Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 212 * 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 212 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 9 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 -1 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 -66370.562 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 -66370.562

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 -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 9 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 212 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 141451,6309.702,-1310.628,38,2.6,57,-12.2 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6315.000,-1300.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.100,0.194

_SM_DEPTHo -0.21 KALMAN_X -257781.9,-262.2,-781.6,15179.4,-2585.6

_SM_ANGLEo -56.3 KALMAN_Y -182304.7,652.9,1999.7,356582.3,-13106.4

GPS2 142141,6309.610,-1310.718,14,2.3,33,-12.2 MHEAD_RNG_PITCHd_Wd 39.6,13396,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 733

Post-dive calculations and measurements:

FINISH 0.2,1.027287 XPDR_PINGS 2

SM_CCo 19481,53.83,0.732,2,0,1678,300.00 ALTIM_BOTTOM_PING 676.1,71.0

SM_GC -0.31,0.00,0.00,53.83,0.000,0.000,0.732,48,2897,1678,-10.87,-0.08,300.00 _24V_AH 23.4,37.214

IRIDIUM_FIX 6239.86,-1311.44,221207,131336 _10V_AH 10.1,18.528

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47417,942

HUMID 2044 CFSIZE 260165632,246083584

INTERNAL_PRESSURE 8.848 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,35,2,0

TCM_TEMP 19.10 GPS 221207,194937,6312.254,-1310.875,31,1.2,31,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 157 95.29 SBE_CT 678 24 381.14

Roll_motor 180 79 333.08 SBE_O2 668 19 297.18

VBD_pump_during_apogee 330 1283 9925.24 WL_BB2F 571 105 1403.36

VBD_pump_during_surface 53 732 922.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.19 nil 0 0 0.00

Iridium_during_connect 37 160 141.03 nil 0 0 0.00

Iridium_during_xfer 204 223 1066.19

Transponder_ping 6 420 63.88

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 17.24

TT8 1732 19 346.52

LPSleep 15040 2 332.68

TT8_Active 532 19 106.57

TT8_Sampling 2127 39 855.27

TT8_CF8 534 45 247.22

TT8_Kalman 33 81 27.58

Analog_circuits 1593 12 193.17

GPS_charging 0 0 0.00

Compass 2071 8 167.38

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

21 -1.10 -146.6 0.0 0.0 0 89 0.00 0.00 -66.30 0.000 6 0.000 0.000 46 2902 3500

92 -1.10 -146.6 3.4 -5.8 4 113 11.93 2.60 0.00 0.000 4 0.157 0.054 2163 1491 3501

348 -1.10 -146.6 33.5 -7.1 15 352 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2903 3502

669 -1.10 -146.6 59.7 -8.3 31 674 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1489 3501

713 -1.10 -146.6 63.1 -8.1 33 718 0.00 2.67 0.00 0.000 6 0.000 0.076 2163 2904 3502

1034 -1.10 -146.6 89.9 -7.9 49 1036 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3502

1344 -1.10 -146.6 112.4 -7.2 64 1348 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1489 3502

1409 -1.10 -146.6 117.3 -7.1 67 1414 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2903 3502

1730 -1.10 -146.6 141.5 -7.9 83 1734 0.00 2.60 0.00 0.000 4 0.000 0.066 2163 1490 3502

1762 -1.10 -146.6 144.3 -9.0 84 1769 0.00 2.70 0.00 0.000 6 0.000 0.077 2163 2900 3502

2078 -1.10 -146.6 169.2 -7.9 100 2079 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

2387 -1.10 -146.6 193.6 -7.6 115 2391 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1488 3502

2452 -1.10 -146.6 198.7 -7.9 118 2456 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2904 3502

2779 -1.10 -146.6 222.5 -7.0 134 2783 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1491 3502

2805 -1.10 -146.6 224.4 -6.8 135 2810 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2901 3502

3121 -1.10 -146.6 245.2 -6.4 150 3122 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3502

3430 -1.10 -146.6 266.2 -6.9 165 3435 0.00 2.58 0.00 0.000 4 0.000 0.064 2163 1489 3502

3485 -1.10 -146.6 270.3 -7.4 167 3492 0.00 2.65 0.00 0.000 6 0.000 0.074 2163 2902 3502

3801 -1.10 -146.6 293.5 -7.6 183 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3502

4110 -1.10 -146.6 316.8 -7.5 198 4114 0.00 2.58 0.00 0.000 4 0.000 0.063 2163 1489 3502

4159 -1.10 -146.6 320.6 -7.5 200 4163 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2900 3502

4481 -1.10 -146.6 345.8 -7.9 216 4485 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1482 3502

4552 -1.10 -146.6 352.0 -8.5 219 4556 0.00 2.62 0.00 0.000 6 0.000 0.074 2163 2899 3502

4873 -1.10 -146.6 379.1 -8.7 235 4874 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

5182 -1.10 -146.6 406.2 -8.6 250 5187 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1480 3502

5249 -1.10 -146.6 411.9 -8.3 253 5253 0.00 2.65 0.00 0.000 6 0.000 0.074 2163 2899 3502

5570 -1.10 -146.6 436.7 -7.3 269 5574 0.00 2.58 0.00 0.000 4 0.000 0.060 2163 1480 3502

5596 -1.10 -146.6 438.7 -7.4 270 5601 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2908 3502

5912 -1.10 -146.6 461.4 -7.2 285 5913 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3502

6220 -1.10 -146.6 483.1 -6.8 300 6224 0.00 2.55 0.00 0.000 4 0.000 0.057 2163 1483 3502

6265 -1.10 -146.6 486.1 -6.5 302 6269 0.00 2.62 0.00 0.000 6 0.000 0.067 2163 2903 3502

6591 -1.10 -146.6 506.5 -6.5 318 6592 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

6902 -1.10 -146.6 525.8 -6.4 333 6903 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3502

7209 -1.10 -146.6 546.0 -6.3 348 7213 0.00 2.53 0.00 0.000 4 0.000 0.052 2163 1483 3502

7286 -1.10 -146.6 551.5 -7.4 351 7292 0.00 2.60 0.00 0.000 6 0.000 0.063 2163 2904 3502

7602 -1.10 -146.6 576.3 -8.4 367 7606 0.00 2.53 0.00 0.000 4 0.000 0.051 2163 1481 3502

7668 -1.10 -146.6 581.9 -8.2 370 7672 0.00 2.58 0.00 0.000 6 0.000 0.061 2163 2901 3502

7989 -1.10 -146.6 611.1 -9.7 386 7994 0.00 2.50 0.00 0.000 4 0.000 0.047 2163 1471 3502

8078 -1.10 -146.6 618.8 -7.8 390 8082 0.00 2.60 0.00 0.000 6 0.000 0.059 2163 2903 3502

8406 -1.10 -146.6 642.1 -6.0 406 8410 0.00 2.50 0.00 0.000 4 0.000 0.045 2163 1480 3502

8444 -1.10 -146.6 644.3 -5.8 408 8449 0.00 2.58 0.00 0.000 6 0.000 0.059 2163 2900 3502

8771 -1.10 -146.6 665.4 -6.0 424 8772 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3502

9080 -1.10 -146.6 682.5 -3.8 439 9085 0.00 2.50 0.00 0.000 4 0.000 0.044 2163 1474 3502

9169 -1.10 -146.6 687.4 -5.8 443 9174 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2909 3502

9490 -1.10 -146.6 705.7 -6.6 459 9491 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3502

9799 -1.10 -146.6 727.6 -7.7 474 9804 0.00 2.53 0.00 0.000 4 0.000 0.047 2163 1481 3501

9871 end dive: TARGET_DEPTH_EXCEEDED

state 9871 begin apogee

9877 -0.42 0.0 733.4 8.4 477 10008 0.70 0.00 126.20 1.284 6 0.069 0.000 2314 2124 2901

10009 end apogee: CONTROL_FINISHED_OK

state 10009 begin climb

10012 1.10 146.6 737.3 0.0 484 10143 1.52 2.67 122.97 1.243 4 0.044 0.056 2651 693 2303

10290 1.10 146.6 727.8 6.8 497 10295 0.00 2.45 0.00 0.000 6 0.000 0.036 2651 2106 2302

10616 1.11 153.6 710.1 5.8 513 10630 0.00 2.62 7.70 1.074 4 0.000 0.061 2651 3489 2274

10659 1.14 176.2 707.6 5.4 515 10685 0.00 2.45 20.50 1.200 6 0.000 0.036 2651 2093 2182

11007 1.17 198.3 688.5 5.4 532 11033 0.00 2.67 20.12 1.203 4 0.000 0.062 2651 3502 2092

11054 1.21 235.8 685.9 5.0 534 11095 0.10 2.47 32.85 1.224 6 0.050 0.036 2683 2092 1939

11418 1.21 235.8 658.3 7.6 552 11422 0.00 2.53 0.00 0.000 4 0.000 0.056 2683 695 1937

11511 1.21 235.8 650.9 7.7 556 11516 0.00 2.45 0.00 0.000 6 0.000 0.035 2683 2104 1937

11832 1.21 235.8 625.7 9.2 572 11837 0.00 2.58 0.00 0.000 4 0.000 0.063 2684 3504 1936

11859 1.21 235.8 622.9 11.3 573 11863 0.00 2.45 0.00 0.000 6 0.000 0.035 2683 2092 1936

12180 1.21 235.8 595.0 8.1 589 12184 0.00 2.50 0.00 0.000 4 0.000 0.053 2684 696 1935

12308 1.21 235.8 584.5 8.4 595 12313 0.00 2.42 0.00 0.000 6 0.000 0.034 2684 2099 1935

12635 1.21 235.8 556.9 8.9 611 12636 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2099 1935

12944 1.21 235.8 530.1 8.7 626 12948 0.00 2.58 0.00 0.000 4 0.000 0.067 2684 3499 1935

12987 1.21 235.8 526.1 9.0 628 12991 0.00 2.45 0.00 0.000 6 0.000 0.037 2684 2103 1935

13314 1.21 235.8 497.7 9.0 644 13315 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2103 1935

13623 1.21 235.8 472.3 7.9 659 13627 0.00 2.62 0.00 0.000 4 0.000 0.071 2683 3505 1936

13678 1.21 235.8 467.6 8.0 661 13685 0.00 2.47 0.00 0.000 6 0.000 0.041 2684 2098 1936

13993 1.21 235.8 440.6 9.1 677 13994 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2097 1936

14302 1.21 235.8 412.8 8.9 692 14303 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2097 1937

14612 1.21 235.8 387.4 7.8 707 14616 0.00 2.65 0.00 0.000 4 0.000 0.075 2684 3504 1937

14655 1.21 235.8 383.9 7.5 709 14659 0.00 2.47 0.00 0.000 6 0.000 0.044 2684 2096 1937

14981 1.21 235.8 359.4 7.6 725 14982 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2096 1937

15290 1.21 235.8 333.7 8.5 740 15295 0.00 2.65 0.00 0.000 4 0.000 0.074 2684 3504 1938

15329 1.21 235.8 330.3 8.3 742 15333 0.00 2.50 0.00 0.000 6 0.000 0.047 2684 2093 1938

15654 1.21 235.8 301.2 9.1 758 15656 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2093 1938

15964 1.21 235.8 274.4 8.3 773 15968 0.00 2.65 0.00 0.000 4 0.000 0.077 2684 3499 1939

16036 1.21 235.8 268.3 8.8 776 16041 0.00 2.50 0.00 0.000 6 0.000 0.048 2684 2100 1939

16351 1.21 235.8 243.1 8.3 791 16353 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2100 1939

16661 1.21 235.8 216.5 8.5 806 16665 0.00 2.65 0.00 0.000 4 0.000 0.076 2684 3502 1939

16704 1.21 235.8 212.6 8.8 808 16709 0.00 2.47 0.00 0.000 6 0.000 0.047 2684 2104 1939

17025 1.21 235.8 186.8 7.8 824 17026 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2104 1939

17334 1.21 235.8 162.8 7.8 839 17338 0.00 2.65 0.00 0.000 4 0.000 0.077 2684 3506 1940

17373 1.21 235.8 159.7 8.0 841 17378 0.00 2.50 0.00 0.000 6 0.000 0.048 2684 2097 1940

17700 1.21 235.8 136.3 7.3 857 17701 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2097 1940

18009 1.21 235.8 111.4 8.5 872 18010 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2097 1940

18318 1.21 235.8 89.4 7.1 887 18323 0.00 2.65 0.00 0.000 4 0.000 0.077 2684 3501 1940

18344 1.21 235.8 87.0 8.9 888 18349 0.00 2.47 0.00 0.000 6 0.000 0.050 2684 2099 1940

18667 1.21 235.8 63.0 7.2 904 18671 0.00 2.55 0.00 0.000 4 0.000 0.063 2684 691 1941

18706 1.21 235.8 59.6 8.4 906 18711 0.00 2.47 0.00 0.000 6 0.000 0.048 2684 2090 1941

19033 1.21 235.8 32.5 8.1 922 19038 0.00 2.67 0.00 0.000 4 0.000 0.079 2684 3515 1941

19082 1.21 235.8 27.3 11.1 924 19086 0.00 2.53 0.00 0.000 6 0.000 0.050 2684 2092 1941

19404 1.21 235.8 5.2 7.3 940 19408 0.00 2.58 0.00 0.000 4 0.000 0.072 2684 694 1941

19441 end climb: SURFACE_DEPTH_REACHED

state 19441 begin surface coast

19457 end surface coast: CONTROL_FINISHED_OK

state 19457 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	212	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	9	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	-1	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	-66370.562	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	141451,6309.702,-1310.628,38,2.6,57,-12.2	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6315.000,-1300.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.100,0.194
_SM_DEPTHo	-0.21	KALMAN_X	-257781.9,-262.2,-781.6,15179.4,-2585.6
_SM_ANGLEo	-56.3	KALMAN_Y	-182304.7,652.9,1999.7,356582.3,-13106.4
GPS2	142141,6309.610,-1310.718,14,2.3,33,-12.2	MHEAD_RNG_PITCHd_Wd	39.6,13396,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	733

FINISH	0.2,1.027287	XPDR_PINGS	2
SM_CCo	19481,53.83,0.732,2,0,1678,300.00	ALTIM_BOTTOM_PING	676.1,71.0
SM_GC	-0.31,0.00,0.00,53.83,0.000,0.000,0.732,48,2897,1678,-10.87,-0.08,300.00	_24V_AH	23.4,37.214
IRIDIUM_FIX	6239.86,-1311.44,221207,131336	_10V_AH	10.1,18.528
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47417,942
HUMID	2044	CFSIZE	260165632,246083584
INTERNAL_PRESSURE	8.848	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,35,2,0
TCM_TEMP	19.10	GPS	221207,194937,6312.254,-1310.875,31,1.2,31,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	157	95.29	SBE_CT	678	24	381.14
Roll_motor	180	79	333.08	SBE_O2	668	19	297.18
VBD_pump_during_apogee	330	1283	9925.24	WL_BB2F	571	105	1403.36
VBD_pump_during_surface	53	732	922.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.19	nil	0	0	0.00
Iridium_during_connect	37	160	141.03	nil	0	0	0.00
Iridium_during_xfer	204	223	1066.19
Transponder_ping	6	420	63.88
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	17.24
TT8	1732	19	346.52
LPSleep	15040	2	332.68
TT8_Active	532	19	106.57
TT8_Sampling	2127	39	855.27
TT8_CF8	534	45	247.22
TT8_Kalman	33	81	27.58
Analog_circuits	1593	12	193.17
GPS_charging	0	0	0.00
Compass	2071	8	167.38
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
21	-1.10	-146.6	0.0	0.0	0	89	0.00	0.00	-66.30	0.000	6	0.000	0.000	46	2902	3500
92	-1.10	-146.6	3.4	-5.8	4	113	11.93	2.60	0.00	0.000	4	0.157	0.054	2163	1491	3501
348	-1.10	-146.6	33.5	-7.1	15	352	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2903	3502
669	-1.10	-146.6	59.7	-8.3	31	674	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1489	3501
713	-1.10	-146.6	63.1	-8.1	33	718	0.00	2.67	0.00	0.000	6	0.000	0.076	2163	2904	3502
1034	-1.10	-146.6	89.9	-7.9	49	1036	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3502
1344	-1.10	-146.6	112.4	-7.2	64	1348	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1489	3502
1409	-1.10	-146.6	117.3	-7.1	67	1414	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2903	3502
1730	-1.10	-146.6	141.5	-7.9	83	1734	0.00	2.60	0.00	0.000	4	0.000	0.066	2163	1490	3502
1762	-1.10	-146.6	144.3	-9.0	84	1769	0.00	2.70	0.00	0.000	6	0.000	0.077	2163	2900	3502
2078	-1.10	-146.6	169.2	-7.9	100	2079	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
2387	-1.10	-146.6	193.6	-7.6	115	2391	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1488	3502
2452	-1.10	-146.6	198.7	-7.9	118	2456	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2904	3502
2779	-1.10	-146.6	222.5	-7.0	134	2783	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1491	3502
2805	-1.10	-146.6	224.4	-6.8	135	2810	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2901	3502
3121	-1.10	-146.6	245.2	-6.4	150	3122	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3502
3430	-1.10	-146.6	266.2	-6.9	165	3435	0.00	2.58	0.00	0.000	4	0.000	0.064	2163	1489	3502
3485	-1.10	-146.6	270.3	-7.4	167	3492	0.00	2.65	0.00	0.000	6	0.000	0.074	2163	2902	3502
3801	-1.10	-146.6	293.5	-7.6	183	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3502
4110	-1.10	-146.6	316.8	-7.5	198	4114	0.00	2.58	0.00	0.000	4	0.000	0.063	2163	1489	3502
4159	-1.10	-146.6	320.6	-7.5	200	4163	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2900	3502
4481	-1.10	-146.6	345.8	-7.9	216	4485	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1482	3502
4552	-1.10	-146.6	352.0	-8.5	219	4556	0.00	2.62	0.00	0.000	6	0.000	0.074	2163	2899	3502
4873	-1.10	-146.6	379.1	-8.7	235	4874	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
5182	-1.10	-146.6	406.2	-8.6	250	5187	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1480	3502
5249	-1.10	-146.6	411.9	-8.3	253	5253	0.00	2.65	0.00	0.000	6	0.000	0.074	2163	2899	3502
5570	-1.10	-146.6	436.7	-7.3	269	5574	0.00	2.58	0.00	0.000	4	0.000	0.060	2163	1480	3502
5596	-1.10	-146.6	438.7	-7.4	270	5601	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2908	3502
5912	-1.10	-146.6	461.4	-7.2	285	5913	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3502
6220	-1.10	-146.6	483.1	-6.8	300	6224	0.00	2.55	0.00	0.000	4	0.000	0.057	2163	1483	3502
6265	-1.10	-146.6	486.1	-6.5	302	6269	0.00	2.62	0.00	0.000	6	0.000	0.067	2163	2903	3502
6591	-1.10	-146.6	506.5	-6.5	318	6592	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
6902	-1.10	-146.6	525.8	-6.4	333	6903	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3502
7209	-1.10	-146.6	546.0	-6.3	348	7213	0.00	2.53	0.00	0.000	4	0.000	0.052	2163	1483	3502
7286	-1.10	-146.6	551.5	-7.4	351	7292	0.00	2.60	0.00	0.000	6	0.000	0.063	2163	2904	3502
7602	-1.10	-146.6	576.3	-8.4	367	7606	0.00	2.53	0.00	0.000	4	0.000	0.051	2163	1481	3502
7668	-1.10	-146.6	581.9	-8.2	370	7672	0.00	2.58	0.00	0.000	6	0.000	0.061	2163	2901	3502
7989	-1.10	-146.6	611.1	-9.7	386	7994	0.00	2.50	0.00	0.000	4	0.000	0.047	2163	1471	3502
8078	-1.10	-146.6	618.8	-7.8	390	8082	0.00	2.60	0.00	0.000	6	0.000	0.059	2163	2903	3502
8406	-1.10	-146.6	642.1	-6.0	406	8410	0.00	2.50	0.00	0.000	4	0.000	0.045	2163	1480	3502
8444	-1.10	-146.6	644.3	-5.8	408	8449	0.00	2.58	0.00	0.000	6	0.000	0.059	2163	2900	3502
8771	-1.10	-146.6	665.4	-6.0	424	8772	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3502
9080	-1.10	-146.6	682.5	-3.8	439	9085	0.00	2.50	0.00	0.000	4	0.000	0.044	2163	1474	3502
9169	-1.10	-146.6	687.4	-5.8	443	9174	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2909	3502
9490	-1.10	-146.6	705.7	-6.6	459	9491	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3502
9799	-1.10	-146.6	727.6	-7.7	474	9804	0.00	2.53	0.00	0.000	4	0.000	0.047	2163	1481	3501
9871	end dive: TARGET_DEPTH_EXCEEDED
state	9871	begin apogee
9877	-0.42	0.0	733.4	8.4	477	10008	0.70	0.00	126.20	1.284	6	0.069	0.000	2314	2124	2901
10009	end apogee: CONTROL_FINISHED_OK
state	10009	begin climb
10012	1.10	146.6	737.3	0.0	484	10143	1.52	2.67	122.97	1.243	4	0.044	0.056	2651	693	2303
10290	1.10	146.6	727.8	6.8	497	10295	0.00	2.45	0.00	0.000	6	0.000	0.036	2651	2106	2302
10616	1.11	153.6	710.1	5.8	513	10630	0.00	2.62	7.70	1.074	4	0.000	0.061	2651	3489	2274
10659	1.14	176.2	707.6	5.4	515	10685	0.00	2.45	20.50	1.200	6	0.000	0.036	2651	2093	2182
11007	1.17	198.3	688.5	5.4	532	11033	0.00	2.67	20.12	1.203	4	0.000	0.062	2651	3502	2092
11054	1.21	235.8	685.9	5.0	534	11095	0.10	2.47	32.85	1.224	6	0.050	0.036	2683	2092	1939
11418	1.21	235.8	658.3	7.6	552	11422	0.00	2.53	0.00	0.000	4	0.000	0.056	2683	695	1937
11511	1.21	235.8	650.9	7.7	556	11516	0.00	2.45	0.00	0.000	6	0.000	0.035	2683	2104	1937
11832	1.21	235.8	625.7	9.2	572	11837	0.00	2.58	0.00	0.000	4	0.000	0.063	2684	3504	1936
11859	1.21	235.8	622.9	11.3	573	11863	0.00	2.45	0.00	0.000	6	0.000	0.035	2683	2092	1936
12180	1.21	235.8	595.0	8.1	589	12184	0.00	2.50	0.00	0.000	4	0.000	0.053	2684	696	1935
12308	1.21	235.8	584.5	8.4	595	12313	0.00	2.42	0.00	0.000	6	0.000	0.034	2684	2099	1935
12635	1.21	235.8	556.9	8.9	611	12636	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2099	1935
12944	1.21	235.8	530.1	8.7	626	12948	0.00	2.58	0.00	0.000	4	0.000	0.067	2684	3499	1935
12987	1.21	235.8	526.1	9.0	628	12991	0.00	2.45	0.00	0.000	6	0.000	0.037	2684	2103	1935
13314	1.21	235.8	497.7	9.0	644	13315	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2103	1935
13623	1.21	235.8	472.3	7.9	659	13627	0.00	2.62	0.00	0.000	4	0.000	0.071	2683	3505	1936
13678	1.21	235.8	467.6	8.0	661	13685	0.00	2.47	0.00	0.000	6	0.000	0.041	2684	2098	1936
13993	1.21	235.8	440.6	9.1	677	13994	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2097	1936
14302	1.21	235.8	412.8	8.9	692	14303	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2097	1937
14612	1.21	235.8	387.4	7.8	707	14616	0.00	2.65	0.00	0.000	4	0.000	0.075	2684	3504	1937
14655	1.21	235.8	383.9	7.5	709	14659	0.00	2.47	0.00	0.000	6	0.000	0.044	2684	2096	1937
14981	1.21	235.8	359.4	7.6	725	14982	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2096	1937
15290	1.21	235.8	333.7	8.5	740	15295	0.00	2.65	0.00	0.000	4	0.000	0.074	2684	3504	1938
15329	1.21	235.8	330.3	8.3	742	15333	0.00	2.50	0.00	0.000	6	0.000	0.047	2684	2093	1938
15654	1.21	235.8	301.2	9.1	758	15656	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2093	1938
15964	1.21	235.8	274.4	8.3	773	15968	0.00	2.65	0.00	0.000	4	0.000	0.077	2684	3499	1939
16036	1.21	235.8	268.3	8.8	776	16041	0.00	2.50	0.00	0.000	6	0.000	0.048	2684	2100	1939
16351	1.21	235.8	243.1	8.3	791	16353	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2100	1939
16661	1.21	235.8	216.5	8.5	806	16665	0.00	2.65	0.00	0.000	4	0.000	0.076	2684	3502	1939
16704	1.21	235.8	212.6	8.8	808	16709	0.00	2.47	0.00	0.000	6	0.000	0.047	2684	2104	1939
17025	1.21	235.8	186.8	7.8	824	17026	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2104	1939
17334	1.21	235.8	162.8	7.8	839	17338	0.00	2.65	0.00	0.000	4	0.000	0.077	2684	3506	1940
17373	1.21	235.8	159.7	8.0	841	17378	0.00	2.50	0.00	0.000	6	0.000	0.048	2684	2097	1940
17700	1.21	235.8	136.3	7.3	857	17701	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2097	1940
18009	1.21	235.8	111.4	8.5	872	18010	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2097	1940
18318	1.21	235.8	89.4	7.1	887	18323	0.00	2.65	0.00	0.000	4	0.000	0.077	2684	3501	1940
18344	1.21	235.8	87.0	8.9	888	18349	0.00	2.47	0.00	0.000	6	0.000	0.050	2684	2099	1940
18667	1.21	235.8	63.0	7.2	904	18671	0.00	2.55	0.00	0.000	4	0.000	0.063	2684	691	1941
18706	1.21	235.8	59.6	8.4	906	18711	0.00	2.47	0.00	0.000	6	0.000	0.048	2684	2090	1941
19033	1.21	235.8	32.5	8.1	922	19038	0.00	2.67	0.00	0.000	4	0.000	0.079	2684	3515	1941
19082	1.21	235.8	27.3	11.1	924	19086	0.00	2.53	0.00	0.000	6	0.000	0.050	2684	2092	1941
19404	1.21	235.8	5.2	7.3	940	19408	0.00	2.58	0.00	0.000	4	0.000	0.072	2684	694	1941
19441	end climb: SURFACE_DEPTH_REACHED
state	19441	begin surface coast
19457	end surface coast: CONTROL_FINISHED_OK
state	19457	begin surface