Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 191 * 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 191 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -65870.492 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 -65870.492

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 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 191 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 051955,6302.516,-1307.173,64,1.3,64,-12.1 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.152,0.157

_SM_DEPTHo 0.05 KALMAN_X -220689.1,-150.9,519.7,-20151.0,-3747.6

_SM_ANGLEo -51.2 KALMAN_Y -90962.7,499.9,515.0,253883.2,-4133.5

GPS2 052621,6302.518,-1307.123,15,1.4,15,-12.1 MHEAD_RNG_PITCHd_Wd 56.3,23868,-11.0,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 717

Post-dive calculations and measurements:

FINISH -0.7,1.027287 XPDR_PINGS 2

SM_CCo 18886,52.50,0.758,1,0,1678,300.00 ALTIM_BOTTOM_PING 600.1,84.3

SM_GC -0.01,0.00,0.00,52.50,0.000,0.000,0.758,52,2895,1678,-10.85,-0.14,300.00 _24V_AH 23.4,34.073

IRIDIUM_FIX 6235.17,-1304.65,181207,030305 _10V_AH 10.1,16.769

TT8_MAMPS 0.027612 DATA_FILE_SIZE 47409,911

HUMID 2073 CFSIZE 260165632,247361536

INTERNAL_PRESSURE 8.85776 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,33,1,0

TCM_TEMP 17.20 GPS 181207,104426,6302.480,-1303.922,40,1.5,40,-12.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 151 90.97 SBE_CT 666 24 374.31

Roll_motor 162 97 371.14 SBE_O2 630 19 280.53

VBD_pump_during_apogee 326 1227 9367.42 WL_BB2F 566 105 1390.80

VBD_pump_during_surface 52 757 930.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.59 nil 0 0 0.00

Iridium_during_connect 39 160 147.12 nil 0 0 0.00

Iridium_during_xfer 198 223 1033.58

Transponder_ping 5 420 56.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.69

TT8 1677 19 335.50

LPSleep 14544 2 321.71

TT8_Active 511 19 102.27

TT8_Sampling 2087 39 839.22

TT8_CF8 522 45 241.58

TT8_Kalman 33 81 27.57

Analog_circuits 1553 12 188.27

GPS_charging 0 0 0.00

Compass 2055 8 166.10

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.10 -146.6 0.0 0.0 0 71 0.00 0.00 -47.20 0.000 2 0.000 0.000 51 2892 3060

74 -1.10 -146.6 3.3 -7.2 3 98 11.77 1.70 -8.50 0.000 4 0.152 0.097 2165 3790 3501

351 -1.10 -146.6 25.0 -4.9 15 355 0.00 1.52 0.00 0.000 6 0.000 0.033 2165 2899 3502

672 -1.10 -146.6 48.2 -12.3 31 673 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2897 3502

982 -1.10 -146.6 70.8 -4.6 46 985 0.00 1.67 0.00 0.000 4 0.000 0.081 2165 3784 3502

1094 -1.10 -146.6 76.4 -5.3 51 1098 0.00 1.52 0.00 0.000 6 0.000 0.034 2165 2899 3501

1426 -1.10 -146.6 97.1 -6.4 67 1427 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3501

1736 -1.10 -146.6 115.7 -6.0 82 1740 0.00 2.58 0.00 0.000 4 0.000 0.069 2166 1500 3502

1785 -1.10 -146.6 118.5 -5.4 84 1790 0.00 2.62 0.00 0.000 6 0.000 0.074 2166 2900 3502

2101 -1.10 -146.6 139.6 -7.4 99 2105 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1494 3502

2140 -1.10 -146.6 142.5 -7.5 101 2145 0.00 2.65 0.00 0.000 6 0.000 0.072 2165 2907 3502

2465 -1.10 -146.6 166.7 -7.7 117 2470 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1499 3502

2504 -1.10 -146.6 169.7 -8.0 119 2509 0.00 2.62 0.00 0.000 6 0.000 0.073 2165 2900 3502

2830 -1.10 -146.6 194.2 -7.3 135 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3502

3139 -1.10 -146.6 215.1 -6.3 150 3144 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1496 3502

3183 -1.10 -146.6 217.9 -6.6 152 3187 0.00 2.62 0.00 0.000 6 0.000 0.073 2165 2900 3502

3510 -1.10 -146.6 237.7 -5.8 168 3514 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1491 3502

3549 -1.10 -146.6 239.9 -5.7 170 3553 0.00 2.65 0.00 0.000 6 0.000 0.074 2166 2905 3502

3875 -1.10 -146.6 260.6 -6.4 186 3880 0.00 2.60 0.00 0.000 4 0.000 0.067 2166 1497 3502

3914 -1.10 -146.6 263.4 -7.1 188 3919 0.00 2.62 0.00 0.000 6 0.000 0.072 2165 2901 3502

4240 -1.10 -146.6 285.5 -7.1 204 4241 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3502

4550 -1.10 -146.6 306.6 -6.2 219 4554 0.00 2.58 0.00 0.000 4 0.000 0.066 2166 1498 3502

4626 -1.10 -146.6 311.7 -7.2 222 4633 0.00 2.62 0.00 0.000 6 0.000 0.072 2166 2907 3502

4942 -1.10 -146.6 331.4 -6.3 238 4943 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2907 3502

5251 -1.10 -146.6 349.7 -6.1 253 5256 0.00 2.58 0.00 0.000 4 0.000 0.064 2166 1495 3502

5319 -1.10 -146.6 354.1 -6.9 256 5323 0.00 2.62 0.00 0.000 6 0.000 0.073 2166 2900 3502

5645 -1.10 -146.6 376.5 -7.2 272 5649 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1492 3502

5693 -1.10 -146.6 380.1 -7.5 274 5698 0.00 2.62 0.00 0.000 6 0.000 0.072 2166 2901 3502

6009 -1.10 -146.6 402.4 -7.3 289 6013 0.00 2.55 0.00 0.000 4 0.000 0.063 2165 1495 3502

6046 -1.10 -146.6 405.3 -7.3 290 6054 0.00 2.65 0.00 0.000 6 0.000 0.072 2165 2903 3502

6363 -1.10 -146.6 427.2 -6.7 306 6367 0.00 2.55 0.00 0.000 4 0.000 0.061 2166 1497 3502

6417 -1.10 -146.6 431.0 -6.9 308 6423 0.00 2.60 0.00 0.000 6 0.000 0.070 2165 2901 3502

6732 -1.10 -146.6 453.5 -7.1 324 6737 0.00 2.55 0.00 0.000 4 0.000 0.059 2166 1489 3502

6766 -1.10 -146.6 455.8 -7.0 325 6773 0.00 2.62 0.00 0.000 6 0.000 0.069 2166 2907 3502

7081 -1.10 -146.6 478.1 -7.3 341 7085 0.00 2.53 0.00 0.000 4 0.000 0.057 2165 1492 3502

7132 -1.10 -146.6 481.8 -7.1 343 7136 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2899 3502

7452 -1.10 -146.6 504.4 -6.8 359 7456 0.00 2.50 0.00 0.000 4 0.000 0.051 2165 1492 3502

7500 -1.10 -146.6 507.7 -6.5 361 7505 0.00 2.58 0.00 0.000 6 0.000 0.062 2166 2890 3502

7821 -1.10 -146.6 529.1 -6.5 377 7826 0.00 2.47 0.00 0.000 4 0.000 0.049 2166 1491 3502

7876 -1.10 -146.6 532.8 -7.1 379 7883 0.00 2.58 0.00 0.000 6 0.000 0.062 2166 2905 3502

8192 -1.10 -146.6 552.8 -6.5 395 8196 0.00 2.50 0.00 0.000 4 0.000 0.048 2166 1488 3502

8252 -1.10 -146.6 556.6 -6.8 398 8257 0.00 2.58 0.00 0.000 6 0.000 0.062 2166 2899 3501

8579 -1.10 -146.6 579.7 -7.3 414 8583 0.00 2.47 0.00 0.000 4 0.000 0.046 2165 1489 3501

8644 -1.10 -146.6 584.4 -6.8 417 8649 0.00 2.55 0.00 0.000 6 0.000 0.059 2166 2900 3501

8971 -1.10 -146.6 605.6 -6.6 433 8975 0.00 2.45 0.00 0.000 4 0.000 0.044 2166 1487 3501

9077 -1.10 -146.6 612.7 -7.1 437 9083 0.00 2.55 0.00 0.000 6 0.000 0.058 2165 2903 3501

9391 -1.10 -146.6 637.4 -7.9 453 9395 0.00 2.47 0.00 0.000 4 0.000 0.041 2166 1483 3501

9475 -1.10 -146.6 643.3 -7.3 457 9480 0.00 2.55 0.00 0.000 6 0.000 0.055 2165 2900 3501

9801 -1.10 -146.6 663.2 -6.8 473 9805 0.00 2.47 0.00 0.000 4 0.000 0.041 2165 1480 3501

9832 -1.10 -146.6 665.9 -8.2 474 9839 0.00 2.55 0.00 0.000 6 0.000 0.054 2166 2903 3501

9940 end dive: BOTTOM_OBSTACLE_DETECTED

state 9940 begin apogee

9947 -0.42 0.0 675.4 8.6 480 10076 0.73 0.00 126.25 1.228 6 0.071 0.000 2318 2087 2901

10077 end apogee: CONTROL_FINISHED_OK

state 10077 begin climb

10079 1.10 146.6 682.0 0.0 486 10211 1.52 2.58 122.95 1.195 4 0.052 0.054 2648 714 2303

10465 1.20 223.9 675.9 3.9 503 10537 0.10 2.45 65.50 1.191 6 0.048 0.035 2681 2122 1988

10858 1.20 223.9 648.6 7.5 523 10862 0.00 2.60 0.00 0.000 4 0.000 0.056 2681 702 1986

11069 1.20 223.9 626.5 7.8 532 11076 0.00 2.45 0.00 0.000 6 0.000 0.036 2681 2097 1985

11385 1.20 223.9 602.7 8.6 548 11386 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1984

11694 1.21 236.3 581.0 5.7 563 11715 0.00 2.62 11.30 1.093 4 0.000 0.059 2682 3509 1937

11742 1.21 236.3 577.9 6.3 565 11746 0.00 2.45 0.00 0.000 6 0.000 0.034 2681 2102 1937

12070 1.21 236.3 552.4 7.8 581 12074 0.00 2.50 0.00 0.000 4 0.000 0.052 2682 701 1936

12180 1.21 236.3 543.0 7.7 586 12185 0.00 2.42 0.00 0.000 6 0.000 0.035 2682 2092 1935

12507 1.21 236.3 519.2 8.0 602 12508 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2092 1935

12817 1.21 236.3 495.1 7.5 617 12821 0.00 2.60 0.00 0.000 4 0.000 0.064 2682 3508 1935

12871 1.21 236.3 490.5 8.3 619 12878 0.00 2.45 0.00 0.000 6 0.000 0.037 2682 2096 1935

13186 1.21 236.3 466.3 7.5 635 13188 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2095 1935

13496 1.21 236.3 443.5 7.9 650 13497 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2095 1935

13805 1.21 236.3 420.2 6.7 665 13809 0.00 2.62 0.00 0.000 4 0.000 0.069 2682 3501 1935

13843 1.21 236.3 417.4 7.2 667 13848 0.00 2.45 0.00 0.000 6 0.000 0.041 2682 2102 1935

14169 1.21 236.3 391.9 8.3 683 14170 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2101 1936

14478 1.21 236.3 366.5 7.9 698 14483 0.00 2.60 0.00 0.000 4 0.000 0.071 2682 3501 1936

14522 1.21 236.3 362.8 8.1 700 14526 0.00 2.47 0.00 0.000 6 0.000 0.043 2682 2093 1936

14849 1.21 236.3 338.0 7.5 716 14850 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2093 1936

15158 1.21 236.3 314.3 7.5 731 15162 0.00 2.62 0.00 0.000 4 0.000 0.068 2682 3504 1937

15201 1.21 236.3 310.6 8.5 733 15205 0.00 2.47 0.00 0.000 6 0.000 0.044 2682 2099 1937

15528 1.21 236.3 283.4 8.1 749 15529 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2099 1937

15837 1.21 236.3 259.6 7.8 764 15841 0.00 2.62 0.00 0.000 4 0.000 0.071 2681 3505 1937

15880 1.21 236.3 255.8 8.5 766 15884 0.00 2.50 0.00 0.000 6 0.000 0.045 2682 2093 1937

16207 1.21 236.3 228.8 8.3 782 16208 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2093 1937

16516 1.21 236.3 205.1 7.4 797 16520 0.00 2.62 0.00 0.000 4 0.000 0.071 2682 3501 1937

16559 1.21 236.3 201.5 7.1 799 16563 0.00 2.47 0.00 0.000 6 0.000 0.047 2682 2100 1937

16886 1.21 236.3 176.1 7.9 815 16887 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1937

17194 1.21 236.3 149.3 9.3 830 17196 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1937

17506 1.21 236.3 119.7 9.1 845 17507 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1937

17814 1.21 236.3 88.0 10.5 860 17815 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1937

18123 1.21 236.3 57.9 9.1 875 18124 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1937

18432 1.21 236.3 37.1 6.0 890 18433 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2100 1938

18742 1.21 236.3 14.4 7.7 905 18743 0.00 0.00 0.00 0.000 6 0.000 0.000 2682 2098 1938

18842 end climb: SURFACE_DEPTH_REACHED

state 18843 begin surface coast

18864 end surface coast: CONTROL_FINISHED_OK

state 18865 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	191	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-65870.492	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	051955,6302.516,-1307.173,64,1.3,64,-12.1	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.152,0.157
_SM_DEPTHo	0.05	KALMAN_X	-220689.1,-150.9,519.7,-20151.0,-3747.6
_SM_ANGLEo	-51.2	KALMAN_Y	-90962.7,499.9,515.0,253883.2,-4133.5
GPS2	052621,6302.518,-1307.123,15,1.4,15,-12.1	MHEAD_RNG_PITCHd_Wd	56.3,23868,-11.0,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	717

FINISH	-0.7,1.027287	XPDR_PINGS	2
SM_CCo	18886,52.50,0.758,1,0,1678,300.00	ALTIM_BOTTOM_PING	600.1,84.3
SM_GC	-0.01,0.00,0.00,52.50,0.000,0.000,0.758,52,2895,1678,-10.85,-0.14,300.00	_24V_AH	23.4,34.073
IRIDIUM_FIX	6235.17,-1304.65,181207,030305	_10V_AH	10.1,16.769
TT8_MAMPS	0.027612	DATA_FILE_SIZE	47409,911
HUMID	2073	CFSIZE	260165632,247361536
INTERNAL_PRESSURE	8.85776	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,33,1,0
TCM_TEMP	17.20	GPS	181207,104426,6302.480,-1303.922,40,1.5,40,-12.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	151	90.97	SBE_CT	666	24	374.31
Roll_motor	162	97	371.14	SBE_O2	630	19	280.53
VBD_pump_during_apogee	326	1227	9367.42	WL_BB2F	566	105	1390.80
VBD_pump_during_surface	52	757	930.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.59	nil	0	0	0.00
Iridium_during_connect	39	160	147.12	nil	0	0	0.00
Iridium_during_xfer	198	223	1033.58
Transponder_ping	5	420	56.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.69
TT8	1677	19	335.50
LPSleep	14544	2	321.71
TT8_Active	511	19	102.27
TT8_Sampling	2087	39	839.22
TT8_CF8	522	45	241.58
TT8_Kalman	33	81	27.57
Analog_circuits	1553	12	188.27
GPS_charging	0	0	0.00
Compass	2055	8	166.10
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.10	-146.6	0.0	0.0	0	71	0.00	0.00	-47.20	0.000	2	0.000	0.000	51	2892	3060
74	-1.10	-146.6	3.3	-7.2	3	98	11.77	1.70	-8.50	0.000	4	0.152	0.097	2165	3790	3501
351	-1.10	-146.6	25.0	-4.9	15	355	0.00	1.52	0.00	0.000	6	0.000	0.033	2165	2899	3502
672	-1.10	-146.6	48.2	-12.3	31	673	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2897	3502
982	-1.10	-146.6	70.8	-4.6	46	985	0.00	1.67	0.00	0.000	4	0.000	0.081	2165	3784	3502
1094	-1.10	-146.6	76.4	-5.3	51	1098	0.00	1.52	0.00	0.000	6	0.000	0.034	2165	2899	3501
1426	-1.10	-146.6	97.1	-6.4	67	1427	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3501
1736	-1.10	-146.6	115.7	-6.0	82	1740	0.00	2.58	0.00	0.000	4	0.000	0.069	2166	1500	3502
1785	-1.10	-146.6	118.5	-5.4	84	1790	0.00	2.62	0.00	0.000	6	0.000	0.074	2166	2900	3502
2101	-1.10	-146.6	139.6	-7.4	99	2105	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1494	3502
2140	-1.10	-146.6	142.5	-7.5	101	2145	0.00	2.65	0.00	0.000	6	0.000	0.072	2165	2907	3502
2465	-1.10	-146.6	166.7	-7.7	117	2470	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1499	3502
2504	-1.10	-146.6	169.7	-8.0	119	2509	0.00	2.62	0.00	0.000	6	0.000	0.073	2165	2900	3502
2830	-1.10	-146.6	194.2	-7.3	135	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3502
3139	-1.10	-146.6	215.1	-6.3	150	3144	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1496	3502
3183	-1.10	-146.6	217.9	-6.6	152	3187	0.00	2.62	0.00	0.000	6	0.000	0.073	2165	2900	3502
3510	-1.10	-146.6	237.7	-5.8	168	3514	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1491	3502
3549	-1.10	-146.6	239.9	-5.7	170	3553	0.00	2.65	0.00	0.000	6	0.000	0.074	2166	2905	3502
3875	-1.10	-146.6	260.6	-6.4	186	3880	0.00	2.60	0.00	0.000	4	0.000	0.067	2166	1497	3502
3914	-1.10	-146.6	263.4	-7.1	188	3919	0.00	2.62	0.00	0.000	6	0.000	0.072	2165	2901	3502
4240	-1.10	-146.6	285.5	-7.1	204	4241	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3502
4550	-1.10	-146.6	306.6	-6.2	219	4554	0.00	2.58	0.00	0.000	4	0.000	0.066	2166	1498	3502
4626	-1.10	-146.6	311.7	-7.2	222	4633	0.00	2.62	0.00	0.000	6	0.000	0.072	2166	2907	3502
4942	-1.10	-146.6	331.4	-6.3	238	4943	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2907	3502
5251	-1.10	-146.6	349.7	-6.1	253	5256	0.00	2.58	0.00	0.000	4	0.000	0.064	2166	1495	3502
5319	-1.10	-146.6	354.1	-6.9	256	5323	0.00	2.62	0.00	0.000	6	0.000	0.073	2166	2900	3502
5645	-1.10	-146.6	376.5	-7.2	272	5649	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1492	3502
5693	-1.10	-146.6	380.1	-7.5	274	5698	0.00	2.62	0.00	0.000	6	0.000	0.072	2166	2901	3502
6009	-1.10	-146.6	402.4	-7.3	289	6013	0.00	2.55	0.00	0.000	4	0.000	0.063	2165	1495	3502
6046	-1.10	-146.6	405.3	-7.3	290	6054	0.00	2.65	0.00	0.000	6	0.000	0.072	2165	2903	3502
6363	-1.10	-146.6	427.2	-6.7	306	6367	0.00	2.55	0.00	0.000	4	0.000	0.061	2166	1497	3502
6417	-1.10	-146.6	431.0	-6.9	308	6423	0.00	2.60	0.00	0.000	6	0.000	0.070	2165	2901	3502
6732	-1.10	-146.6	453.5	-7.1	324	6737	0.00	2.55	0.00	0.000	4	0.000	0.059	2166	1489	3502
6766	-1.10	-146.6	455.8	-7.0	325	6773	0.00	2.62	0.00	0.000	6	0.000	0.069	2166	2907	3502
7081	-1.10	-146.6	478.1	-7.3	341	7085	0.00	2.53	0.00	0.000	4	0.000	0.057	2165	1492	3502
7132	-1.10	-146.6	481.8	-7.1	343	7136	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2899	3502
7452	-1.10	-146.6	504.4	-6.8	359	7456	0.00	2.50	0.00	0.000	4	0.000	0.051	2165	1492	3502
7500	-1.10	-146.6	507.7	-6.5	361	7505	0.00	2.58	0.00	0.000	6	0.000	0.062	2166	2890	3502
7821	-1.10	-146.6	529.1	-6.5	377	7826	0.00	2.47	0.00	0.000	4	0.000	0.049	2166	1491	3502
7876	-1.10	-146.6	532.8	-7.1	379	7883	0.00	2.58	0.00	0.000	6	0.000	0.062	2166	2905	3502
8192	-1.10	-146.6	552.8	-6.5	395	8196	0.00	2.50	0.00	0.000	4	0.000	0.048	2166	1488	3502
8252	-1.10	-146.6	556.6	-6.8	398	8257	0.00	2.58	0.00	0.000	6	0.000	0.062	2166	2899	3501
8579	-1.10	-146.6	579.7	-7.3	414	8583	0.00	2.47	0.00	0.000	4	0.000	0.046	2165	1489	3501
8644	-1.10	-146.6	584.4	-6.8	417	8649	0.00	2.55	0.00	0.000	6	0.000	0.059	2166	2900	3501
8971	-1.10	-146.6	605.6	-6.6	433	8975	0.00	2.45	0.00	0.000	4	0.000	0.044	2166	1487	3501
9077	-1.10	-146.6	612.7	-7.1	437	9083	0.00	2.55	0.00	0.000	6	0.000	0.058	2165	2903	3501
9391	-1.10	-146.6	637.4	-7.9	453	9395	0.00	2.47	0.00	0.000	4	0.000	0.041	2166	1483	3501
9475	-1.10	-146.6	643.3	-7.3	457	9480	0.00	2.55	0.00	0.000	6	0.000	0.055	2165	2900	3501
9801	-1.10	-146.6	663.2	-6.8	473	9805	0.00	2.47	0.00	0.000	4	0.000	0.041	2165	1480	3501
9832	-1.10	-146.6	665.9	-8.2	474	9839	0.00	2.55	0.00	0.000	6	0.000	0.054	2166	2903	3501
9940	end dive: BOTTOM_OBSTACLE_DETECTED
state	9940	begin apogee
9947	-0.42	0.0	675.4	8.6	480	10076	0.73	0.00	126.25	1.228	6	0.071	0.000	2318	2087	2901
10077	end apogee: CONTROL_FINISHED_OK
state	10077	begin climb
10079	1.10	146.6	682.0	0.0	486	10211	1.52	2.58	122.95	1.195	4	0.052	0.054	2648	714	2303
10465	1.20	223.9	675.9	3.9	503	10537	0.10	2.45	65.50	1.191	6	0.048	0.035	2681	2122	1988
10858	1.20	223.9	648.6	7.5	523	10862	0.00	2.60	0.00	0.000	4	0.000	0.056	2681	702	1986
11069	1.20	223.9	626.5	7.8	532	11076	0.00	2.45	0.00	0.000	6	0.000	0.036	2681	2097	1985
11385	1.20	223.9	602.7	8.6	548	11386	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1984
11694	1.21	236.3	581.0	5.7	563	11715	0.00	2.62	11.30	1.093	4	0.000	0.059	2682	3509	1937
11742	1.21	236.3	577.9	6.3	565	11746	0.00	2.45	0.00	0.000	6	0.000	0.034	2681	2102	1937
12070	1.21	236.3	552.4	7.8	581	12074	0.00	2.50	0.00	0.000	4	0.000	0.052	2682	701	1936
12180	1.21	236.3	543.0	7.7	586	12185	0.00	2.42	0.00	0.000	6	0.000	0.035	2682	2092	1935
12507	1.21	236.3	519.2	8.0	602	12508	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2092	1935
12817	1.21	236.3	495.1	7.5	617	12821	0.00	2.60	0.00	0.000	4	0.000	0.064	2682	3508	1935
12871	1.21	236.3	490.5	8.3	619	12878	0.00	2.45	0.00	0.000	6	0.000	0.037	2682	2096	1935
13186	1.21	236.3	466.3	7.5	635	13188	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2095	1935
13496	1.21	236.3	443.5	7.9	650	13497	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2095	1935
13805	1.21	236.3	420.2	6.7	665	13809	0.00	2.62	0.00	0.000	4	0.000	0.069	2682	3501	1935
13843	1.21	236.3	417.4	7.2	667	13848	0.00	2.45	0.00	0.000	6	0.000	0.041	2682	2102	1935
14169	1.21	236.3	391.9	8.3	683	14170	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2101	1936
14478	1.21	236.3	366.5	7.9	698	14483	0.00	2.60	0.00	0.000	4	0.000	0.071	2682	3501	1936
14522	1.21	236.3	362.8	8.1	700	14526	0.00	2.47	0.00	0.000	6	0.000	0.043	2682	2093	1936
14849	1.21	236.3	338.0	7.5	716	14850	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2093	1936
15158	1.21	236.3	314.3	7.5	731	15162	0.00	2.62	0.00	0.000	4	0.000	0.068	2682	3504	1937
15201	1.21	236.3	310.6	8.5	733	15205	0.00	2.47	0.00	0.000	6	0.000	0.044	2682	2099	1937
15528	1.21	236.3	283.4	8.1	749	15529	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2099	1937
15837	1.21	236.3	259.6	7.8	764	15841	0.00	2.62	0.00	0.000	4	0.000	0.071	2681	3505	1937
15880	1.21	236.3	255.8	8.5	766	15884	0.00	2.50	0.00	0.000	6	0.000	0.045	2682	2093	1937
16207	1.21	236.3	228.8	8.3	782	16208	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2093	1937
16516	1.21	236.3	205.1	7.4	797	16520	0.00	2.62	0.00	0.000	4	0.000	0.071	2682	3501	1937
16559	1.21	236.3	201.5	7.1	799	16563	0.00	2.47	0.00	0.000	6	0.000	0.047	2682	2100	1937
16886	1.21	236.3	176.1	7.9	815	16887	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1937
17194	1.21	236.3	149.3	9.3	830	17196	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1937
17506	1.21	236.3	119.7	9.1	845	17507	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1937
17814	1.21	236.3	88.0	10.5	860	17815	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1937
18123	1.21	236.3	57.9	9.1	875	18124	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1937
18432	1.21	236.3	37.1	6.0	890	18433	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2100	1938
18742	1.21	236.3	14.4	7.7	905	18743	0.00	0.00	0.00	0.000	6	0.000	0.000	2682	2098	1938
18842	end climb: SURFACE_DEPTH_REACHED
state	18843	begin surface coast
18864	end surface coast: CONTROL_FINISHED_OK
state	18865	begin surface