Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 412 * 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 412 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 37 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 -70488.641 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 -70488.641

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 37 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 17 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 412 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 084101,6220.558,-956.920,46,2.0,51,-10.0 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6220.000,-950.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.53 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -49.1 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 084738,6220.651,-956.732,14,0.9,31,-10.0 MHEAD_RNG_PITCHd_Wd 111.8,5914,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 650

Post-dive calculations and measurements:

FINISH 0.0,1.027386 XPDR_PINGS 2

SM_CCo 18347,0.00,0.000,0,0,1665,302.95 ALTIM_BOTTOM_PING 576.1,66.0

SM_GC -0.33,11.70,0.00,0.00,0.032,0.000,0.000,38,2908,1665,-10.80,0.20,302.95 _24V_AH 23.2,68.770

IRIDIUM_FIX 6153.50,-959.68,180497,030333 _10V_AH 10.1,31.929

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44341,879

HUMID 2087 CFSIZE 260165632,236351488

INTERNAL_PRESSURE 8.8187 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,25,0,0

TCM_TEMP 17.10 GPS 230108,135508,6219.003,-951.354,38,0.9,38,-10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 96.79 SBE_CT 649 24 361.64

Roll_motor 169 123 486.46 SBE_O2 608 19 268.07

VBD_pump_during_apogee 386 1274 11419.37 WL_BB2F 557 105 1357.78

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 98.29 nil 0 0 0.00

Iridium_during_connect 35 160 131.76 nil 0 0 0.00

Iridium_during_xfer 173 223 896.13

Transponder_ping 5 420 53.59

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.04

TT8 1613 19 322.58

LPSleep 14079 2 311.43

TT8_Active 506 19 101.29

TT8_Sampling 1951 39 784.54

TT8_CF8 600 45 277.97

TT8_Kalman 0 81 0.00

Analog_circuits 1510 12 183.03

GPS_charging 0 0 0.00

Compass 1905 8 153.98

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 99 0.00 0.00 -70.97 0.000 2 0.000 0.000 44 2874 3370

103 -1.10 -146.6 3.0 -4.9 4 125 12.05 1.83 -2.42 0.000 4 0.160 0.123 2167 3770 3502

378 -1.10 -146.6 26.0 -11.7 16 382 0.00 1.55 0.00 0.000 6 0.000 0.054 2167 2922 3503

705 -1.10 -146.6 51.7 -10.5 32 708 0.00 1.67 0.00 0.000 4 0.000 0.095 2167 3779 3503

874 -1.10 -146.6 63.5 -5.7 39 877 0.00 1.60 0.00 0.000 6 0.000 0.052 2167 2900 3503

1195 -1.10 -146.6 96.2 -9.1 55 1199 0.00 1.73 0.00 0.000 4 0.000 0.097 2167 3779 3503

1251 -1.10 -146.6 101.2 -8.8 57 1254 0.00 1.58 0.00 0.000 6 0.000 0.053 2167 2899 3503

1573 -1.10 -146.6 122.4 -5.7 73 1577 0.00 2.60 0.00 0.000 4 0.000 0.071 2167 1489 3503

1640 -1.10 -146.6 126.6 -5.6 76 1644 0.00 2.62 0.00 0.000 6 0.000 0.068 2167 2893 3503

1961 -1.10 -146.6 146.4 -6.6 92 1962 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2893 3503

2270 -1.10 -146.6 167.3 -6.9 107 2271 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2894 3503

2579 -1.10 -146.6 186.3 -6.1 122 2580 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2893 3503

2889 -1.10 -146.6 206.9 -6.8 137 2893 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1478 3503

2916 -1.10 -146.6 208.8 -7.3 138 2920 0.00 2.65 0.00 0.000 6 0.000 0.068 2167 2901 3503

3232 -1.10 -146.6 229.1 -6.0 153 3233 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

3541 -1.10 -146.6 247.9 -5.9 168 3542 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

3850 -1.10 -146.6 265.1 -5.3 183 3854 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1487 3503

3894 -1.10 -146.6 267.6 -5.3 185 3899 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2900 3503

4217 -1.10 -146.6 286.9 -6.2 201 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

4525 -1.10 -146.6 308.6 -7.1 216 4529 0.00 2.60 0.00 0.000 4 0.000 0.062 2167 1484 3503

4558 -1.10 -146.6 310.9 -6.7 217 4564 0.00 2.65 0.00 0.000 6 0.000 0.071 2167 2903 3503

4874 -1.10 -146.6 332.3 -6.3 233 4875 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3503

5184 -1.10 -146.6 351.2 -6.1 248 5188 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 1484 3503

5217 -1.10 -146.6 353.4 -6.4 249 5223 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2899 3503

5533 -1.10 -146.6 371.9 -5.6 265 5534 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

5842 -1.10 -146.6 387.1 -4.7 280 5843 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6151 -1.10 -146.6 401.2 -4.6 295 6155 0.00 2.58 0.00 0.000 4 0.000 0.059 2167 1482 3503

6179 -1.10 -146.6 402.5 -4.6 296 6183 0.00 2.62 0.00 0.000 6 0.000 0.065 2167 2899 3503

6495 -1.10 -146.6 415.4 -4.0 311 6496 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6805 -1.10 -146.6 427.8 -4.5 326 6809 0.00 2.55 0.00 0.000 4 0.000 0.054 2167 1478 3502

6833 -1.10 -146.6 429.1 -4.4 327 6837 0.00 2.62 0.00 0.000 6 0.000 0.064 2167 2908 3503

7148 -1.10 -146.6 443.5 -4.9 342 7150 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2908 3503

7458 -1.10 -146.6 457.6 -3.8 357 7462 0.00 2.55 0.00 0.000 4 0.000 0.054 2167 1480 3503

7502 -1.10 -146.6 459.4 -3.3 359 7507 0.00 2.60 0.00 0.000 6 0.000 0.061 2167 2898 3503

7823 -1.10 -146.6 471.2 -4.2 375 7828 0.00 2.53 0.00 0.000 4 0.000 0.053 2167 1482 3503

7864 -1.10 -146.6 472.9 -5.3 377 7868 0.00 2.60 0.00 0.000 6 0.000 0.061 2167 2904 3503

8191 -1.10 -146.6 487.2 -4.8 393 8195 0.00 2.53 0.00 0.000 4 0.000 0.051 2167 1481 3503

8291 -1.10 -146.6 493.2 -6.3 397 8297 0.00 2.60 0.00 0.000 6 0.000 0.061 2167 2899 3503

8607 -1.10 -146.6 517.3 -8.7 413 8611 0.00 2.50 0.00 0.000 4 0.000 0.047 2167 1475 3503

8630 -1.10 -146.6 519.2 -8.2 414 8634 0.00 2.60 0.00 0.000 6 0.000 0.061 2167 2902 3503

8956 -1.10 -146.6 549.1 -9.5 430 8960 0.00 2.50 0.00 0.000 4 0.000 0.045 2167 1473 3503

9045 -1.10 -146.6 558.0 -10.0 434 9049 0.00 2.60 0.00 0.000 6 0.000 0.058 2167 2900 3503

9366 -1.10 -146.6 585.2 -9.1 450 9369 0.00 1.67 0.00 0.000 4 0.000 0.086 2167 3790 3503

9404 -1.10 -146.6 588.8 -8.8 451 9410 0.00 1.55 0.00 0.000 6 0.000 0.037 2167 2887 3502

9720 -1.10 -146.6 613.8 -6.8 467 9724 0.00 2.42 0.00 0.000 4 0.000 0.045 2167 1491 3502

9766 -1.10 -146.6 617.3 -7.6 469 9770 0.00 2.55 0.00 0.000 6 0.000 0.058 2167 2906 3502

10007 end dive: BOTTOM_OBSTACLE_DETECTED

state 10007 begin apogee

10016 -0.42 0.0 633.1 7.0 481 10150 0.73 0.00 127.32 1.275 6 0.080 0.000 2315 2098 2900

10150 end apogee: CONTROL_FINISHED_OK

state 10150 begin climb

10154 1.10 146.6 638.1 0.0 488 10288 1.55 2.62 123.05 1.231 4 0.056 0.055 2648 702 2303

10350 1.12 158.7 633.0 5.7 497 10367 0.00 2.47 12.02 1.109 6 0.000 0.035 2648 2117 2253

10676 1.12 158.7 614.5 6.1 513 10680 0.00 2.55 0.00 0.000 4 0.000 0.061 2648 3505 2252

10715 1.16 191.7 612.6 5.1 515 10750 0.00 2.45 29.17 1.218 6 0.000 0.035 2648 2100 2119

11067 1.22 239.6 592.8 4.7 532 11116 0.12 2.62 41.22 1.236 4 0.044 0.058 2688 3495 1923

11161 1.22 239.6 587.3 6.1 536 11165 0.00 2.42 0.00 0.000 6 0.000 0.035 2687 2100 1923

11482 1.22 239.6 562.7 9.6 552 11483 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2100 1922

11791 1.22 239.6 535.2 8.3 567 11795 0.00 2.60 0.00 0.000 4 0.000 0.063 2687 3504 1921

11835 1.22 239.6 531.8 7.4 569 11839 0.00 2.47 0.00 0.000 6 0.000 0.036 2687 2093 1921

12156 1.22 239.6 511.0 6.4 585 12160 0.00 2.53 0.00 0.000 4 0.000 0.056 2687 697 1920

12211 1.22 239.6 506.9 6.8 587 12217 0.00 2.42 0.00 0.000 6 0.000 0.035 2688 2092 1920

12527 1.22 241.6 486.7 5.9 603 12531 0.00 2.53 0.00 0.000 4 0.000 0.054 2687 701 1919

12560 1.23 246.8 484.6 5.9 604 12574 0.00 2.45 7.00 1.042 6 0.000 0.038 2688 2098 1894

12896 1.23 246.8 459.1 8.5 621 12901 0.00 2.62 0.00 0.000 4 0.000 0.071 2688 3508 1893

12936 1.23 246.8 455.5 9.7 623 12941 0.00 2.47 0.00 0.000 6 0.000 0.039 2688 2096 1893

13263 1.23 246.8 427.5 8.3 639 13265 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2096 1893

13572 1.23 246.8 403.2 8.0 654 13577 0.00 2.65 0.00 0.000 4 0.000 0.074 2688 3507 1893

13621 1.23 246.8 398.7 9.4 656 13626 0.00 2.47 0.00 0.000 6 0.000 0.043 2688 2103 1893

13938 1.23 246.8 367.2 10.5 671 13942 0.00 2.65 0.00 0.000 4 0.000 0.075 2688 3506 1893

13959 1.23 246.8 364.7 9.9 672 13964 0.00 2.50 0.00 0.000 6 0.000 0.045 2688 2094 1893

14281 1.23 246.8 332.8 9.9 688 14285 0.00 2.67 0.00 0.000 4 0.000 0.074 2688 3512 1894

14330 1.23 246.8 327.9 9.6 690 14335 0.00 2.53 0.00 0.000 6 0.000 0.044 2687 2094 1894

14646 1.23 246.8 301.8 7.4 705 14647 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 2094 1894

14955 1.23 246.8 271.8 9.8 720 14960 0.00 2.65 0.00 0.000 4 0.000 0.071 2688 3507 1895

14983 1.23 246.8 269.1 9.8 721 14987 0.00 2.53 0.00 0.000 6 0.000 0.048 2688 2098 1895

15298 1.23 246.8 241.7 8.0 736 15300 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2098 1895

15608 1.23 246.8 215.1 9.6 751 15612 0.00 2.65 0.00 0.000 4 0.000 0.074 2687 3511 1895

15658 1.23 246.8 210.2 9.3 753 15662 0.00 2.53 0.00 0.000 6 0.000 0.048 2688 2100 1896

15973 1.23 246.8 183.0 9.4 768 15978 0.00 2.58 0.00 0.000 4 0.000 0.064 2688 687 1896

16006 1.23 246.8 180.0 8.5 769 16013 0.00 2.50 0.00 0.000 6 0.000 0.044 2688 2098 1896

16322 1.23 246.8 151.0 10.4 785 16327 0.00 2.65 0.00 0.000 4 0.000 0.075 2688 3512 1896

16364 1.23 246.8 147.0 10.5 787 16368 0.00 2.53 0.00 0.000 6 0.000 0.048 2687 2093 1896

16691 1.23 246.8 117.9 8.1 803 16695 0.00 2.55 0.00 0.000 4 0.000 0.064 2688 691 1897

16717 1.23 246.8 115.4 8.5 804 16722 0.00 2.47 0.00 0.000 6 0.000 0.044 2688 2098 1897

17035 1.23 246.8 93.9 8.9 819 17040 0.00 2.60 0.00 0.000 4 0.000 0.063 2688 685 1897

17046 1.23 246.8 92.8 7.9 819 17052 0.00 2.50 0.00 0.000 6 0.000 0.048 2688 2102 1897

17364 1.23 246.8 71.7 6.5 835 17365 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2102 1897

17672 1.23 246.8 46.6 8.1 850 17677 0.00 2.65 0.00 0.000 4 0.000 0.077 2688 3512 1897

17706 1.29 302.5 44.9 4.5 851 17757 0.00 2.50 46.33 0.867 6 0.000 0.047 2688 2100 1667

18082 1.29 302.5 16.6 6.9 870 18083 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 2099 1667

18241 end climb: SURFACE_DEPTH_REACHED

state 18241 begin surface coast

18263 end surface coast: CONTROL_FINISHED_OK

state 18263 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	412	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	37	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	-70488.641	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	084101,6220.558,-956.920,46,2.0,51,-10.0	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6220.000,-950.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.53	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-49.1	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	084738,6220.651,-956.732,14,0.9,31,-10.0	MHEAD_RNG_PITCHd_Wd	111.8,5914,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	650

FINISH	0.0,1.027386	XPDR_PINGS	2
SM_CCo	18347,0.00,0.000,0,0,1665,302.95	ALTIM_BOTTOM_PING	576.1,66.0
SM_GC	-0.33,11.70,0.00,0.00,0.032,0.000,0.000,38,2908,1665,-10.80,0.20,302.95	_24V_AH	23.2,68.770
IRIDIUM_FIX	6153.50,-959.68,180497,030333	_10V_AH	10.1,31.929
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44341,879
HUMID	2087	CFSIZE	260165632,236351488
INTERNAL_PRESSURE	8.8187	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,25,0,0
TCM_TEMP	17.10	GPS	230108,135508,6219.003,-951.354,38,0.9,38,-10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	96.79	SBE_CT	649	24	361.64
Roll_motor	169	123	486.46	SBE_O2	608	19	268.07
VBD_pump_during_apogee	386	1274	11419.37	WL_BB2F	557	105	1357.78
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	98.29	nil	0	0	0.00
Iridium_during_connect	35	160	131.76	nil	0	0	0.00
Iridium_during_xfer	173	223	896.13
Transponder_ping	5	420	53.59
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.04
TT8	1613	19	322.58
LPSleep	14079	2	311.43
TT8_Active	506	19	101.29
TT8_Sampling	1951	39	784.54
TT8_CF8	600	45	277.97
TT8_Kalman	0	81	0.00
Analog_circuits	1510	12	183.03
GPS_charging	0	0	0.00
Compass	1905	8	153.98
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	99	0.00	0.00	-70.97	0.000	2	0.000	0.000	44	2874	3370
103	-1.10	-146.6	3.0	-4.9	4	125	12.05	1.83	-2.42	0.000	4	0.160	0.123	2167	3770	3502
378	-1.10	-146.6	26.0	-11.7	16	382	0.00	1.55	0.00	0.000	6	0.000	0.054	2167	2922	3503
705	-1.10	-146.6	51.7	-10.5	32	708	0.00	1.67	0.00	0.000	4	0.000	0.095	2167	3779	3503
874	-1.10	-146.6	63.5	-5.7	39	877	0.00	1.60	0.00	0.000	6	0.000	0.052	2167	2900	3503
1195	-1.10	-146.6	96.2	-9.1	55	1199	0.00	1.73	0.00	0.000	4	0.000	0.097	2167	3779	3503
1251	-1.10	-146.6	101.2	-8.8	57	1254	0.00	1.58	0.00	0.000	6	0.000	0.053	2167	2899	3503
1573	-1.10	-146.6	122.4	-5.7	73	1577	0.00	2.60	0.00	0.000	4	0.000	0.071	2167	1489	3503
1640	-1.10	-146.6	126.6	-5.6	76	1644	0.00	2.62	0.00	0.000	6	0.000	0.068	2167	2893	3503
1961	-1.10	-146.6	146.4	-6.6	92	1962	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2893	3503
2270	-1.10	-146.6	167.3	-6.9	107	2271	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2894	3503
2579	-1.10	-146.6	186.3	-6.1	122	2580	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2893	3503
2889	-1.10	-146.6	206.9	-6.8	137	2893	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1478	3503
2916	-1.10	-146.6	208.8	-7.3	138	2920	0.00	2.65	0.00	0.000	6	0.000	0.068	2167	2901	3503
3232	-1.10	-146.6	229.1	-6.0	153	3233	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
3541	-1.10	-146.6	247.9	-5.9	168	3542	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
3850	-1.10	-146.6	265.1	-5.3	183	3854	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1487	3503
3894	-1.10	-146.6	267.6	-5.3	185	3899	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2900	3503
4217	-1.10	-146.6	286.9	-6.2	201	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
4525	-1.10	-146.6	308.6	-7.1	216	4529	0.00	2.60	0.00	0.000	4	0.000	0.062	2167	1484	3503
4558	-1.10	-146.6	310.9	-6.7	217	4564	0.00	2.65	0.00	0.000	6	0.000	0.071	2167	2903	3503
4874	-1.10	-146.6	332.3	-6.3	233	4875	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3503
5184	-1.10	-146.6	351.2	-6.1	248	5188	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	1484	3503
5217	-1.10	-146.6	353.4	-6.4	249	5223	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2899	3503
5533	-1.10	-146.6	371.9	-5.6	265	5534	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
5842	-1.10	-146.6	387.1	-4.7	280	5843	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6151	-1.10	-146.6	401.2	-4.6	295	6155	0.00	2.58	0.00	0.000	4	0.000	0.059	2167	1482	3503
6179	-1.10	-146.6	402.5	-4.6	296	6183	0.00	2.62	0.00	0.000	6	0.000	0.065	2167	2899	3503
6495	-1.10	-146.6	415.4	-4.0	311	6496	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6805	-1.10	-146.6	427.8	-4.5	326	6809	0.00	2.55	0.00	0.000	4	0.000	0.054	2167	1478	3502
6833	-1.10	-146.6	429.1	-4.4	327	6837	0.00	2.62	0.00	0.000	6	0.000	0.064	2167	2908	3503
7148	-1.10	-146.6	443.5	-4.9	342	7150	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2908	3503
7458	-1.10	-146.6	457.6	-3.8	357	7462	0.00	2.55	0.00	0.000	4	0.000	0.054	2167	1480	3503
7502	-1.10	-146.6	459.4	-3.3	359	7507	0.00	2.60	0.00	0.000	6	0.000	0.061	2167	2898	3503
7823	-1.10	-146.6	471.2	-4.2	375	7828	0.00	2.53	0.00	0.000	4	0.000	0.053	2167	1482	3503
7864	-1.10	-146.6	472.9	-5.3	377	7868	0.00	2.60	0.00	0.000	6	0.000	0.061	2167	2904	3503
8191	-1.10	-146.6	487.2	-4.8	393	8195	0.00	2.53	0.00	0.000	4	0.000	0.051	2167	1481	3503
8291	-1.10	-146.6	493.2	-6.3	397	8297	0.00	2.60	0.00	0.000	6	0.000	0.061	2167	2899	3503
8607	-1.10	-146.6	517.3	-8.7	413	8611	0.00	2.50	0.00	0.000	4	0.000	0.047	2167	1475	3503
8630	-1.10	-146.6	519.2	-8.2	414	8634	0.00	2.60	0.00	0.000	6	0.000	0.061	2167	2902	3503
8956	-1.10	-146.6	549.1	-9.5	430	8960	0.00	2.50	0.00	0.000	4	0.000	0.045	2167	1473	3503
9045	-1.10	-146.6	558.0	-10.0	434	9049	0.00	2.60	0.00	0.000	6	0.000	0.058	2167	2900	3503
9366	-1.10	-146.6	585.2	-9.1	450	9369	0.00	1.67	0.00	0.000	4	0.000	0.086	2167	3790	3503
9404	-1.10	-146.6	588.8	-8.8	451	9410	0.00	1.55	0.00	0.000	6	0.000	0.037	2167	2887	3502
9720	-1.10	-146.6	613.8	-6.8	467	9724	0.00	2.42	0.00	0.000	4	0.000	0.045	2167	1491	3502
9766	-1.10	-146.6	617.3	-7.6	469	9770	0.00	2.55	0.00	0.000	6	0.000	0.058	2167	2906	3502
10007	end dive: BOTTOM_OBSTACLE_DETECTED
state	10007	begin apogee
10016	-0.42	0.0	633.1	7.0	481	10150	0.73	0.00	127.32	1.275	6	0.080	0.000	2315	2098	2900
10150	end apogee: CONTROL_FINISHED_OK
state	10150	begin climb
10154	1.10	146.6	638.1	0.0	488	10288	1.55	2.62	123.05	1.231	4	0.056	0.055	2648	702	2303
10350	1.12	158.7	633.0	5.7	497	10367	0.00	2.47	12.02	1.109	6	0.000	0.035	2648	2117	2253
10676	1.12	158.7	614.5	6.1	513	10680	0.00	2.55	0.00	0.000	4	0.000	0.061	2648	3505	2252
10715	1.16	191.7	612.6	5.1	515	10750	0.00	2.45	29.17	1.218	6	0.000	0.035	2648	2100	2119
11067	1.22	239.6	592.8	4.7	532	11116	0.12	2.62	41.22	1.236	4	0.044	0.058	2688	3495	1923
11161	1.22	239.6	587.3	6.1	536	11165	0.00	2.42	0.00	0.000	6	0.000	0.035	2687	2100	1923
11482	1.22	239.6	562.7	9.6	552	11483	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2100	1922
11791	1.22	239.6	535.2	8.3	567	11795	0.00	2.60	0.00	0.000	4	0.000	0.063	2687	3504	1921
11835	1.22	239.6	531.8	7.4	569	11839	0.00	2.47	0.00	0.000	6	0.000	0.036	2687	2093	1921
12156	1.22	239.6	511.0	6.4	585	12160	0.00	2.53	0.00	0.000	4	0.000	0.056	2687	697	1920
12211	1.22	239.6	506.9	6.8	587	12217	0.00	2.42	0.00	0.000	6	0.000	0.035	2688	2092	1920
12527	1.22	241.6	486.7	5.9	603	12531	0.00	2.53	0.00	0.000	4	0.000	0.054	2687	701	1919
12560	1.23	246.8	484.6	5.9	604	12574	0.00	2.45	7.00	1.042	6	0.000	0.038	2688	2098	1894
12896	1.23	246.8	459.1	8.5	621	12901	0.00	2.62	0.00	0.000	4	0.000	0.071	2688	3508	1893
12936	1.23	246.8	455.5	9.7	623	12941	0.00	2.47	0.00	0.000	6	0.000	0.039	2688	2096	1893
13263	1.23	246.8	427.5	8.3	639	13265	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2096	1893
13572	1.23	246.8	403.2	8.0	654	13577	0.00	2.65	0.00	0.000	4	0.000	0.074	2688	3507	1893
13621	1.23	246.8	398.7	9.4	656	13626	0.00	2.47	0.00	0.000	6	0.000	0.043	2688	2103	1893
13938	1.23	246.8	367.2	10.5	671	13942	0.00	2.65	0.00	0.000	4	0.000	0.075	2688	3506	1893
13959	1.23	246.8	364.7	9.9	672	13964	0.00	2.50	0.00	0.000	6	0.000	0.045	2688	2094	1893
14281	1.23	246.8	332.8	9.9	688	14285	0.00	2.67	0.00	0.000	4	0.000	0.074	2688	3512	1894
14330	1.23	246.8	327.9	9.6	690	14335	0.00	2.53	0.00	0.000	6	0.000	0.044	2687	2094	1894
14646	1.23	246.8	301.8	7.4	705	14647	0.00	0.00	0.00	0.000	6	0.000	0.000	2687	2094	1894
14955	1.23	246.8	271.8	9.8	720	14960	0.00	2.65	0.00	0.000	4	0.000	0.071	2688	3507	1895
14983	1.23	246.8	269.1	9.8	721	14987	0.00	2.53	0.00	0.000	6	0.000	0.048	2688	2098	1895
15298	1.23	246.8	241.7	8.0	736	15300	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2098	1895
15608	1.23	246.8	215.1	9.6	751	15612	0.00	2.65	0.00	0.000	4	0.000	0.074	2687	3511	1895
15658	1.23	246.8	210.2	9.3	753	15662	0.00	2.53	0.00	0.000	6	0.000	0.048	2688	2100	1896
15973	1.23	246.8	183.0	9.4	768	15978	0.00	2.58	0.00	0.000	4	0.000	0.064	2688	687	1896
16006	1.23	246.8	180.0	8.5	769	16013	0.00	2.50	0.00	0.000	6	0.000	0.044	2688	2098	1896
16322	1.23	246.8	151.0	10.4	785	16327	0.00	2.65	0.00	0.000	4	0.000	0.075	2688	3512	1896
16364	1.23	246.8	147.0	10.5	787	16368	0.00	2.53	0.00	0.000	6	0.000	0.048	2687	2093	1896
16691	1.23	246.8	117.9	8.1	803	16695	0.00	2.55	0.00	0.000	4	0.000	0.064	2688	691	1897
16717	1.23	246.8	115.4	8.5	804	16722	0.00	2.47	0.00	0.000	6	0.000	0.044	2688	2098	1897
17035	1.23	246.8	93.9	8.9	819	17040	0.00	2.60	0.00	0.000	4	0.000	0.063	2688	685	1897
17046	1.23	246.8	92.8	7.9	819	17052	0.00	2.50	0.00	0.000	6	0.000	0.048	2688	2102	1897
17364	1.23	246.8	71.7	6.5	835	17365	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2102	1897
17672	1.23	246.8	46.6	8.1	850	17677	0.00	2.65	0.00	0.000	4	0.000	0.077	2688	3512	1897
17706	1.29	302.5	44.9	4.5	851	17757	0.00	2.50	46.33	0.867	6	0.000	0.047	2688	2100	1667
18082	1.29	302.5	16.6	6.9	870	18083	0.00	0.00	0.00	0.000	6	0.000	0.000	2688	2099	1667
18241	end climb: SURFACE_DEPTH_REACHED
state	18241	begin surface coast
18263	end surface coast: CONTROL_FINISHED_OK
state	18263	begin surface