Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 190 * 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 190 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 4 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 -65854.633 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 -65854.633

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 4 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 190 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 234307,6259.784,-1306.549,49,1.3,49,-12.1 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.032,0.216

_SM_DEPTHo 0.11 KALMAN_X -217801.6,-307.0,-886.0,-21000.2,-10.0

_SM_ANGLEo -53.7 KALMAN_Y -89112.0,-195.5,-490.3,248722.0,-1477.1

GPS2 235045,6259.797,-1306.599,13,2.0,13,-12.1 MHEAD_RNG_PITCHd_Wd 20.6,28688,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 727

Post-dive calculations and measurements:

FINISH 1.3,1.027282 XPDR_PINGS 1

SM_CCo 19524,52.75,0.736,1,0,1678,300.00 ALTIM_BOTTOM_PING 651.2,75.7

SM_GC -0.10,0.00,0.00,52.75,0.000,0.000,0.736,51,2892,1678,-10.85,-0.23,300.00 _24V_AH 23.4,33.934

IRIDIUM_FIX 6230.49,-1302.51,171207,222216 _10V_AH 10.1,16.681

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47356,940

HUMID 2068 CFSIZE 260165632,247422976

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,37,1,0

TCM_TEMP 19.10 GPS 181207,051955,6302.516,-1307.173,64,1.3,64,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.78 SBE_CT 686 24 385.70

Roll_motor 173 112 458.28 SBE_O2 656 19 292.06

VBD_pump_during_apogee 326 1256 9603.02 WL_BB2F 549 105 1348.93

VBD_pump_during_surface 52 735 907.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 94.85 nil 0 0 0.00

Iridium_during_connect 34 160 127.92 nil 0 0 0.00

Iridium_during_xfer 278 223 1454.68

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.69

TT8 1725 19 344.97

LPSleep 15112 2 334.27

TT8_Active 537 19 107.48

TT8_Sampling 2084 39 838.02

TT8_CF8 596 45 275.78

TT8_Kalman 33 81 27.57

Analog_circuits 1585 12 192.17

GPS_charging 0 0 0.00

Compass 2057 8 166.28

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.10 -146.2 0.0 0.0 0 84 0.00 0.00 -61.95 0.000 2 0.000 0.000 46 2898 3448

87 -1.10 -146.2 3.8 -9.4 3 109 11.95 1.77 -0.93 0.000 4 0.158 0.113 2162 3790 3500

361 -1.10 -146.2 32.7 -6.8 15 365 0.00 1.55 0.00 0.000 6 0.000 0.037 2162 2899 3501

688 -1.10 -146.2 54.5 -6.1 31 691 0.00 1.70 0.00 0.000 4 0.000 0.081 2162 3793 3500

883 -1.10 -146.2 70.6 -8.2 39 890 0.00 1.55 0.00 0.000 6 0.000 0.035 2162 2898 3501

1201 -1.10 -146.2 92.5 -7.3 55 1205 0.00 2.58 0.00 0.000 4 0.000 0.070 2162 1494 3501

1244 -1.10 -146.2 96.3 -8.2 57 1248 0.00 2.65 0.00 0.000 6 0.000 0.074 2162 2909 3501

1571 -1.10 -146.6 116.5 -5.6 73 1576 0.00 2.62 0.00 0.000 4 0.000 0.066 2162 1488 3501

1615 -1.10 -146.6 119.6 -7.3 75 1620 0.00 2.67 0.00 0.000 6 0.000 0.071 2162 2900 3501

1942 -1.10 -146.6 148.3 -9.9 91 1947 0.00 2.60 0.00 0.000 4 0.000 0.067 2162 1492 3501

2008 -1.10 -146.6 155.1 -9.8 94 2013 0.00 2.62 0.00 0.000 6 0.000 0.071 2162 2900 3501

2335 -1.10 -146.6 183.7 -8.3 110 2340 0.00 2.60 0.00 0.000 4 0.000 0.067 2162 1491 3501

2367 -1.10 -146.6 186.3 -7.5 111 2374 0.00 2.62 0.00 0.000 6 0.000 0.073 2162 2900 3501

2683 -1.10 -146.6 207.7 -6.6 127 2684 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2901 3501

2992 -1.10 -146.6 228.9 -6.7 142 2997 0.00 2.60 0.00 0.000 4 0.000 0.067 2162 1493 3501

3036 -1.10 -146.6 232.1 -7.0 144 3040 0.00 2.65 0.00 0.000 6 0.000 0.073 2162 2908 3501

3363 -1.10 -146.6 252.9 -6.2 160 3367 0.00 2.60 0.00 0.000 4 0.000 0.067 2162 1492 3501

3406 -1.10 -146.6 255.5 -6.3 162 3410 0.00 2.62 0.00 0.000 6 0.000 0.073 2162 2900 3502

3734 -1.10 -146.6 276.0 -6.4 178 3735 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2900 3501

4042 -1.10 -146.6 296.1 -6.5 193 4046 0.00 2.58 0.00 0.000 4 0.000 0.066 2162 1490 3501

4084 -1.10 -146.6 299.0 -6.4 195 4089 0.00 2.65 0.00 0.000 6 0.000 0.072 2162 2892 3501

4412 -1.10 -146.6 320.2 -6.5 211 4413 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2892 3501

4721 -1.10 -146.6 342.3 -7.3 226 4726 0.00 2.55 0.00 0.000 4 0.000 0.067 2162 1495 3501

4771 -1.10 -146.6 346.2 -7.5 228 4775 0.00 2.62 0.00 0.000 6 0.000 0.073 2162 2904 3501

5092 -1.10 -146.6 370.2 -7.6 244 5096 0.00 2.58 0.00 0.000 4 0.000 0.064 2162 1492 3501

5118 -1.10 -146.6 372.2 -7.7 245 5122 0.00 2.62 0.00 0.000 6 0.000 0.073 2162 2903 3501

5439 -1.10 -146.6 396.4 -7.5 261 5444 0.00 2.58 0.00 0.000 4 0.000 0.064 2162 1491 3501

5466 -1.10 -146.6 398.5 -7.6 262 5471 0.00 2.62 0.00 0.000 6 0.000 0.071 2162 2900 3501

5781 -1.10 -146.6 422.6 -7.9 277 5783 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2900 3501

6091 -1.10 -146.6 445.9 -7.3 292 6095 0.00 2.55 0.00 0.000 4 0.000 0.059 2162 1490 3501

6129 -1.10 -146.6 448.9 -7.8 294 6134 0.00 2.60 0.00 0.000 6 0.000 0.068 2162 2900 3501

6455 -1.10 -146.6 472.7 -7.1 310 6459 0.00 2.53 0.00 0.000 4 0.000 0.056 2162 1490 3501

6489 -1.10 -146.6 475.0 -7.1 311 6494 0.00 2.60 0.00 0.000 6 0.000 0.066 2162 2900 3501

6804 -1.10 -146.6 496.2 -6.6 326 6809 0.00 2.53 0.00 0.000 4 0.000 0.055 2162 1487 3501

6854 -1.10 -146.6 499.6 -6.8 328 6858 0.00 2.58 0.00 0.000 6 0.000 0.064 2162 2900 3501

7175 -1.10 -146.6 521.3 -7.0 344 7179 0.00 2.53 0.00 0.000 4 0.000 0.052 2162 1484 3501

7224 -1.10 -146.6 525.0 -8.1 346 7229 0.00 2.60 0.00 0.000 6 0.000 0.064 2162 2900 3501

7539 -1.10 -146.6 548.1 -7.2 361 7540 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2901 3501

7849 -1.10 -146.6 570.4 -7.0 376 7853 0.00 2.50 0.00 0.000 4 0.000 0.048 2162 1484 3501

7903 -1.10 -146.6 574.5 -7.6 378 7910 0.00 2.58 0.00 0.000 6 0.000 0.061 2162 2901 3501

8218 -1.10 -146.6 597.8 -6.7 394 8222 0.00 2.50 0.00 0.000 4 0.000 0.046 2162 1476 3501

8290 -1.10 -146.6 602.9 -7.4 397 8294 0.00 2.58 0.00 0.000 6 0.000 0.059 2162 2900 3501

8617 -1.10 -146.6 623.7 -6.0 413 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2901 3501

8926 -1.10 -146.6 640.8 -5.2 428 8931 0.00 2.47 0.00 0.000 4 0.000 0.043 2162 1483 3501

8998 -1.10 -146.6 645.2 -5.5 431 9002 0.00 2.55 0.00 0.000 6 0.000 0.057 2162 2901 3501

9320 -1.10 -146.6 665.6 -5.7 447 9321 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2902 3501

9629 -1.10 -146.6 683.0 -4.8 462 9633 0.00 2.47 0.00 0.000 4 0.000 0.041 2162 1482 3501

9740 -1.10 -146.6 688.0 -4.8 467 9744 0.00 2.55 0.00 0.000 6 0.000 0.055 2162 2902 3501

10060 -1.10 -146.6 708.1 -7.1 483 10064 0.00 2.47 0.00 0.000 4 0.000 0.043 2162 1485 3501

10114 -1.10 -146.6 711.6 -6.1 485 10121 0.00 2.58 0.00 0.000 6 0.000 0.058 2162 2895 3501

10180 end dive: BOTTOM_OBSTACLE_DETECTED

state 10180 begin apogee

10187 -0.42 0.0 717.0 8.1 489 10317 0.75 0.00 126.28 1.256 6 0.077 0.000 2317 2086 2901

10318 end apogee: CONTROL_FINISHED_OK

state 10318 begin climb

10320 1.10 146.6 720.7 0.0 495 10451 1.52 2.70 123.30 1.221 4 0.049 0.061 2651 3515 2303

10648 1.10 146.6 710.9 6.3 510 10653 0.00 2.47 0.00 0.000 6 0.000 0.036 2651 2098 2302

10976 1.19 220.0 696.5 4.0 526 11044 0.00 2.62 62.45 1.228 4 0.000 0.058 2651 708 2004

11089 1.19 220.0 689.4 6.5 531 11093 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2102 2004

11409 1.19 220.0 666.1 6.9 547 11411 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2102 2002

11719 1.19 220.0 645.3 6.5 562 11723 0.00 2.58 0.00 0.000 4 0.000 0.062 2651 3502 2002

11780 1.19 220.0 640.9 7.3 565 11784 0.00 2.45 0.00 0.000 6 0.000 0.036 2651 2099 2001

12106 1.19 220.0 618.5 6.5 581 12107 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2099 2000

12415 1.19 220.0 599.4 6.4 596 12416 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2099 1999

12725 1.22 236.5 581.7 5.5 611 12747 0.10 2.65 14.62 1.134 4 0.048 0.061 2685 3508 1936

12814 1.22 236.5 575.1 7.7 615 12818 0.00 2.45 0.00 0.000 6 0.000 0.034 2685 2099 1936

13140 1.22 236.5 549.1 8.4 631 13141 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2099 1936

13449 1.22 236.5 524.1 7.9 646 13453 0.00 2.50 0.00 0.000 4 0.000 0.052 2685 700 1936

13481 1.22 236.5 521.3 8.2 647 13488 0.00 2.42 0.00 0.000 6 0.000 0.034 2685 2103 1936

13797 1.22 236.5 495.7 8.1 663 13798 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2103 1936

14106 1.22 236.5 470.1 8.5 678 14110 0.00 2.58 0.00 0.000 4 0.000 0.067 2685 3508 1936

14137 1.22 236.5 467.2 8.9 679 14144 0.00 2.45 0.00 0.000 6 0.000 0.038 2685 2099 1936

14453 1.22 236.5 439.4 8.9 695 14454 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2099 1937

14762 1.22 236.5 411.7 9.2 710 14766 0.00 2.62 0.00 0.000 4 0.000 0.069 2685 3512 1938

14794 1.22 236.5 408.6 9.4 711 14800 0.00 2.47 0.00 0.000 6 0.000 0.041 2685 2099 1937

15109 1.22 236.5 380.7 8.6 727 15110 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2099 1938

15419 1.22 236.5 355.5 7.8 742 15423 0.00 2.65 0.00 0.000 4 0.000 0.073 2685 3510 1939

15461 1.22 236.5 351.9 8.2 744 15466 0.00 2.47 0.00 0.000 6 0.000 0.044 2685 2100 1938

15788 1.22 236.5 327.5 7.5 760 15789 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1938

16098 1.22 236.5 303.2 8.1 775 16102 0.00 2.62 0.00 0.000 4 0.000 0.074 2685 3502 1939

16146 1.22 236.5 299.1 8.6 777 16151 0.00 2.50 0.00 0.000 6 0.000 0.044 2685 2084 1939

16467 1.22 236.5 271.9 8.6 793 16468 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2084 1939

16777 1.22 236.5 245.0 8.7 808 16781 0.00 2.65 0.00 0.000 4 0.000 0.072 2685 3504 1939

16842 1.22 236.5 239.0 8.6 811 16847 0.00 2.47 0.00 0.000 6 0.000 0.046 2685 2101 1939

17169 1.22 236.5 212.2 8.0 827 17170 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2101 1939

17479 1.22 236.5 186.4 8.9 842 17483 0.00 2.62 0.00 0.000 4 0.000 0.073 2685 3502 1939

17539 1.22 236.5 180.7 9.0 845 17544 0.00 2.50 0.00 0.000 6 0.000 0.048 2685 2092 1940

17865 1.22 236.5 153.7 7.9 861 17867 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2092 1940

18176 1.22 236.5 130.8 7.7 876 18180 0.00 2.65 0.00 0.000 4 0.000 0.071 2685 3505 1940

18215 1.22 236.5 127.6 8.8 878 18219 0.00 2.47 0.00 0.000 6 0.000 0.046 2685 2100 1940

18541 1.22 236.5 99.2 9.5 894 18542 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1941

18850 1.22 236.5 71.3 8.6 909 18851 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1941

19159 1.22 236.5 40.5 10.5 924 19160 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1941

19468 1.22 236.5 4.9 11.2 939 19473 0.00 2.58 0.00 0.000 4 0.000 0.071 2685 700 1942

19493 end climb: SURFACE_DEPTH_REACHED

state 19493 begin surface coast

19500 end surface coast: CONTROL_FINISHED_OK

state 19500 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	190	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	4	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	-65854.633	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	234307,6259.784,-1306.549,49,1.3,49,-12.1	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.032,0.216
_SM_DEPTHo	0.11	KALMAN_X	-217801.6,-307.0,-886.0,-21000.2,-10.0
_SM_ANGLEo	-53.7	KALMAN_Y	-89112.0,-195.5,-490.3,248722.0,-1477.1
GPS2	235045,6259.797,-1306.599,13,2.0,13,-12.1	MHEAD_RNG_PITCHd_Wd	20.6,28688,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	727

FINISH	1.3,1.027282	XPDR_PINGS	1
SM_CCo	19524,52.75,0.736,1,0,1678,300.00	ALTIM_BOTTOM_PING	651.2,75.7
SM_GC	-0.10,0.00,0.00,52.75,0.000,0.000,0.736,51,2892,1678,-10.85,-0.23,300.00	_24V_AH	23.4,33.934
IRIDIUM_FIX	6230.49,-1302.51,171207,222216	_10V_AH	10.1,16.681
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47356,940
HUMID	2068	CFSIZE	260165632,247422976
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,37,1,0
TCM_TEMP	19.10	GPS	181207,051955,6302.516,-1307.173,64,1.3,64,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.78	SBE_CT	686	24	385.70
Roll_motor	173	112	458.28	SBE_O2	656	19	292.06
VBD_pump_during_apogee	326	1256	9603.02	WL_BB2F	549	105	1348.93
VBD_pump_during_surface	52	735	907.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	94.85	nil	0	0	0.00
Iridium_during_connect	34	160	127.92	nil	0	0	0.00
Iridium_during_xfer	278	223	1454.68
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.69
TT8	1725	19	344.97
LPSleep	15112	2	334.27
TT8_Active	537	19	107.48
TT8_Sampling	2084	39	838.02
TT8_CF8	596	45	275.78
TT8_Kalman	33	81	27.57
Analog_circuits	1585	12	192.17
GPS_charging	0	0	0.00
Compass	2057	8	166.28
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.10	-146.2	0.0	0.0	0	84	0.00	0.00	-61.95	0.000	2	0.000	0.000	46	2898	3448
87	-1.10	-146.2	3.8	-9.4	3	109	11.95	1.77	-0.93	0.000	4	0.158	0.113	2162	3790	3500
361	-1.10	-146.2	32.7	-6.8	15	365	0.00	1.55	0.00	0.000	6	0.000	0.037	2162	2899	3501
688	-1.10	-146.2	54.5	-6.1	31	691	0.00	1.70	0.00	0.000	4	0.000	0.081	2162	3793	3500
883	-1.10	-146.2	70.6	-8.2	39	890	0.00	1.55	0.00	0.000	6	0.000	0.035	2162	2898	3501
1201	-1.10	-146.2	92.5	-7.3	55	1205	0.00	2.58	0.00	0.000	4	0.000	0.070	2162	1494	3501
1244	-1.10	-146.2	96.3	-8.2	57	1248	0.00	2.65	0.00	0.000	6	0.000	0.074	2162	2909	3501
1571	-1.10	-146.6	116.5	-5.6	73	1576	0.00	2.62	0.00	0.000	4	0.000	0.066	2162	1488	3501
1615	-1.10	-146.6	119.6	-7.3	75	1620	0.00	2.67	0.00	0.000	6	0.000	0.071	2162	2900	3501
1942	-1.10	-146.6	148.3	-9.9	91	1947	0.00	2.60	0.00	0.000	4	0.000	0.067	2162	1492	3501
2008	-1.10	-146.6	155.1	-9.8	94	2013	0.00	2.62	0.00	0.000	6	0.000	0.071	2162	2900	3501
2335	-1.10	-146.6	183.7	-8.3	110	2340	0.00	2.60	0.00	0.000	4	0.000	0.067	2162	1491	3501
2367	-1.10	-146.6	186.3	-7.5	111	2374	0.00	2.62	0.00	0.000	6	0.000	0.073	2162	2900	3501
2683	-1.10	-146.6	207.7	-6.6	127	2684	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2901	3501
2992	-1.10	-146.6	228.9	-6.7	142	2997	0.00	2.60	0.00	0.000	4	0.000	0.067	2162	1493	3501
3036	-1.10	-146.6	232.1	-7.0	144	3040	0.00	2.65	0.00	0.000	6	0.000	0.073	2162	2908	3501
3363	-1.10	-146.6	252.9	-6.2	160	3367	0.00	2.60	0.00	0.000	4	0.000	0.067	2162	1492	3501
3406	-1.10	-146.6	255.5	-6.3	162	3410	0.00	2.62	0.00	0.000	6	0.000	0.073	2162	2900	3502
3734	-1.10	-146.6	276.0	-6.4	178	3735	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2900	3501
4042	-1.10	-146.6	296.1	-6.5	193	4046	0.00	2.58	0.00	0.000	4	0.000	0.066	2162	1490	3501
4084	-1.10	-146.6	299.0	-6.4	195	4089	0.00	2.65	0.00	0.000	6	0.000	0.072	2162	2892	3501
4412	-1.10	-146.6	320.2	-6.5	211	4413	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2892	3501
4721	-1.10	-146.6	342.3	-7.3	226	4726	0.00	2.55	0.00	0.000	4	0.000	0.067	2162	1495	3501
4771	-1.10	-146.6	346.2	-7.5	228	4775	0.00	2.62	0.00	0.000	6	0.000	0.073	2162	2904	3501
5092	-1.10	-146.6	370.2	-7.6	244	5096	0.00	2.58	0.00	0.000	4	0.000	0.064	2162	1492	3501
5118	-1.10	-146.6	372.2	-7.7	245	5122	0.00	2.62	0.00	0.000	6	0.000	0.073	2162	2903	3501
5439	-1.10	-146.6	396.4	-7.5	261	5444	0.00	2.58	0.00	0.000	4	0.000	0.064	2162	1491	3501
5466	-1.10	-146.6	398.5	-7.6	262	5471	0.00	2.62	0.00	0.000	6	0.000	0.071	2162	2900	3501
5781	-1.10	-146.6	422.6	-7.9	277	5783	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2900	3501
6091	-1.10	-146.6	445.9	-7.3	292	6095	0.00	2.55	0.00	0.000	4	0.000	0.059	2162	1490	3501
6129	-1.10	-146.6	448.9	-7.8	294	6134	0.00	2.60	0.00	0.000	6	0.000	0.068	2162	2900	3501
6455	-1.10	-146.6	472.7	-7.1	310	6459	0.00	2.53	0.00	0.000	4	0.000	0.056	2162	1490	3501
6489	-1.10	-146.6	475.0	-7.1	311	6494	0.00	2.60	0.00	0.000	6	0.000	0.066	2162	2900	3501
6804	-1.10	-146.6	496.2	-6.6	326	6809	0.00	2.53	0.00	0.000	4	0.000	0.055	2162	1487	3501
6854	-1.10	-146.6	499.6	-6.8	328	6858	0.00	2.58	0.00	0.000	6	0.000	0.064	2162	2900	3501
7175	-1.10	-146.6	521.3	-7.0	344	7179	0.00	2.53	0.00	0.000	4	0.000	0.052	2162	1484	3501
7224	-1.10	-146.6	525.0	-8.1	346	7229	0.00	2.60	0.00	0.000	6	0.000	0.064	2162	2900	3501
7539	-1.10	-146.6	548.1	-7.2	361	7540	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2901	3501
7849	-1.10	-146.6	570.4	-7.0	376	7853	0.00	2.50	0.00	0.000	4	0.000	0.048	2162	1484	3501
7903	-1.10	-146.6	574.5	-7.6	378	7910	0.00	2.58	0.00	0.000	6	0.000	0.061	2162	2901	3501
8218	-1.10	-146.6	597.8	-6.7	394	8222	0.00	2.50	0.00	0.000	4	0.000	0.046	2162	1476	3501
8290	-1.10	-146.6	602.9	-7.4	397	8294	0.00	2.58	0.00	0.000	6	0.000	0.059	2162	2900	3501
8617	-1.10	-146.6	623.7	-6.0	413	8618	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2901	3501
8926	-1.10	-146.6	640.8	-5.2	428	8931	0.00	2.47	0.00	0.000	4	0.000	0.043	2162	1483	3501
8998	-1.10	-146.6	645.2	-5.5	431	9002	0.00	2.55	0.00	0.000	6	0.000	0.057	2162	2901	3501
9320	-1.10	-146.6	665.6	-5.7	447	9321	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2902	3501
9629	-1.10	-146.6	683.0	-4.8	462	9633	0.00	2.47	0.00	0.000	4	0.000	0.041	2162	1482	3501
9740	-1.10	-146.6	688.0	-4.8	467	9744	0.00	2.55	0.00	0.000	6	0.000	0.055	2162	2902	3501
10060	-1.10	-146.6	708.1	-7.1	483	10064	0.00	2.47	0.00	0.000	4	0.000	0.043	2162	1485	3501
10114	-1.10	-146.6	711.6	-6.1	485	10121	0.00	2.58	0.00	0.000	6	0.000	0.058	2162	2895	3501
10180	end dive: BOTTOM_OBSTACLE_DETECTED
state	10180	begin apogee
10187	-0.42	0.0	717.0	8.1	489	10317	0.75	0.00	126.28	1.256	6	0.077	0.000	2317	2086	2901
10318	end apogee: CONTROL_FINISHED_OK
state	10318	begin climb
10320	1.10	146.6	720.7	0.0	495	10451	1.52	2.70	123.30	1.221	4	0.049	0.061	2651	3515	2303
10648	1.10	146.6	710.9	6.3	510	10653	0.00	2.47	0.00	0.000	6	0.000	0.036	2651	2098	2302
10976	1.19	220.0	696.5	4.0	526	11044	0.00	2.62	62.45	1.228	4	0.000	0.058	2651	708	2004
11089	1.19	220.0	689.4	6.5	531	11093	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2102	2004
11409	1.19	220.0	666.1	6.9	547	11411	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2102	2002
11719	1.19	220.0	645.3	6.5	562	11723	0.00	2.58	0.00	0.000	4	0.000	0.062	2651	3502	2002
11780	1.19	220.0	640.9	7.3	565	11784	0.00	2.45	0.00	0.000	6	0.000	0.036	2651	2099	2001
12106	1.19	220.0	618.5	6.5	581	12107	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2099	2000
12415	1.19	220.0	599.4	6.4	596	12416	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2099	1999
12725	1.22	236.5	581.7	5.5	611	12747	0.10	2.65	14.62	1.134	4	0.048	0.061	2685	3508	1936
12814	1.22	236.5	575.1	7.7	615	12818	0.00	2.45	0.00	0.000	6	0.000	0.034	2685	2099	1936
13140	1.22	236.5	549.1	8.4	631	13141	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2099	1936
13449	1.22	236.5	524.1	7.9	646	13453	0.00	2.50	0.00	0.000	4	0.000	0.052	2685	700	1936
13481	1.22	236.5	521.3	8.2	647	13488	0.00	2.42	0.00	0.000	6	0.000	0.034	2685	2103	1936
13797	1.22	236.5	495.7	8.1	663	13798	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2103	1936
14106	1.22	236.5	470.1	8.5	678	14110	0.00	2.58	0.00	0.000	4	0.000	0.067	2685	3508	1936
14137	1.22	236.5	467.2	8.9	679	14144	0.00	2.45	0.00	0.000	6	0.000	0.038	2685	2099	1936
14453	1.22	236.5	439.4	8.9	695	14454	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2099	1937
14762	1.22	236.5	411.7	9.2	710	14766	0.00	2.62	0.00	0.000	4	0.000	0.069	2685	3512	1938
14794	1.22	236.5	408.6	9.4	711	14800	0.00	2.47	0.00	0.000	6	0.000	0.041	2685	2099	1937
15109	1.22	236.5	380.7	8.6	727	15110	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2099	1938
15419	1.22	236.5	355.5	7.8	742	15423	0.00	2.65	0.00	0.000	4	0.000	0.073	2685	3510	1939
15461	1.22	236.5	351.9	8.2	744	15466	0.00	2.47	0.00	0.000	6	0.000	0.044	2685	2100	1938
15788	1.22	236.5	327.5	7.5	760	15789	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1938
16098	1.22	236.5	303.2	8.1	775	16102	0.00	2.62	0.00	0.000	4	0.000	0.074	2685	3502	1939
16146	1.22	236.5	299.1	8.6	777	16151	0.00	2.50	0.00	0.000	6	0.000	0.044	2685	2084	1939
16467	1.22	236.5	271.9	8.6	793	16468	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2084	1939
16777	1.22	236.5	245.0	8.7	808	16781	0.00	2.65	0.00	0.000	4	0.000	0.072	2685	3504	1939
16842	1.22	236.5	239.0	8.6	811	16847	0.00	2.47	0.00	0.000	6	0.000	0.046	2685	2101	1939
17169	1.22	236.5	212.2	8.0	827	17170	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2101	1939
17479	1.22	236.5	186.4	8.9	842	17483	0.00	2.62	0.00	0.000	4	0.000	0.073	2685	3502	1939
17539	1.22	236.5	180.7	9.0	845	17544	0.00	2.50	0.00	0.000	6	0.000	0.048	2685	2092	1940
17865	1.22	236.5	153.7	7.9	861	17867	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2092	1940
18176	1.22	236.5	130.8	7.7	876	18180	0.00	2.65	0.00	0.000	4	0.000	0.071	2685	3505	1940
18215	1.22	236.5	127.6	8.8	878	18219	0.00	2.47	0.00	0.000	6	0.000	0.046	2685	2100	1940
18541	1.22	236.5	99.2	9.5	894	18542	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1941
18850	1.22	236.5	71.3	8.6	909	18851	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1941
19159	1.22	236.5	40.5	10.5	924	19160	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1941
19468	1.22	236.5	4.9	11.2	939	19473	0.00	2.58	0.00	0.000	4	0.000	0.071	2685	700	1942
19493	end climb: SURFACE_DEPTH_REACHED
state	19493	begin surface coast
19500	end surface coast: CONTROL_FINISHED_OK
state	19500	begin surface