Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 416 * 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 416 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 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 -70544.664 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 -70544.664

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 18 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 14 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 416 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 050025,6209.615,-942.391,24,1.1,42,-9.8 TGT_NAME AE

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.38 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -58.2 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 050645,6209.596,-942.275,14,1.1,14,-9.8 MHEAD_RNG_PITCHd_Wd 152.0,38876,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 661

Post-dive calculations and measurements:

FINISH -1.1,1.027416 XPDR_PINGS 2

SM_CCo 17384,15.45,0.742,1,0,1678,300.00 ALTIM_BOTTOM_PING 625.8,50.6

SM_GC -0.58,0.00,0.00,15.45,0.000,0.000,0.742,43,2907,1678,-10.89,0.20,300.00 _24V_AH 23.2,69.397

IRIDIUM_FIX 6148.92,-943.65,190497,000046 _10V_AH 10.1,32.261

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41060,832

HUMID 2075 CFSIZE 260165632,236105728

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,1,0

TCM_TEMP 16.90 GPS 240108,095855,6210.248,-933.104,38,1.9,55,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 95.40 SBE_CT 609 24 339.18

Roll_motor 173 99 401.53 SBE_O2 581 19 256.15

VBD_pump_during_apogee 368 1291 11038.64 WL_BB2F 504 105 1229.06

VBD_pump_during_surface 15 741 265.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.51 nil 0 0 0.00

Iridium_during_connect 42 160 156.48 nil 0 0 0.00

Iridium_during_xfer 164 223 849.86

Transponder_ping 6 420 60.90

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.37

TT8 1563 19 312.61

LPSleep 13201 2 291.99

TT8_Active 524 19 104.84

TT8_Sampling 1922 39 772.90

TT8_CF8 585 45 270.81

TT8_Kalman 0 81 0.00

Analog_circuits 1512 12 183.31

GPS_charging 0 0 0.00

Compass 1884 8 152.23

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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

27 -1.10 -146.6 0.0 0.0 0 95 0.00 0.00 -66.10 0.000 6 0.000 0.000 45 2899 3500

98 -1.10 -146.6 2.3 -6.4 3 114 12.00 1.73 0.00 0.000 4 0.159 0.085 2164 3782 3502

367 -1.10 -146.6 39.4 -8.0 14 370 0.00 1.60 0.00 0.000 6 0.000 0.054 2164 2896 3502

694 -1.10 -146.6 67.9 -11.1 30 695 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2896 3502

1005 -1.10 -146.6 88.4 -6.4 45 1008 0.00 1.73 0.00 0.000 4 0.000 0.094 2164 3780 3502

1044 -1.10 -146.6 91.5 -7.3 46 1050 0.00 1.58 0.00 0.000 6 0.000 0.051 2164 2904 3502

1360 -1.10 -146.6 113.4 -8.5 62 1364 0.00 2.62 0.00 0.000 4 0.000 0.071 2165 1480 3502

1387 -1.10 -146.6 115.9 -8.6 63 1391 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2898 3502

1703 -1.10 -146.6 157.3 -14.4 78 1707 0.00 2.60 0.00 0.000 4 0.000 0.066 2164 1488 3502

1730 -1.10 -146.6 160.9 -12.5 79 1734 0.00 2.62 0.00 0.000 6 0.000 0.071 2164 2899 3502

2045 -1.10 -146.6 188.9 -7.6 94 2046 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2899 3502

2355 -1.10 -146.6 216.3 -8.9 109 2359 0.00 2.62 0.00 0.000 4 0.000 0.067 2164 1480 3502

2417 -1.10 -146.6 222.4 -9.4 112 2421 0.00 2.65 0.00 0.000 6 0.000 0.069 2165 2900 3502

2743 -1.10 -146.6 253.9 -9.4 128 2747 0.00 1.70 0.00 0.000 4 0.000 0.097 2165 3786 3502

2799 -1.10 -146.6 259.3 -9.1 130 2802 0.00 1.58 0.00 0.000 6 0.000 0.047 2164 2899 3502

3121 -1.10 -146.6 281.5 -6.2 146 3125 0.00 2.55 0.00 0.000 4 0.000 0.063 2164 1487 3502

3165 -1.10 -146.6 284.9 -7.5 148 3169 0.00 2.65 0.00 0.000 6 0.000 0.070 2164 2903 3502

3486 -1.10 -146.6 309.2 -7.7 164 3487 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3502

3794 -1.10 -146.6 333.9 -8.2 179 3799 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1488 3502

3835 -1.10 -146.6 337.2 -8.5 181 3839 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2906 3502

4161 -1.10 -146.6 365.5 -8.8 197 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2906 3502

4470 -1.10 -146.6 395.8 -10.0 212 4474 0.00 2.60 0.00 0.000 4 0.000 0.061 2164 1480 3502

4532 -1.10 -146.6 401.9 -10.2 215 4537 0.00 2.62 0.00 0.000 6 0.000 0.068 2164 2898 3502

4860 -1.10 -146.6 432.0 -8.8 231 4864 0.00 2.58 0.00 0.000 4 0.000 0.058 2164 1477 3502

4922 -1.10 -146.6 437.4 -8.4 234 4926 0.00 2.62 0.00 0.000 6 0.000 0.066 2164 2898 3502

5248 -1.10 -146.6 461.1 -6.7 250 5252 0.00 2.55 0.00 0.000 4 0.000 0.055 2165 1482 3502

5304 -1.10 -146.6 464.7 -6.1 252 5310 0.00 2.62 0.00 0.000 6 0.000 0.064 2164 2901 3502

5620 -1.10 -146.6 478.3 -3.7 268 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3502

5930 -1.10 -146.6 485.7 -1.6 283 5931 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2901 3502

6238 -1.10 -146.6 493.7 -3.6 298 6243 0.00 2.55 0.00 0.000 4 0.000 0.056 2165 1483 3502

6323 -1.10 -146.6 497.2 -4.8 302 6328 0.00 2.60 0.00 0.000 6 0.000 0.061 2164 2907 3502

6650 -1.10 -146.6 516.7 -7.1 318 6653 0.00 1.65 0.00 0.000 4 0.000 0.089 2165 3783 3502

6785 -1.10 -146.6 527.3 -8.2 324 6789 0.00 1.55 0.00 0.000 6 0.000 0.038 2164 2892 3502

7118 -1.10 -146.6 555.8 -9.0 340 7122 0.00 2.45 0.00 0.000 4 0.000 0.050 2165 1483 3502

7174 -1.10 -146.6 561.1 -9.4 342 7178 0.00 2.60 0.00 0.000 6 0.000 0.058 2165 2909 3502

7490 -1.10 -146.6 588.6 -8.2 357 7494 0.00 2.53 0.00 0.000 4 0.000 0.048 2164 1482 3502

7585 -1.10 -146.6 595.6 -6.9 361 7589 0.00 2.60 0.00 0.000 6 0.000 0.061 2164 2902 3502

7901 -1.10 -146.6 615.3 -5.8 376 7905 0.00 1.67 0.00 0.000 4 0.000 0.088 2164 3777 3502

7934 -1.10 -146.6 617.5 -6.4 377 7937 0.00 1.50 0.00 0.000 6 0.000 0.036 2165 2901 3502

8255 -1.10 -146.6 637.7 -6.5 393 8259 0.00 2.50 0.00 0.000 4 0.000 0.051 2164 1483 3502

8328 -1.10 -146.6 642.6 -5.9 396 8332 0.00 2.60 0.00 0.000 6 0.000 0.061 2164 2900 3502

8645 -1.10 -146.6 660.1 -5.3 411 8646 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3501

8682 end dive: TARGET_DEPTH_EXCEEDED

state 8682 begin apogee

8690 -0.42 0.0 661.9 4.5 413 8825 0.77 0.00 127.65 1.292 6 0.094 0.000 2319 2101 2900

8826 end apogee: CONTROL_FINISHED_OK

state 8826 begin climb

8829 1.10 146.6 666.0 0.0 420 8961 1.52 2.65 123.28 1.251 4 0.052 0.058 2649 708 2303

9218 1.10 146.6 644.3 6.8 437 9224 0.00 2.45 0.00 0.000 6 0.000 0.035 2650 2118 2302

9533 1.10 146.6 625.0 6.1 453 9538 0.00 2.58 0.00 0.000 4 0.000 0.055 2650 700 2300

9578 1.10 146.6 621.7 7.9 455 9582 0.00 2.42 0.00 0.000 6 0.000 0.035 2649 2104 2300

9905 1.15 183.8 602.8 5.0 471 9947 0.00 2.67 32.45 1.256 4 0.000 0.064 2649 3498 2150

10016 1.15 183.8 596.5 6.4 476 10020 0.00 2.47 0.00 0.000 6 0.000 0.036 2650 2090 2150

10342 1.21 230.3 577.7 4.7 492 10388 0.10 2.70 40.10 1.249 4 0.051 0.064 2684 3500 1962

10441 1.21 230.3 572.4 6.3 496 10447 0.00 2.47 0.00 0.000 6 0.000 0.037 2684 2100 1961

10756 1.21 230.3 553.2 6.8 512 10760 0.00 2.55 0.00 0.000 4 0.000 0.058 2684 698 1960

10818 1.21 230.3 548.6 7.6 515 10822 0.00 2.42 0.00 0.000 6 0.000 0.037 2684 2092 1960

11145 1.21 230.3 526.1 7.7 531 11149 0.00 2.62 0.00 0.000 4 0.000 0.067 2684 3514 1960

11184 1.21 230.3 522.6 8.5 533 11188 0.00 2.47 0.00 0.000 6 0.000 0.038 2684 2103 1959

11510 1.21 230.3 492.9 9.8 549 11514 0.00 2.60 0.00 0.000 4 0.000 0.067 2684 3506 1959

11537 1.21 230.3 490.1 10.3 550 11542 0.00 2.45 0.00 0.000 6 0.000 0.039 2684 2100 1959

11853 1.21 230.3 458.8 9.0 565 11857 0.00 2.62 0.00 0.000 4 0.000 0.070 2684 3506 1959

11892 1.21 230.3 455.3 8.7 567 11897 0.00 2.47 0.00 0.000 6 0.000 0.041 2684 2098 1959

12219 1.21 230.3 428.4 8.1 583 12223 0.00 2.62 0.00 0.000 4 0.000 0.069 2684 3509 1959

12258 1.21 230.3 424.8 9.0 585 12262 0.00 2.47 0.00 0.000 6 0.000 0.043 2684 2096 1959

12584 1.21 230.3 398.7 8.6 601 12589 0.00 2.65 0.00 0.000 4 0.000 0.071 2684 3509 1960

12635 1.21 230.3 394.1 9.5 603 12639 0.00 2.50 0.00 0.000 6 0.000 0.044 2684 2102 1960

12950 1.21 230.3 369.0 8.0 618 12951 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2102 1960

13259 1.21 230.3 342.8 8.5 633 13264 0.00 2.62 0.00 0.000 4 0.000 0.072 2684 3507 1961

13293 1.21 230.3 339.7 8.8 634 13299 0.00 2.50 0.00 0.000 6 0.000 0.044 2684 2096 1961

13608 1.21 230.3 315.3 7.4 650 13609 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2096 1961

13918 1.21 230.3 294.0 7.0 665 13919 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2096 1962

14227 1.21 230.3 270.7 8.3 680 14232 0.00 2.65 0.00 0.000 4 0.000 0.073 2684 3507 1962

14267 1.21 230.3 267.0 9.2 682 14272 0.00 2.50 0.00 0.000 6 0.000 0.046 2684 2098 1962

14593 1.21 230.3 235.2 10.2 698 14598 0.00 2.65 0.00 0.000 4 0.000 0.075 2684 3505 1963

14615 1.21 230.3 232.8 10.5 699 14620 0.00 2.53 0.00 0.000 6 0.000 0.047 2684 2091 1963

14937 1.21 230.3 202.7 8.0 715 14938 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2091 1963

15246 1.21 230.3 175.8 8.5 730 15250 0.00 2.67 0.00 0.000 4 0.000 0.073 2684 3514 1964

15273 1.21 230.3 173.2 9.3 731 15277 0.00 2.53 0.00 0.000 6 0.000 0.046 2684 2098 1963

15589 1.21 230.3 149.0 6.1 746 15593 0.00 2.53 0.00 0.000 4 0.000 0.059 2684 691 1964

15650 1.21 230.3 144.6 7.0 748 15656 0.00 2.47 0.00 0.000 6 0.000 0.047 2684 2097 1964

15968 1.27 283.7 128.8 4.5 764 16015 0.00 0.00 44.90 0.915 6 0.000 0.000 2684 2097 1744

16317 1.27 283.7 98.9 9.3 781 16321 0.00 2.67 0.00 0.000 4 0.000 0.075 2684 3516 1742

16357 1.27 283.7 95.0 9.3 783 16361 0.00 2.53 0.00 0.000 6 0.000 0.047 2684 2100 1742

16684 1.27 283.7 65.0 9.1 799 16688 0.00 2.67 0.00 0.000 4 0.000 0.077 2684 3510 1742

16716 1.27 283.7 61.4 10.6 800 16723 0.00 2.53 0.00 0.000 6 0.000 0.051 2684 2095 1742

17034 1.27 283.7 28.5 10.9 816 17038 0.00 2.62 0.00 0.000 4 0.000 0.075 2684 689 1742

17044 1.27 283.7 27.1 10.9 816 17051 0.00 2.50 0.00 0.000 6 0.000 0.047 2684 2098 1742

17337 end climb: SURFACE_DEPTH_REACHED

state 17337 begin surface coast

17360 end surface coast: CONTROL_FINISHED_OK

state 17360 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	416	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	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	-70544.664	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	050025,6209.615,-942.391,24,1.1,42,-9.8	TGT_NAME	AE
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.38	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-58.2	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	050645,6209.596,-942.275,14,1.1,14,-9.8	MHEAD_RNG_PITCHd_Wd	152.0,38876,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	661

FINISH	-1.1,1.027416	XPDR_PINGS	2
SM_CCo	17384,15.45,0.742,1,0,1678,300.00	ALTIM_BOTTOM_PING	625.8,50.6
SM_GC	-0.58,0.00,0.00,15.45,0.000,0.000,0.742,43,2907,1678,-10.89,0.20,300.00	_24V_AH	23.2,69.397
IRIDIUM_FIX	6148.92,-943.65,190497,000046	_10V_AH	10.1,32.261
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41060,832
HUMID	2075	CFSIZE	260165632,236105728
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,1,0
TCM_TEMP	16.90	GPS	240108,095855,6210.248,-933.104,38,1.9,55,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	95.40	SBE_CT	609	24	339.18
Roll_motor	173	99	401.53	SBE_O2	581	19	256.15
VBD_pump_during_apogee	368	1291	11038.64	WL_BB2F	504	105	1229.06
VBD_pump_during_surface	15	741	265.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.51	nil	0	0	0.00
Iridium_during_connect	42	160	156.48	nil	0	0	0.00
Iridium_during_xfer	164	223	849.86
Transponder_ping	6	420	60.90
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.37
TT8	1563	19	312.61
LPSleep	13201	2	291.99
TT8_Active	524	19	104.84
TT8_Sampling	1922	39	772.90
TT8_CF8	585	45	270.81
TT8_Kalman	0	81	0.00
Analog_circuits	1512	12	183.31
GPS_charging	0	0	0.00
Compass	1884	8	152.23
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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
27	-1.10	-146.6	0.0	0.0	0	95	0.00	0.00	-66.10	0.000	6	0.000	0.000	45	2899	3500
98	-1.10	-146.6	2.3	-6.4	3	114	12.00	1.73	0.00	0.000	4	0.159	0.085	2164	3782	3502
367	-1.10	-146.6	39.4	-8.0	14	370	0.00	1.60	0.00	0.000	6	0.000	0.054	2164	2896	3502
694	-1.10	-146.6	67.9	-11.1	30	695	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2896	3502
1005	-1.10	-146.6	88.4	-6.4	45	1008	0.00	1.73	0.00	0.000	4	0.000	0.094	2164	3780	3502
1044	-1.10	-146.6	91.5	-7.3	46	1050	0.00	1.58	0.00	0.000	6	0.000	0.051	2164	2904	3502
1360	-1.10	-146.6	113.4	-8.5	62	1364	0.00	2.62	0.00	0.000	4	0.000	0.071	2165	1480	3502
1387	-1.10	-146.6	115.9	-8.6	63	1391	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2898	3502
1703	-1.10	-146.6	157.3	-14.4	78	1707	0.00	2.60	0.00	0.000	4	0.000	0.066	2164	1488	3502
1730	-1.10	-146.6	160.9	-12.5	79	1734	0.00	2.62	0.00	0.000	6	0.000	0.071	2164	2899	3502
2045	-1.10	-146.6	188.9	-7.6	94	2046	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2899	3502
2355	-1.10	-146.6	216.3	-8.9	109	2359	0.00	2.62	0.00	0.000	4	0.000	0.067	2164	1480	3502
2417	-1.10	-146.6	222.4	-9.4	112	2421	0.00	2.65	0.00	0.000	6	0.000	0.069	2165	2900	3502
2743	-1.10	-146.6	253.9	-9.4	128	2747	0.00	1.70	0.00	0.000	4	0.000	0.097	2165	3786	3502
2799	-1.10	-146.6	259.3	-9.1	130	2802	0.00	1.58	0.00	0.000	6	0.000	0.047	2164	2899	3502
3121	-1.10	-146.6	281.5	-6.2	146	3125	0.00	2.55	0.00	0.000	4	0.000	0.063	2164	1487	3502
3165	-1.10	-146.6	284.9	-7.5	148	3169	0.00	2.65	0.00	0.000	6	0.000	0.070	2164	2903	3502
3486	-1.10	-146.6	309.2	-7.7	164	3487	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3502
3794	-1.10	-146.6	333.9	-8.2	179	3799	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1488	3502
3835	-1.10	-146.6	337.2	-8.5	181	3839	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2906	3502
4161	-1.10	-146.6	365.5	-8.8	197	4162	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2906	3502
4470	-1.10	-146.6	395.8	-10.0	212	4474	0.00	2.60	0.00	0.000	4	0.000	0.061	2164	1480	3502
4532	-1.10	-146.6	401.9	-10.2	215	4537	0.00	2.62	0.00	0.000	6	0.000	0.068	2164	2898	3502
4860	-1.10	-146.6	432.0	-8.8	231	4864	0.00	2.58	0.00	0.000	4	0.000	0.058	2164	1477	3502
4922	-1.10	-146.6	437.4	-8.4	234	4926	0.00	2.62	0.00	0.000	6	0.000	0.066	2164	2898	3502
5248	-1.10	-146.6	461.1	-6.7	250	5252	0.00	2.55	0.00	0.000	4	0.000	0.055	2165	1482	3502
5304	-1.10	-146.6	464.7	-6.1	252	5310	0.00	2.62	0.00	0.000	6	0.000	0.064	2164	2901	3502
5620	-1.10	-146.6	478.3	-3.7	268	5621	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3502
5930	-1.10	-146.6	485.7	-1.6	283	5931	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2901	3502
6238	-1.10	-146.6	493.7	-3.6	298	6243	0.00	2.55	0.00	0.000	4	0.000	0.056	2165	1483	3502
6323	-1.10	-146.6	497.2	-4.8	302	6328	0.00	2.60	0.00	0.000	6	0.000	0.061	2164	2907	3502
6650	-1.10	-146.6	516.7	-7.1	318	6653	0.00	1.65	0.00	0.000	4	0.000	0.089	2165	3783	3502
6785	-1.10	-146.6	527.3	-8.2	324	6789	0.00	1.55	0.00	0.000	6	0.000	0.038	2164	2892	3502
7118	-1.10	-146.6	555.8	-9.0	340	7122	0.00	2.45	0.00	0.000	4	0.000	0.050	2165	1483	3502
7174	-1.10	-146.6	561.1	-9.4	342	7178	0.00	2.60	0.00	0.000	6	0.000	0.058	2165	2909	3502
7490	-1.10	-146.6	588.6	-8.2	357	7494	0.00	2.53	0.00	0.000	4	0.000	0.048	2164	1482	3502
7585	-1.10	-146.6	595.6	-6.9	361	7589	0.00	2.60	0.00	0.000	6	0.000	0.061	2164	2902	3502
7901	-1.10	-146.6	615.3	-5.8	376	7905	0.00	1.67	0.00	0.000	4	0.000	0.088	2164	3777	3502
7934	-1.10	-146.6	617.5	-6.4	377	7937	0.00	1.50	0.00	0.000	6	0.000	0.036	2165	2901	3502
8255	-1.10	-146.6	637.7	-6.5	393	8259	0.00	2.50	0.00	0.000	4	0.000	0.051	2164	1483	3502
8328	-1.10	-146.6	642.6	-5.9	396	8332	0.00	2.60	0.00	0.000	6	0.000	0.061	2164	2900	3502
8645	-1.10	-146.6	660.1	-5.3	411	8646	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3501
8682	end dive: TARGET_DEPTH_EXCEEDED
state	8682	begin apogee
8690	-0.42	0.0	661.9	4.5	413	8825	0.77	0.00	127.65	1.292	6	0.094	0.000	2319	2101	2900
8826	end apogee: CONTROL_FINISHED_OK
state	8826	begin climb
8829	1.10	146.6	666.0	0.0	420	8961	1.52	2.65	123.28	1.251	4	0.052	0.058	2649	708	2303
9218	1.10	146.6	644.3	6.8	437	9224	0.00	2.45	0.00	0.000	6	0.000	0.035	2650	2118	2302
9533	1.10	146.6	625.0	6.1	453	9538	0.00	2.58	0.00	0.000	4	0.000	0.055	2650	700	2300
9578	1.10	146.6	621.7	7.9	455	9582	0.00	2.42	0.00	0.000	6	0.000	0.035	2649	2104	2300
9905	1.15	183.8	602.8	5.0	471	9947	0.00	2.67	32.45	1.256	4	0.000	0.064	2649	3498	2150
10016	1.15	183.8	596.5	6.4	476	10020	0.00	2.47	0.00	0.000	6	0.000	0.036	2650	2090	2150
10342	1.21	230.3	577.7	4.7	492	10388	0.10	2.70	40.10	1.249	4	0.051	0.064	2684	3500	1962
10441	1.21	230.3	572.4	6.3	496	10447	0.00	2.47	0.00	0.000	6	0.000	0.037	2684	2100	1961
10756	1.21	230.3	553.2	6.8	512	10760	0.00	2.55	0.00	0.000	4	0.000	0.058	2684	698	1960
10818	1.21	230.3	548.6	7.6	515	10822	0.00	2.42	0.00	0.000	6	0.000	0.037	2684	2092	1960
11145	1.21	230.3	526.1	7.7	531	11149	0.00	2.62	0.00	0.000	4	0.000	0.067	2684	3514	1960
11184	1.21	230.3	522.6	8.5	533	11188	0.00	2.47	0.00	0.000	6	0.000	0.038	2684	2103	1959
11510	1.21	230.3	492.9	9.8	549	11514	0.00	2.60	0.00	0.000	4	0.000	0.067	2684	3506	1959
11537	1.21	230.3	490.1	10.3	550	11542	0.00	2.45	0.00	0.000	6	0.000	0.039	2684	2100	1959
11853	1.21	230.3	458.8	9.0	565	11857	0.00	2.62	0.00	0.000	4	0.000	0.070	2684	3506	1959
11892	1.21	230.3	455.3	8.7	567	11897	0.00	2.47	0.00	0.000	6	0.000	0.041	2684	2098	1959
12219	1.21	230.3	428.4	8.1	583	12223	0.00	2.62	0.00	0.000	4	0.000	0.069	2684	3509	1959
12258	1.21	230.3	424.8	9.0	585	12262	0.00	2.47	0.00	0.000	6	0.000	0.043	2684	2096	1959
12584	1.21	230.3	398.7	8.6	601	12589	0.00	2.65	0.00	0.000	4	0.000	0.071	2684	3509	1960
12635	1.21	230.3	394.1	9.5	603	12639	0.00	2.50	0.00	0.000	6	0.000	0.044	2684	2102	1960
12950	1.21	230.3	369.0	8.0	618	12951	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2102	1960
13259	1.21	230.3	342.8	8.5	633	13264	0.00	2.62	0.00	0.000	4	0.000	0.072	2684	3507	1961
13293	1.21	230.3	339.7	8.8	634	13299	0.00	2.50	0.00	0.000	6	0.000	0.044	2684	2096	1961
13608	1.21	230.3	315.3	7.4	650	13609	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2096	1961
13918	1.21	230.3	294.0	7.0	665	13919	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2096	1962
14227	1.21	230.3	270.7	8.3	680	14232	0.00	2.65	0.00	0.000	4	0.000	0.073	2684	3507	1962
14267	1.21	230.3	267.0	9.2	682	14272	0.00	2.50	0.00	0.000	6	0.000	0.046	2684	2098	1962
14593	1.21	230.3	235.2	10.2	698	14598	0.00	2.65	0.00	0.000	4	0.000	0.075	2684	3505	1963
14615	1.21	230.3	232.8	10.5	699	14620	0.00	2.53	0.00	0.000	6	0.000	0.047	2684	2091	1963
14937	1.21	230.3	202.7	8.0	715	14938	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2091	1963
15246	1.21	230.3	175.8	8.5	730	15250	0.00	2.67	0.00	0.000	4	0.000	0.073	2684	3514	1964
15273	1.21	230.3	173.2	9.3	731	15277	0.00	2.53	0.00	0.000	6	0.000	0.046	2684	2098	1963
15589	1.21	230.3	149.0	6.1	746	15593	0.00	2.53	0.00	0.000	4	0.000	0.059	2684	691	1964
15650	1.21	230.3	144.6	7.0	748	15656	0.00	2.47	0.00	0.000	6	0.000	0.047	2684	2097	1964
15968	1.27	283.7	128.8	4.5	764	16015	0.00	0.00	44.90	0.915	6	0.000	0.000	2684	2097	1744
16317	1.27	283.7	98.9	9.3	781	16321	0.00	2.67	0.00	0.000	4	0.000	0.075	2684	3516	1742
16357	1.27	283.7	95.0	9.3	783	16361	0.00	2.53	0.00	0.000	6	0.000	0.047	2684	2100	1742
16684	1.27	283.7	65.0	9.1	799	16688	0.00	2.67	0.00	0.000	4	0.000	0.077	2684	3510	1742
16716	1.27	283.7	61.4	10.6	800	16723	0.00	2.53	0.00	0.000	6	0.000	0.051	2684	2095	1742
17034	1.27	283.7	28.5	10.9	816	17038	0.00	2.62	0.00	0.000	4	0.000	0.075	2684	689	1742
17044	1.27	283.7	27.1	10.9	816	17051	0.00	2.50	0.00	0.000	6	0.000	0.047	2684	2098	1742
17337	end climb: SURFACE_DEPTH_REACHED
state	17337	begin surface coast
17360	end surface coast: CONTROL_FINISHED_OK
state	17360	begin surface