685	0.00	2.58	0.00	0.000	6	0.000	0.065	2164	2900	3503
5002	-1.10	-146.6	379.1	-6.8	241	5003	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
5311	-1.10	-146.6	399.8	-6.6	256	5319	0.00	2.53	0.00	0.000	4	0.000	0.061	2164	1499	3503
5363	-1.10	-146.6	403.5	-7.3	258	5367	0.00	2.58	0.00	0.000	6	0.000	0.065	2164	2900	3503
5689	-1.10	-146.6	425.0	-6.6	274	5694	0.00	2.55	0.00	0.000	4	0.000	0.061	2164	1496	3503
5738	-1.10	-146.6	428.2	-6.7	276	5742	0.00	2.60	0.00	0.000	6	0.000	0.064	2164	2912	3503
6065	-1.10	-146.6	448.5	-5.9	292	6066	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2912	3503
6374	-1.10	-146.6	467.8	-6.5	307	6378	0.00	2.55	0.00	0.000	4	0.000	0.055	2164	1494	3503
6422	-1.10	-146.6	471.0	-6.8	309	6427	0.00	2.58	0.00	0.000	6	0.000	0.061	2164	2908	3503
6743	-1.10	-146.6	492.5	-6.7	325	6747	0.00	2.53	0.00	0.000	4	0.000	0.054	2164	1492	3503
6781	-1.10	-146.6	494.9	-6.5	327	6786	0.00	2.58	0.00	0.000	6	0.000	0.062	2164	2905	3503
7107	-1.10	-146.6	515.4	-6.3	343	7109	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3503
7416	-1.10	-146.6	537.0	-7.0	358	7421	0.00	2.50	0.00	0.000	4	0.000	0.050	2164	1492	3503
7527	-1.10	-146.6	544.9	-7.3	363	7532	0.00	2.55	0.00	0.000	6	0.000	0.060	2164	2902	3503
7854	-1.10	-146.6	564.7	-5.7	379	7858	0.00	2.50	0.00	0.000	4	0.000	0.047	2164	1482	3503
7894	-1.10	-146.6	567.0	-5.9	381	7898	0.00	2.58	0.00	0.000	6	0.000	0.058	2164	2908	3503
8219	-1.10	-146.6	588.1	-7.3	397	8221	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2908	3503
8528	-1.10	-146.6	609.2	-6.2	412	8533	0.00	2.47	0.00	0.000	4	0.000	0.044	2164	1490	3503
8572	-1.10	-146.6	611.9	-6.0	414	8576	0.00	2.55	0.00	0.000	6	0.000	0.056	2164	2908	3503
8899	-1.10	-146.6	632.4	-6.4	430	8900	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2907	3503
9165	end dive: TARGET_DEPTH_EXCEEDED
state	9165	begin apogee
9171	-0.42	0.0	650.3	6.5	443	9299	0.75	0.00	125.20	1.195	6	0.074	0.000	2321	2093	2901
9300	end apogee: CONTROL_FINISHED_OK
state	9300	begin climb
9302	1.10	146.6	654.7	0.0	449	9433	1.50	2.58	121.62	1.162	4	0.048	0.054	2649	710	2303
9592	1.11	153.6	646.0	5.8	462	9606	0.00	2.45	7.78	0.968	6	0.000	0.035	2649	2113	2274
9933	1.15	186.0	629.0	5.1	479	9967	0.00	2.62	28.12	1.135	4	0.000	0.059	2649	3492	2142
10019	1.15	186.0	624.2	6.3	483	10024	0.00	2.42	0.00	0.000	6	0.000	0.035	2649	2102	2142
10345	1.16	196.1	605.6	5.7	499	10360	0.00	2.62	9.98	1.051	4	0.000	0.059	2649	3502	2101
10437	1.16	197.2	600.4	6.0	502	10442	0.00	2.45	0.00	0.000	6	0.000	0.035	2649	2096	2101
10759	1.17	204.8	581.4	5.8	518	10769	0.00	0.00	8.68	1.036	6	0.000	0.000	2649	2097	2066
11068	1.17	204.8	559.1	7.8	533	11072	0.00	2.58	0.00	0.000	4	0.000	0.061	2649	3505	2066
11167	1.17	204.8	551.5	7.1	537	11174	0.00	2.42	0.00	0.000	6	0.000	0.035	2649	2101	2065
11482	1.17	204.8	532.2	6.4	553	11483	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2101	2065
11791	1.17	204.8	509.4	7.7	568	11796	0.00	2.58	0.00	0.000	4	0.000	0.063	2649	3496	2064
11823	1.17	204.8	506.6	7.9	569	11830	0.00	2.45	0.00	0.000	6	0.000	0.035	2649	2102	2064
12139	1.17	204.8	483.8	6.6	585	12143	0.00	2.53	0.00	0.000	4	0.000	0.055	2649	697	2064
12165	1.17	204.8	481.9	6.1	586	12170	0.00	2.45	0.00	0.000	6	0.000	0.038	2649	2090	2064
12486	1.17	204.8	461.8	6.3	602	12490	0.00	2.60	0.00	0.000	4	0.000	0.064	2649	3512	2064
12552	1.17	204.8	457.3	6.4	605	12556	0.00	2.45	0.00	0.000	6	0.000	0.038	2649	2104	2065
12879	1.17	204.8	436.3	6.6	621	12883	0.00	2.60	0.00	0.000	4	0.000	0.067	2649	3506	2065
12910	1.17	204.8	434.0	7.0	622	12917	0.00	2.47	0.00	0.000	6	0.000	0.039	2649	2099	2065
13226	1.17	204.8	411.5	7.1	638	13227	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2099	2065
13535	1.17	204.8	390.4	6.4	653	13539	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3511	2066
13598	1.17	204.8	386.3	6.8	656	13602	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2096	2066
13924	1.19	220.6	367.1	5.6	672	13943	0.00	0.00	14.60	0.958	6	0.000	0.000	2649	2096	2001
14252	1.19	220.6	347.3	6.2	688	14257	0.00	2.62	0.00	0.000	4	0.000	0.069	2649	3511	2001
14329	1.19	220.6	341.6	7.5	691	14336	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2100	2001
14645	1.19	220.6	318.6	7.3	707	14649	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3515	2001
14677	1.19	220.6	316.1	7.6	708	14683	0.00	2.50	0.00	0.000	6	0.000	0.041	2649	2103	2001
14992	1.19	220.6	292.9	7.1	724	14997	0.00	2.62	0.00	0.000	4	0.000	0.070	2649	3509	2001
15032	1.19	220.6	289.9	8.1	726	15036	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2099	2001
15357	1.19	220.6	266.2	6.8	742	15361	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3507	2002
15411	1.19	220.6	262.2	7.5	744	15418	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2100	2002
15727	1.19	220.6	241.3	6.6	760	15731	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3507	2002
15758	1.19	220.6	238.9	7.3	761	15765	0.00	2.50	0.00	0.000	6	0.000	0.043	2649	2098	2002
16074	1.19	220.6	217.4	7.0	777	16078	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3505	2002
16117	1.19	220.6	214.0	7.4	779	16121	0.00	2.47	0.00	0.000	6	0.000	0.044	2649	2094	2003
16443	1.19	220.6	190.1	7.3	795	16444	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2094	2003
16753	1.20	226.3	169.6	5.8	810	16767	0.10	2.70	6.78	0.762	4	0.051	0.071	2685	3505	1978
16840	1.20	226.3	163.0	8.8	814	16845	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2093	1978
17167	1.20	226.3	138.1	7.7	830	17168	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	1978
17476	1.20	226.3	113.5	7.8	845	17477	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	1978
17785	1.20	226.3	88.9	7.9	860	17790	0.00	2.65	0.00	0.000	4	0.000	0.071	2685	3512	1978
17829	1.20	226.3	85.1	8.2	862	17833	0.00	2.53	0.00	0.000	6	0.000	0.048	2685	2102	1978
18156	1.20	226.3	59.4	7.9	878	18157	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2102	1979
18465	1.20	226.3	36.1	7.0	893	18470	0.00	2.62	0.00	0.000	4	0.000	0.071	2685	3512	1978
18505	1.20	226.3	33.2	8.2	895	18509	0.00	2.50	0.00	0.000	6	0.000	0.048	2685	2099	1978
18830	1.20	226.3	9.5	7.5	911	18834	0.00	2.55	0.00	0.000	4	0.000	0.061	2685	686	1979
18879	1.20	226.3	5.1	8.3	913	18884	0.00	2.47	0.00	0.000	6	0.000	0.043	2685	2096	1979
18931	end climb: SURFACE_DEPTH_REACHED
state	18931	begin surface coast
18953	end surface coast: CONTROL_FINISHED_OK
state	18953	begin surface