Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 405 * 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 405 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 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 -3 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 -70370.305 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 2 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 -70370.305

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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 24 USE_BATHY -3

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 405 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 214425,6235.701,-1038.865,39,1.7,39,-10.5 TGT_NAME CE

_CALLS 1 TGT_LATLONG 6230.000,-1030.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.23 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -61.3 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 215105,6235.751,-1038.776,10,2.5,29,-10.5 MHEAD_RNG_PITCHd_Wd 155.3,13029,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 586

Post-dive calculations and measurements:

FINISH -1.0,1.027374 XPDR_PINGS 2

SM_CCo 17173,55.55,0.786,3,0,1678,300.00 ALTIM_BOTTOM_PING 500.2,94.8

SM_GC -0.13,0.00,0.00,55.55,0.000,0.000,0.786,41,2898,1678,-10.89,-0.08,300.00 _24V_AH 23.2,67.698

IRIDIUM_FIX 6207.28,-1047.49,210108,202016 _10V_AH 10.1,31.353

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41053,827

HUMID 2076 CFSIZE 260165632,236785664

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,3,0

TCM_TEMP 17.00 GPS 220108,024008,6232.042,-1031.799,29,1.6,29,-10.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 156 94.29 SBE_CT 610 24 339.67

Roll_motor 187 92 400.48 SBE_O2 575 19 253.68

VBD_pump_during_apogee 328 1255 9563.19 WL_BB2F 547 105 1332.78

VBD_pump_during_surface 55 786 1013.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 97.86 nil 0 0 0.00

Iridium_during_connect 33 160 124.75 nil 0 0 0.00

Iridium_during_xfer 177 223 919.32

Transponder_ping 4 420 43.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.11

TT8 1545 19 309.06

LPSleep 13094 2 289.64

TT8_Active 557 19 111.40

TT8_Sampling 1862 39 748.87

TT8_CF8 594 45 274.95

TT8_Kalman 0 81 0.00

Analog_circuits 1514 12 183.59

GPS_charging 0 0 0.00

Compass 1820 8 147.09

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.10 -146.6 0.0 0.0 0 88 0.00 0.00 -60.53 0.000 2 0.000 0.000 43 2898 3366

91 -1.10 -146.6 3.3 -8.8 3 114 11.98 2.55 -2.50 0.000 4 0.156 0.071 2167 1496 3502

245 -1.10 -146.6 21.1 -6.5 9 251 0.00 2.65 0.00 0.000 6 0.000 0.074 2167 2904 3503

561 -1.10 -146.6 43.3 -7.5 25 562 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3504

870 -1.10 -146.6 69.3 -8.4 40 874 0.00 2.62 0.00 0.000 4 0.000 0.068 2167 1492 3504

960 -1.10 -146.6 74.5 -5.8 44 964 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2900 3504

1282 -1.10 -146.6 102.1 -8.3 60 1286 0.00 2.62 0.00 0.000 4 0.000 0.067 2167 1491 3504

1305 -1.10 -146.6 103.6 -6.1 61 1309 0.00 2.67 0.00 0.000 6 0.000 0.073 2167 2904 3504

1627 -1.10 -146.6 125.3 -5.8 77 1628 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3503

1937 -1.10 -146.6 141.5 -5.5 92 1941 0.00 2.62 0.00 0.000 4 0.000 0.067 2167 1488 3504

1969 -1.10 -146.6 143.9 -6.9 93 1976 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2902 3504

2285 -1.10 -146.6 167.2 -7.4 109 2290 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1490 3504

2325 -1.10 -146.6 170.1 -7.2 111 2330 0.00 2.65 0.00 0.000 6 0.000 0.072 2167 2903 3504

2652 -1.10 -146.6 191.7 -6.6 127 2653 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3504

2961 -1.10 -146.6 212.2 -6.7 142 2966 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 1492 3504

2989 -1.10 -146.6 214.1 -6.4 143 2993 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2898 3504

3304 -1.10 -146.6 235.8 -7.0 158 3305 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2898 3504

3614 -1.10 -146.6 258.0 -7.2 173 3618 0.00 2.60 0.00 0.000 4 0.000 0.066 2167 1490 3504

3658 -1.10 -146.6 261.0 -6.7 175 3662 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2902 3504

3979 -1.10 -146.6 281.9 -6.5 191 3983 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1489 3504

4006 -1.10 -146.6 283.7 -6.1 192 4011 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2906 3504

4322 -1.10 -146.6 304.3 -6.9 207 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2906 3504

4632 -1.10 -146.6 326.1 -7.0 222 4636 0.00 2.60 0.00 0.000 4 0.000 0.061 2167 1486 3504

4694 -1.10 -146.6 330.4 -7.0 225 4698 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2898 3504

5020 -1.10 -146.6 351.7 -6.4 241 5025 0.00 2.58 0.00 0.000 4 0.000 0.062 2167 1490 3504

5048 -1.10 -146.6 353.5 -6.2 242 5052 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2903 3504

5364 -1.10 -146.6 374.4 -6.7 257 5368 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1483 3504

5407 -1.10 -146.6 377.4 -6.3 259 5412 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2901 3504

5728 -1.10 -146.6 395.1 -5.2 275 5730 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3504

6038 -1.10 -146.6 409.9 -4.7 290 6042 0.00 2.58 0.00 0.000 4 0.000 0.058 2167 1484 3504

6094 -1.10 -146.6 412.6 -5.0 292 6100 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2902 3504

6410 -1.10 -146.6 427.6 -4.7 308 6414 0.00 2.58 0.00 0.000 4 0.000 0.060 2167 1482 3503

6443 -1.10 -146.6 429.3 -5.1 309 6449 0.00 2.65 0.00 0.000 6 0.000 0.068 2167 2904 3504

6758 -1.10 -146.6 444.6 -5.1 325 6763 0.00 2.55 0.00 0.000 4 0.000 0.057 2167 1481 3504

6792 -1.10 -146.6 446.5 -5.2 326 6798 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2899 3503

7108 -1.10 -146.6 464.9 -6.2 342 7112 0.00 2.55 0.00 0.000 4 0.000 0.056 2167 1481 3504

7140 -1.10 -146.6 467.3 -6.9 343 7146 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2902 3504

7456 -1.10 -146.6 489.3 -7.1 359 7460 0.00 2.53 0.00 0.000 4 0.000 0.052 2167 1487 3504

7500 -1.10 -146.6 492.5 -7.0 361 7504 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2900 3503

7820 -1.10 -146.6 514.2 -6.6 377 7824 0.00 1.67 0.00 0.000 4 0.000 0.092 2167 3782 3503

8033 -1.10 -146.6 529.1 -6.9 386 8037 0.00 1.52 0.00 0.000 6 0.000 0.038 2167 2903 3503

8355 -1.10 -146.6 549.2 -6.3 402 8359 0.00 2.53 0.00 0.000 4 0.000 0.054 2167 1482 3503

8405 -1.10 -146.6 552.5 -7.0 404 8410 0.00 2.62 0.00 0.000 6 0.000 0.064 2167 2902 3503

8721 -1.10 -146.6 572.8 -6.6 419 8723 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3502

8925 end dive: BOTTOM_OBSTACLE_DETECTED

state 8925 begin apogee

8933 -0.42 0.0 585.7 6.0 429 9068 0.75 0.00 126.90 1.256 6 0.092 0.000 2317 2087 2901

9068 end apogee: CONTROL_FINISHED_OK

state 9068 begin climb

9072 1.10 146.6 590.6 0.0 436 9203 1.55 2.60 122.72 1.216 4 0.056 0.058 2648 695 2303

9313 1.16 191.4 584.6 4.8 447 9357 0.00 2.50 38.90 1.187 6 0.000 0.038 2648 2117 2121

9683 1.17 198.7 562.6 5.8 465 9697 0.00 2.65 7.75 1.055 4 0.000 0.067 2648 3499 2091

9776 1.17 198.7 556.2 6.2 469 9781 0.00 2.47 0.00 0.000 6 0.000 0.039 2648 2097 2091

10098 1.17 198.7 534.3 7.1 485 10103 0.00 2.62 0.00 0.000 4 0.000 0.068 2648 3496 2089

10178 1.17 198.7 529.1 6.5 488 10184 0.00 2.47 0.00 0.000 6 0.000 0.040 2648 2099 2089

10494 1.21 236.1 510.8 5.0 504 10536 0.12 2.75 32.03 1.239 4 0.047 0.072 2686 3501 1938

10623 1.21 236.1 502.9 6.4 509 10629 0.00 2.50 0.00 0.000 6 0.000 0.042 2686 2103 1937

10938 1.21 236.1 482.1 6.9 525 10940 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2103 1936

11248 1.21 236.1 458.2 8.1 540 11252 0.00 2.62 0.00 0.000 4 0.000 0.074 2686 3496 1936

11281 1.21 236.1 455.4 9.2 541 11287 0.00 2.47 0.00 0.000 6 0.000 0.044 2686 2095 1935

11596 1.21 236.1 428.5 8.7 557 11600 0.00 2.65 0.00 0.000 4 0.000 0.074 2686 3495 1935

11623 1.21 236.1 426.0 9.6 558 11628 0.00 2.50 0.00 0.000 6 0.000 0.044 2687 2097 1935

11939 1.21 236.1 397.0 9.2 573 11943 0.00 2.65 0.00 0.000 4 0.000 0.075 2686 3495 1935

12016 1.21 236.1 389.8 8.9 576 12022 0.00 2.47 0.00 0.000 6 0.000 0.047 2687 2100 1935

12332 1.21 236.1 364.0 8.2 592 12337 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3498 1935

12400 1.21 236.1 358.1 8.6 595 12404 0.00 2.50 0.00 0.000 6 0.000 0.046 2687 2100 1935

12721 1.21 236.1 332.7 7.6 611 12725 0.00 2.58 0.00 0.000 4 0.000 0.061 2687 685 1935

12742 1.21 236.1 330.7 8.9 612 12747 0.00 2.47 0.00 0.000 6 0.000 0.042 2686 2090 1935

13064 1.21 236.1 305.2 7.8 628 13068 0.00 2.65 0.00 0.000 4 0.000 0.073 2687 3510 1936

13113 1.21 236.1 301.0 8.3 630 13118 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2097 1936

13429 1.21 236.1 278.1 7.5 645 13430 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2097 1936

13740 1.21 236.1 255.4 7.6 660 13744 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3509 1937

13772 1.21 236.1 252.8 8.0 661 13778 0.00 2.53 0.00 0.000 6 0.000 0.045 2687 2094 1937

14088 1.21 236.1 229.0 7.7 677 14092 0.00 2.65 0.00 0.000 4 0.000 0.071 2686 3510 1937

14109 1.21 236.1 227.2 8.0 678 14114 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2095 1937

14430 1.21 236.1 202.1 7.7 694 14435 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3510 1938

14463 1.21 236.1 199.4 7.1 695 14470 0.00 2.47 0.00 0.000 6 0.000 0.047 2687 2096 1938

14780 1.21 236.1 176.5 7.5 711 14784 0.00 2.65 0.00 0.000 4 0.000 0.071 2686 3517 1938

14801 1.21 236.1 174.7 7.8 712 14806 0.00 2.53 0.00 0.000 6 0.000 0.046 2687 2094 1938

15122 1.21 236.1 151.6 7.0 728 15126 0.00 2.65 0.00 0.000 4 0.000 0.070 2686 3509 1939

15143 1.21 236.1 150.0 7.5 729 15148 0.00 2.53 0.00 0.000 6 0.000 0.048 2687 2100 1939

15465 1.21 236.1 126.2 7.6 745 15466 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1940

15774 1.21 236.1 102.4 7.7 760 15778 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3509 1940

15807 1.21 236.1 99.5 7.9 761 15813 0.00 2.53 0.00 0.000 6 0.000 0.050 2687 2094 1940

16125 1.21 236.1 76.0 6.9 777 16130 0.00 2.65 0.00 0.000 4 0.000 0.071 2687 3508 1940

16166 1.21 236.1 73.0 7.3 779 16170 0.00 2.50 0.00 0.000 6 0.000 0.048 2687 2097 1940

16493 1.21 236.1 50.3 7.5 795 16497 0.00 2.65 0.00 0.000 4 0.000 0.072 2687 3508 1940

16525 1.21 236.1 47.7 8.1 796 16532 0.00 2.47 0.00 0.000 6 0.000 0.049 2687 2105 1940

16843 1.21 236.1 24.0 7.8 812 16844 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2104 1940

17129 end climb: SURFACE_DEPTH_REACHED

state 17129 begin surface coast

17149 end surface coast: CONTROL_FINISHED_OK

state 17149 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	405	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	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	-3	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	-70370.305	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	2	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	214425,6235.701,-1038.865,39,1.7,39,-10.5	TGT_NAME	CE
_CALLS	1	TGT_LATLONG	6230.000,-1030.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.23	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-61.3	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	215105,6235.751,-1038.776,10,2.5,29,-10.5	MHEAD_RNG_PITCHd_Wd	155.3,13029,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	586

FINISH	-1.0,1.027374	XPDR_PINGS	2
SM_CCo	17173,55.55,0.786,3,0,1678,300.00	ALTIM_BOTTOM_PING	500.2,94.8
SM_GC	-0.13,0.00,0.00,55.55,0.000,0.000,0.786,41,2898,1678,-10.89,-0.08,300.00	_24V_AH	23.2,67.698
IRIDIUM_FIX	6207.28,-1047.49,210108,202016	_10V_AH	10.1,31.353
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41053,827
HUMID	2076	CFSIZE	260165632,236785664
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
TCM_TEMP	17.00	GPS	220108,024008,6232.042,-1031.799,29,1.6,29,-10.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	156	94.29	SBE_CT	610	24	339.67
Roll_motor	187	92	400.48	SBE_O2	575	19	253.68
VBD_pump_during_apogee	328	1255	9563.19	WL_BB2F	547	105	1332.78
VBD_pump_during_surface	55	786	1013.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	97.86	nil	0	0	0.00
Iridium_during_connect	33	160	124.75	nil	0	0	0.00
Iridium_during_xfer	177	223	919.32
Transponder_ping	4	420	43.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.11
TT8	1545	19	309.06
LPSleep	13094	2	289.64
TT8_Active	557	19	111.40
TT8_Sampling	1862	39	748.87
TT8_CF8	594	45	274.95
TT8_Kalman	0	81	0.00
Analog_circuits	1514	12	183.59
GPS_charging	0	0	0.00
Compass	1820	8	147.09
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.10	-146.6	0.0	0.0	0	88	0.00	0.00	-60.53	0.000	2	0.000	0.000	43	2898	3366
91	-1.10	-146.6	3.3	-8.8	3	114	11.98	2.55	-2.50	0.000	4	0.156	0.071	2167	1496	3502
245	-1.10	-146.6	21.1	-6.5	9	251	0.00	2.65	0.00	0.000	6	0.000	0.074	2167	2904	3503
561	-1.10	-146.6	43.3	-7.5	25	562	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3504
870	-1.10	-146.6	69.3	-8.4	40	874	0.00	2.62	0.00	0.000	4	0.000	0.068	2167	1492	3504
960	-1.10	-146.6	74.5	-5.8	44	964	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2900	3504
1282	-1.10	-146.6	102.1	-8.3	60	1286	0.00	2.62	0.00	0.000	4	0.000	0.067	2167	1491	3504
1305	-1.10	-146.6	103.6	-6.1	61	1309	0.00	2.67	0.00	0.000	6	0.000	0.073	2167	2904	3504
1627	-1.10	-146.6	125.3	-5.8	77	1628	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3503
1937	-1.10	-146.6	141.5	-5.5	92	1941	0.00	2.62	0.00	0.000	4	0.000	0.067	2167	1488	3504
1969	-1.10	-146.6	143.9	-6.9	93	1976	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2902	3504
2285	-1.10	-146.6	167.2	-7.4	109	2290	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1490	3504
2325	-1.10	-146.6	170.1	-7.2	111	2330	0.00	2.65	0.00	0.000	6	0.000	0.072	2167	2903	3504
2652	-1.10	-146.6	191.7	-6.6	127	2653	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3504
2961	-1.10	-146.6	212.2	-6.7	142	2966	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	1492	3504
2989	-1.10	-146.6	214.1	-6.4	143	2993	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2898	3504
3304	-1.10	-146.6	235.8	-7.0	158	3305	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2898	3504
3614	-1.10	-146.6	258.0	-7.2	173	3618	0.00	2.60	0.00	0.000	4	0.000	0.066	2167	1490	3504
3658	-1.10	-146.6	261.0	-6.7	175	3662	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2902	3504
3979	-1.10	-146.6	281.9	-6.5	191	3983	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1489	3504
4006	-1.10	-146.6	283.7	-6.1	192	4011	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2906	3504
4322	-1.10	-146.6	304.3	-6.9	207	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2906	3504
4632	-1.10	-146.6	326.1	-7.0	222	4636	0.00	2.60	0.00	0.000	4	0.000	0.061	2167	1486	3504
4694	-1.10	-146.6	330.4	-7.0	225	4698	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2898	3504
5020	-1.10	-146.6	351.7	-6.4	241	5025	0.00	2.58	0.00	0.000	4	0.000	0.062	2167	1490	3504
5048	-1.10	-146.6	353.5	-6.2	242	5052	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2903	3504
5364	-1.10	-146.6	374.4	-6.7	257	5368	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1483	3504
5407	-1.10	-146.6	377.4	-6.3	259	5412	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2901	3504
5728	-1.10	-146.6	395.1	-5.2	275	5730	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3504
6038	-1.10	-146.6	409.9	-4.7	290	6042	0.00	2.58	0.00	0.000	4	0.000	0.058	2167	1484	3504
6094	-1.10	-146.6	412.6	-5.0	292	6100	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2902	3504
6410	-1.10	-146.6	427.6	-4.7	308	6414	0.00	2.58	0.00	0.000	4	0.000	0.060	2167	1482	3503
6443	-1.10	-146.6	429.3	-5.1	309	6449	0.00	2.65	0.00	0.000	6	0.000	0.068	2167	2904	3504
6758	-1.10	-146.6	444.6	-5.1	325	6763	0.00	2.55	0.00	0.000	4	0.000	0.057	2167	1481	3504
6792	-1.10	-146.6	446.5	-5.2	326	6798	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2899	3503
7108	-1.10	-146.6	464.9	-6.2	342	7112	0.00	2.55	0.00	0.000	4	0.000	0.056	2167	1481	3504
7140	-1.10	-146.6	467.3	-6.9	343	7146	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2902	3504
7456	-1.10	-146.6	489.3	-7.1	359	7460	0.00	2.53	0.00	0.000	4	0.000	0.052	2167	1487	3504
7500	-1.10	-146.6	492.5	-7.0	361	7504	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2900	3503
7820	-1.10	-146.6	514.2	-6.6	377	7824	0.00	1.67	0.00	0.000	4	0.000	0.092	2167	3782	3503
8033	-1.10	-146.6	529.1	-6.9	386	8037	0.00	1.52	0.00	0.000	6	0.000	0.038	2167	2903	3503
8355	-1.10	-146.6	549.2	-6.3	402	8359	0.00	2.53	0.00	0.000	4	0.000	0.054	2167	1482	3503
8405	-1.10	-146.6	552.5	-7.0	404	8410	0.00	2.62	0.00	0.000	6	0.000	0.064	2167	2902	3503
8721	-1.10	-146.6	572.8	-6.6	419	8723	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3502
8925	end dive: BOTTOM_OBSTACLE_DETECTED
state	8925	begin apogee
8933	-0.42	0.0	585.7	6.0	429	9068	0.75	0.00	126.90	1.256	6	0.092	0.000	2317	2087	2901
9068	end apogee: CONTROL_FINISHED_OK
state	9068	begin climb
9072	1.10	146.6	590.6	0.0	436	9203	1.55	2.60	122.72	1.216	4	0.056	0.058	2648	695	2303
9313	1.16	191.4	584.6	4.8	447	9357	0.00	2.50	38.90	1.187	6	0.000	0.038	2648	2117	2121
9683	1.17	198.7	562.6	5.8	465	9697	0.00	2.65	7.75	1.055	4	0.000	0.067	2648	3499	2091
9776	1.17	198.7	556.2	6.2	469	9781	0.00	2.47	0.00	0.000	6	0.000	0.039	2648	2097	2091
10098	1.17	198.7	534.3	7.1	485	10103	0.00	2.62	0.00	0.000	4	0.000	0.068	2648	3496	2089
10178	1.17	198.7	529.1	6.5	488	10184	0.00	2.47	0.00	0.000	6	0.000	0.040	2648	2099	2089
10494	1.21	236.1	510.8	5.0	504	10536	0.12	2.75	32.03	1.239	4	0.047	0.072	2686	3501	1938
10623	1.21	236.1	502.9	6.4	509	10629	0.00	2.50	0.00	0.000	6	0.000	0.042	2686	2103	1937
10938	1.21	236.1	482.1	6.9	525	10940	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2103	1936
11248	1.21	236.1	458.2	8.1	540	11252	0.00	2.62	0.00	0.000	4	0.000	0.074	2686	3496	1936
11281	1.21	236.1	455.4	9.2	541	11287	0.00	2.47	0.00	0.000	6	0.000	0.044	2686	2095	1935
11596	1.21	236.1	428.5	8.7	557	11600	0.00	2.65	0.00	0.000	4	0.000	0.074	2686	3495	1935
11623	1.21	236.1	426.0	9.6	558	11628	0.00	2.50	0.00	0.000	6	0.000	0.044	2687	2097	1935
11939	1.21	236.1	397.0	9.2	573	11943	0.00	2.65	0.00	0.000	4	0.000	0.075	2686	3495	1935
12016	1.21	236.1	389.8	8.9	576	12022	0.00	2.47	0.00	0.000	6	0.000	0.047	2687	2100	1935
12332	1.21	236.1	364.0	8.2	592	12337	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3498	1935
12400	1.21	236.1	358.1	8.6	595	12404	0.00	2.50	0.00	0.000	6	0.000	0.046	2687	2100	1935
12721	1.21	236.1	332.7	7.6	611	12725	0.00	2.58	0.00	0.000	4	0.000	0.061	2687	685	1935
12742	1.21	236.1	330.7	8.9	612	12747	0.00	2.47	0.00	0.000	6	0.000	0.042	2686	2090	1935
13064	1.21	236.1	305.2	7.8	628	13068	0.00	2.65	0.00	0.000	4	0.000	0.073	2687	3510	1936
13113	1.21	236.1	301.0	8.3	630	13118	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2097	1936
13429	1.21	236.1	278.1	7.5	645	13430	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2097	1936
13740	1.21	236.1	255.4	7.6	660	13744	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3509	1937
13772	1.21	236.1	252.8	8.0	661	13778	0.00	2.53	0.00	0.000	6	0.000	0.045	2687	2094	1937
14088	1.21	236.1	229.0	7.7	677	14092	0.00	2.65	0.00	0.000	4	0.000	0.071	2686	3510	1937
14109	1.21	236.1	227.2	8.0	678	14114	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2095	1937
14430	1.21	236.1	202.1	7.7	694	14435	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3510	1938
14463	1.21	236.1	199.4	7.1	695	14470	0.00	2.47	0.00	0.000	6	0.000	0.047	2687	2096	1938
14780	1.21	236.1	176.5	7.5	711	14784	0.00	2.65	0.00	0.000	4	0.000	0.071	2686	3517	1938
14801	1.21	236.1	174.7	7.8	712	14806	0.00	2.53	0.00	0.000	6	0.000	0.046	2687	2094	1938
15122	1.21	236.1	151.6	7.0	728	15126	0.00	2.65	0.00	0.000	4	0.000	0.070	2686	3509	1939
15143	1.21	236.1	150.0	7.5	729	15148	0.00	2.53	0.00	0.000	6	0.000	0.048	2687	2100	1939
15465	1.21	236.1	126.2	7.6	745	15466	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1940
15774	1.21	236.1	102.4	7.7	760	15778	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3509	1940
15807	1.21	236.1	99.5	7.9	761	15813	0.00	2.53	0.00	0.000	6	0.000	0.050	2687	2094	1940
16125	1.21	236.1	76.0	6.9	777	16130	0.00	2.65	0.00	0.000	4	0.000	0.071	2687	3508	1940
16166	1.21	236.1	73.0	7.3	779	16170	0.00	2.50	0.00	0.000	6	0.000	0.048	2687	2097	1940
16493	1.21	236.1	50.3	7.5	795	16497	0.00	2.65	0.00	0.000	4	0.000	0.072	2687	3508	1940
16525	1.21	236.1	47.7	8.1	796	16532	0.00	2.47	0.00	0.000	6	0.000	0.049	2687	2105	1940
16843	1.21	236.1	24.0	7.8	812	16844	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2104	1940
17129	end climb: SURFACE_DEPTH_REACHED
state	17129	begin surface coast
17149	end surface coast: CONTROL_FINISHED_OK
state	17149	begin surface