Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 473 * 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 473 HEADING 0 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 6 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 -72719.328 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 -72719.328

CAPUPLOAD 0 HEADING 0 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 17 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 6 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 473 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 161901,6144.461,-923.036,38,1.8,38,-9.5 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 6155.336,-923.204

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.61 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -53.0 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 162951,6144.537,-923.204,16,1.6,16,-9.5 MHEAD_RNG_PITCHd_Wd 9.5,20000,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 819

Post-dive calculations and measurements:

FINISH -1.2,1.027357 XPDR_PINGS 2

SM_CCo 20560,0.00,0.000,0,0,1653,306.13 ALTIM_BOTTOM_PING 676.2,106.8

SM_GC -0.29,11.68,0.00,0.00,0.031,0.000,0.000,46,2898,1653,-10.79,-0.03,306.13 _24V_AH 23.0,78.940

IRIDIUM_FIX 6121.73,-925.50,290497,161610 _10V_AH 10.1,36.588

TT8_MAMPS 0.028379 DATA_FILE_SIZE 50490,985

HUMID 2086 CFSIZE 260165632,233062400

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 17.10 GPS 030208,221408,6150.110,-923.946,27,1.3,27,-9.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 98.64 SBE_CT 723 24 399.39

Roll_motor 164 99 377.14 SBE_O2 691 19 302.34

VBD_pump_during_apogee 392 1372 12398.86 WL_BB2F 533 105 1288.78

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 80 103 190.51 nil 0 0 0.00

Iridium_during_connect 174 160 641.17 nil 0 0 0.00

Iridium_during_xfer 192 223 986.94

Transponder_ping 6 420 60.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.51

TT8 1795 19 359.09

LPSleep 15836 2 350.29

TT8_Active 549 19 109.83

TT8_Sampling 2172 39 873.29

TT8_CF8 868 45 401.61

TT8_Kalman 0 81 0.00

Analog_circuits 1660 12 201.28

GPS_charging 0 0 0.00

Compass 2143 8 173.20

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

29 -1.10 -146.6 0.0 0.0 0 130 0.00 0.00 -94.68 0.000 6 0.000 0.000 32 2885 3500

134 -1.10 -146.6 6.2 -8.0 5 155 12.20 1.80 0.00 0.000 4 0.163 0.091 2163 3790 3503

407 -1.10 -146.6 41.3 -7.2 17 411 0.00 1.60 0.00 0.000 6 0.000 0.051 2163 2890 3503

735 -1.10 -146.6 71.4 -9.1 33 736 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2890 3503

1046 -1.10 -146.6 100.2 -9.6 48 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2890 3503

1353 -1.10 -146.6 130.5 -11.2 63 1357 0.00 2.55 0.00 0.000 4 0.000 0.061 2163 1486 3503

1420 -1.10 -146.6 139.1 -11.3 66 1425 0.00 2.67 0.00 0.000 6 0.000 0.071 2163 2904 3503

1742 -1.10 -146.6 167.7 -5.4 82 1743 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3503

2051 -1.10 -146.6 183.5 -5.5 97 2052 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2904 3503

2360 -1.10 -146.6 203.9 -6.3 112 2364 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1490 3503

2388 -1.10 -146.6 205.5 -5.4 113 2392 0.00 2.67 0.00 0.000 6 0.000 0.073 2163 2904 3503

2704 -1.10 -146.6 223.1 -6.0 128 2708 0.00 2.58 0.00 0.000 4 0.000 0.062 2163 1482 3503

2737 -1.10 -146.6 224.7 -4.3 129 2744 0.00 2.67 0.00 0.000 6 0.000 0.069 2163 2909 3503

3054 -1.10 -146.6 240.4 -4.7 145 3055 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

3362 -1.10 -146.6 255.9 -6.0 160 3366 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1490 3503

3395 -1.10 -146.6 258.6 -8.3 161 3401 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2909 3503

3712 -1.10 -146.6 276.0 -6.5 177 3713 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

4020 -1.10 -146.6 295.9 -5.4 192 4024 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1487 3503

4072 -1.10 -146.6 298.7 -5.5 194 4076 0.00 2.67 0.00 0.000 6 0.000 0.071 2163 2909 3503

4393 -1.10 -146.6 316.7 -6.6 210 4394 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

4702 -1.10 -146.6 344.5 -9.2 225 4706 0.00 2.60 0.00 0.000 4 0.000 0.060 2163 1485 3503

4735 -1.10 -146.6 348.1 -10.6 226 4741 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2908 3503

5051 -1.10 -146.6 379.5 -9.2 242 5052 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

5360 -1.10 -146.6 409.8 -9.8 257 5361 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

5669 -1.10 -146.6 438.1 -9.1 272 5673 0.00 2.58 0.00 0.000 4 0.000 0.054 2163 1482 3503

5719 -1.10 -146.6 442.4 -8.4 274 5723 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2900 3503

6035 -1.10 -146.6 463.3 -6.1 289 6036 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

6344 -1.10 -146.6 481.6 -6.6 304 6348 0.00 2.53 0.00 0.000 4 0.000 0.050 2163 1486 3503

6400 -1.10 -146.6 485.6 -7.6 306 6406 0.00 2.60 0.00 0.000 6 0.000 0.060 2163 2902 3503

6716 -1.10 -146.6 502.4 -3.1 322 6717 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

7025 -1.10 -146.6 513.6 -3.7 337 7030 0.00 2.50 0.00 0.000 4 0.000 0.049 2163 1485 3503

7059 -1.10 -146.6 514.1 -1.9 338 7065 0.00 2.60 0.00 0.000 6 0.000 0.061 2163 2901 3503

7376 -1.10 -146.6 526.9 -5.3 354 7377 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

7684 -1.10 -146.6 546.3 -6.7 369 7686 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

7994 -1.10 -146.6 565.2 -6.3 384 7999 0.00 2.53 0.00 0.000 4 0.000 0.048 2163 1479 3503

8035 -1.10 -146.6 567.8 -6.8 386 8039 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2909 3503

8361 -1.10 -146.6 589.1 -6.4 402 8362 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

8671 -1.10 -146.6 610.0 -6.4 417 8675 0.00 2.53 0.00 0.000 4 0.000 0.047 2163 1482 3503

8711 -1.10 -146.6 612.8 -6.6 419 8715 0.00 2.58 0.00 0.000 6 0.000 0.059 2163 2900 3503

9037 -1.10 -146.6 632.1 -5.5 435 9042 0.00 2.50 0.00 0.000 4 0.000 0.045 2163 1484 3503

9139 -1.10 -146.6 637.5 -5.6 439 9145 0.00 2.60 0.00 0.000 6 0.000 0.058 2163 2906 3503

9455 -1.10 -146.6 657.9 -8.0 455 9459 0.00 2.50 0.00 0.000 4 0.000 0.044 2163 1475 3503

9567 -1.10 -146.6 667.5 -8.0 460 9571 0.00 2.60 0.00 0.000 6 0.000 0.057 2163 2901 3503

9888 -1.10 -146.6 691.6 -7.2 476 9889 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

10197 -1.10 -146.6 714.6 -7.0 491 10198 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2901 3503

10507 -1.10 -146.6 730.2 -6.0 506 10511 0.00 2.58 0.00 0.000 4 0.000 0.063 2162 1488 3503

10642 -1.10 -146.6 737.9 -9.9 512 10647 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2897 3503

10970 -1.10 -146.6 765.3 -9.9 528 10973 0.00 1.73 0.00 0.000 4 0.000 0.100 2163 3789 3502

11043 -1.10 -146.6 770.4 -6.3 531 11047 0.00 1.60 0.00 0.000 6 0.000 0.048 2163 2901 3503

11078 end dive: BOTTOM_OBSTACLE_DETECTED

state 11078 begin apogee

11087 -0.42 0.0 773.2 7.6 533 11221 0.77 0.00 128.98 1.373 6 0.085 0.000 2321 2102 2901

11222 end apogee: CONTROL_FINISHED_OK

state 11222 begin climb

11226 1.10 146.6 776.2 0.0 540 11361 1.55 2.70 125.50 1.318 4 0.059 0.065 2649 688 2303

11618 1.16 195.3 756.2 4.7 558 11667 0.00 2.53 43.03 1.319 6 0.000 0.041 2649 2115 2104

11992 1.16 195.3 727.8 6.5 576 11996 0.00 2.62 0.00 0.000 4 0.000 0.074 2649 3511 2101

12032 1.16 195.3 724.7 6.1 578 12036 0.00 2.53 0.00 0.000 6 0.000 0.044 2649 2093 2101

12359 1.16 195.3 702.1 6.8 594 12360 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2093 2100

12667 1.16 195.3 676.9 9.7 609 12672 0.00 2.60 0.00 0.000 4 0.000 0.068 2649 692 2099

12757 1.16 195.3 669.8 6.9 613 12762 0.00 2.53 0.00 0.000 6 0.000 0.046 2649 2100 2099

13079 1.16 195.3 645.9 8.3 629 13083 0.00 2.62 0.00 0.000 4 0.000 0.071 2649 3514 2097

13111 1.16 195.3 643.2 7.8 630 13118 0.00 2.50 0.00 0.000 6 0.000 0.041 2649 2098 2097

13428 1.16 195.3 617.9 8.7 646 13429 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2098 2096

13737 1.18 208.2 597.6 5.6 661 13753 0.00 2.60 10.93 1.195 4 0.000 0.060 2649 698 2052

13905 1.18 208.2 587.8 6.3 667 13911 0.00 2.50 0.00 0.000 6 0.000 0.040 2649 2109 2052

14221 1.18 208.2 566.1 6.7 683 14225 0.00 2.58 0.00 0.000 4 0.000 0.064 2649 3512 2052

14299 1.18 208.2 560.5 7.1 686 14305 0.00 2.47 0.00 0.000 6 0.000 0.037 2649 2097 2052

14615 1.18 208.2 537.6 7.5 702 14619 0.00 2.62 0.00 0.000 4 0.000 0.063 2649 3516 2052

14655 1.18 208.2 534.2 7.9 704 14659 0.00 2.47 0.00 0.000 6 0.000 0.036 2649 2095 2052

14982 1.18 208.2 504.6 9.6 720 14986 0.00 2.62 0.00 0.000 4 0.000 0.063 2649 3515 2053

15037 1.18 208.2 498.8 9.9 722 15044 0.00 2.45 0.00 0.000 6 0.000 0.036 2649 2104 2053

15353 1.18 208.2 469.6 8.9 738 15357 0.00 2.60 0.00 0.000 4 0.000 0.065 2649 3516 2054

15399 1.18 208.2 465.5 8.7 740 15403 0.00 2.47 0.00 0.000 6 0.000 0.038 2649 2102 2054

15732 1.18 208.2 440.7 6.5 756 15733 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2102 2054

16041 1.18 208.2 421.7 6.3 771 16045 0.00 2.62 0.00 0.000 4 0.000 0.067 2649 3512 2055

16096 1.19 216.2 418.4 5.8 773 16110 0.00 2.50 9.07 1.007 6 0.000 0.041 2649 2097 2019

16434 1.30 305.7 401.8 3.5 790 16517 0.17 2.72 75.15 1.112 4 0.039 0.071 2700 3512 1653

16553 1.30 305.7 396.4 6.2 795 16558 0.00 2.55 0.00 0.000 6 0.000 0.044 2700 2100 1653

16870 1.30 305.7 366.4 10.4 810 16874 0.00 2.58 0.00 0.000 4 0.000 0.064 2700 695 1653

16954 1.30 305.7 358.0 9.3 814 16959 0.00 2.47 0.00 0.000 6 0.000 0.041 2700 2105 1653

17281 1.30 305.7 328.1 11.7 830 17286 0.00 2.62 0.00 0.000 4 0.000 0.071 2700 3513 1653

17315 1.30 305.7 324.2 11.0 831 17321 0.00 2.53 0.00 0.000 6 0.000 0.044 2700 2102 1653

17631 1.30 305.7 285.5 11.8 847 17635 0.00 2.55 0.00 0.000 4 0.000 0.063 2700 691 1654

17693 1.30 305.7 278.1 10.8 850 17698 0.00 2.50 0.00 0.000 6 0.000 0.046 2700 2096 1654

18021 1.30 305.7 243.3 11.4 866 18025 0.00 2.67 0.00 0.000 4 0.000 0.077 2700 3515 1654

18076 1.30 305.7 236.6 11.3 868 18082 0.00 2.55 0.00 0.000 6 0.000 0.048 2700 2097 1654

18392 1.30 305.7 197.8 11.0 884 18393 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2097 1654

18702 1.30 305.7 167.6 6.9 899 18703 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2097 1655

19011 1.30 305.7 145.9 7.0 914 19012 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2096 1655

19320 1.30 305.7 118.4 10.8 929 19321 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2096 1655

19630 1.30 305.7 80.9 12.4 944 19631 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2096 1655

19938 1.30 305.7 49.6 9.1 959 19940 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2096 1655

20249 1.30 305.7 20.3 9.8 974 20254 0.00 2.67 0.00 0.000 4 0.000 0.077 2700 3509 1655

20282 1.30 305.7 16.6 10.0 975 20289 0.00 2.55 0.00 0.000 6 0.000 0.055 2700 2104 1655

20451 end climb: SURFACE_DEPTH_REACHED

state 20451 begin surface coast

20475 end surface coast: CONTROL_FINISHED_OK

state 20475 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	473	HEADING	0	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	6	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	-72719.328	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	161901,6144.461,-923.036,38,1.8,38,-9.5	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	6155.336,-923.204
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.61	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-53.0	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	162951,6144.537,-923.204,16,1.6,16,-9.5	MHEAD_RNG_PITCHd_Wd	9.5,20000,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	819

FINISH	-1.2,1.027357	XPDR_PINGS	2
SM_CCo	20560,0.00,0.000,0,0,1653,306.13	ALTIM_BOTTOM_PING	676.2,106.8
SM_GC	-0.29,11.68,0.00,0.00,0.031,0.000,0.000,46,2898,1653,-10.79,-0.03,306.13	_24V_AH	23.0,78.940
IRIDIUM_FIX	6121.73,-925.50,290497,161610	_10V_AH	10.1,36.588
TT8_MAMPS	0.028379	DATA_FILE_SIZE	50490,985
HUMID	2086	CFSIZE	260165632,233062400
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	17.10	GPS	030208,221408,6150.110,-923.946,27,1.3,27,-9.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	98.64	SBE_CT	723	24	399.39
Roll_motor	164	99	377.14	SBE_O2	691	19	302.34
VBD_pump_during_apogee	392	1372	12398.86	WL_BB2F	533	105	1288.78
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	80	103	190.51	nil	0	0	0.00
Iridium_during_connect	174	160	641.17	nil	0	0	0.00
Iridium_during_xfer	192	223	986.94
Transponder_ping	6	420	60.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.51
TT8	1795	19	359.09
LPSleep	15836	2	350.29
TT8_Active	549	19	109.83
TT8_Sampling	2172	39	873.29
TT8_CF8	868	45	401.61
TT8_Kalman	0	81	0.00
Analog_circuits	1660	12	201.28
GPS_charging	0	0	0.00
Compass	2143	8	173.20
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
29	-1.10	-146.6	0.0	0.0	0	130	0.00	0.00	-94.68	0.000	6	0.000	0.000	32	2885	3500
134	-1.10	-146.6	6.2	-8.0	5	155	12.20	1.80	0.00	0.000	4	0.163	0.091	2163	3790	3503
407	-1.10	-146.6	41.3	-7.2	17	411	0.00	1.60	0.00	0.000	6	0.000	0.051	2163	2890	3503
735	-1.10	-146.6	71.4	-9.1	33	736	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2890	3503
1046	-1.10	-146.6	100.2	-9.6	48	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2890	3503
1353	-1.10	-146.6	130.5	-11.2	63	1357	0.00	2.55	0.00	0.000	4	0.000	0.061	2163	1486	3503
1420	-1.10	-146.6	139.1	-11.3	66	1425	0.00	2.67	0.00	0.000	6	0.000	0.071	2163	2904	3503
1742	-1.10	-146.6	167.7	-5.4	82	1743	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3503
2051	-1.10	-146.6	183.5	-5.5	97	2052	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2904	3503
2360	-1.10	-146.6	203.9	-6.3	112	2364	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1490	3503
2388	-1.10	-146.6	205.5	-5.4	113	2392	0.00	2.67	0.00	0.000	6	0.000	0.073	2163	2904	3503
2704	-1.10	-146.6	223.1	-6.0	128	2708	0.00	2.58	0.00	0.000	4	0.000	0.062	2163	1482	3503
2737	-1.10	-146.6	224.7	-4.3	129	2744	0.00	2.67	0.00	0.000	6	0.000	0.069	2163	2909	3503
3054	-1.10	-146.6	240.4	-4.7	145	3055	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
3362	-1.10	-146.6	255.9	-6.0	160	3366	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1490	3503
3395	-1.10	-146.6	258.6	-8.3	161	3401	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2909	3503
3712	-1.10	-146.6	276.0	-6.5	177	3713	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
4020	-1.10	-146.6	295.9	-5.4	192	4024	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1487	3503
4072	-1.10	-146.6	298.7	-5.5	194	4076	0.00	2.67	0.00	0.000	6	0.000	0.071	2163	2909	3503
4393	-1.10	-146.6	316.7	-6.6	210	4394	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
4702	-1.10	-146.6	344.5	-9.2	225	4706	0.00	2.60	0.00	0.000	4	0.000	0.060	2163	1485	3503
4735	-1.10	-146.6	348.1	-10.6	226	4741	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2908	3503
5051	-1.10	-146.6	379.5	-9.2	242	5052	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
5360	-1.10	-146.6	409.8	-9.8	257	5361	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
5669	-1.10	-146.6	438.1	-9.1	272	5673	0.00	2.58	0.00	0.000	4	0.000	0.054	2163	1482	3503
5719	-1.10	-146.6	442.4	-8.4	274	5723	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2900	3503
6035	-1.10	-146.6	463.3	-6.1	289	6036	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
6344	-1.10	-146.6	481.6	-6.6	304	6348	0.00	2.53	0.00	0.000	4	0.000	0.050	2163	1486	3503
6400	-1.10	-146.6	485.6	-7.6	306	6406	0.00	2.60	0.00	0.000	6	0.000	0.060	2163	2902	3503
6716	-1.10	-146.6	502.4	-3.1	322	6717	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
7025	-1.10	-146.6	513.6	-3.7	337	7030	0.00	2.50	0.00	0.000	4	0.000	0.049	2163	1485	3503
7059	-1.10	-146.6	514.1	-1.9	338	7065	0.00	2.60	0.00	0.000	6	0.000	0.061	2163	2901	3503
7376	-1.10	-146.6	526.9	-5.3	354	7377	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
7684	-1.10	-146.6	546.3	-6.7	369	7686	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
7994	-1.10	-146.6	565.2	-6.3	384	7999	0.00	2.53	0.00	0.000	4	0.000	0.048	2163	1479	3503
8035	-1.10	-146.6	567.8	-6.8	386	8039	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2909	3503
8361	-1.10	-146.6	589.1	-6.4	402	8362	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
8671	-1.10	-146.6	610.0	-6.4	417	8675	0.00	2.53	0.00	0.000	4	0.000	0.047	2163	1482	3503
8711	-1.10	-146.6	612.8	-6.6	419	8715	0.00	2.58	0.00	0.000	6	0.000	0.059	2163	2900	3503
9037	-1.10	-146.6	632.1	-5.5	435	9042	0.00	2.50	0.00	0.000	4	0.000	0.045	2163	1484	3503
9139	-1.10	-146.6	637.5	-5.6	439	9145	0.00	2.60	0.00	0.000	6	0.000	0.058	2163	2906	3503
9455	-1.10	-146.6	657.9	-8.0	455	9459	0.00	2.50	0.00	0.000	4	0.000	0.044	2163	1475	3503
9567	-1.10	-146.6	667.5	-8.0	460	9571	0.00	2.60	0.00	0.000	6	0.000	0.057	2163	2901	3503
9888	-1.10	-146.6	691.6	-7.2	476	9889	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
10197	-1.10	-146.6	714.6	-7.0	491	10198	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2901	3503
10507	-1.10	-146.6	730.2	-6.0	506	10511	0.00	2.58	0.00	0.000	4	0.000	0.063	2162	1488	3503
10642	-1.10	-146.6	737.9	-9.9	512	10647	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2897	3503
10970	-1.10	-146.6	765.3	-9.9	528	10973	0.00	1.73	0.00	0.000	4	0.000	0.100	2163	3789	3502
11043	-1.10	-146.6	770.4	-6.3	531	11047	0.00	1.60	0.00	0.000	6	0.000	0.048	2163	2901	3503
11078	end dive: BOTTOM_OBSTACLE_DETECTED
state	11078	begin apogee
11087	-0.42	0.0	773.2	7.6	533	11221	0.77	0.00	128.98	1.373	6	0.085	0.000	2321	2102	2901
11222	end apogee: CONTROL_FINISHED_OK
state	11222	begin climb
11226	1.10	146.6	776.2	0.0	540	11361	1.55	2.70	125.50	1.318	4	0.059	0.065	2649	688	2303
11618	1.16	195.3	756.2	4.7	558	11667	0.00	2.53	43.03	1.319	6	0.000	0.041	2649	2115	2104
11992	1.16	195.3	727.8	6.5	576	11996	0.00	2.62	0.00	0.000	4	0.000	0.074	2649	3511	2101
12032	1.16	195.3	724.7	6.1	578	12036	0.00	2.53	0.00	0.000	6	0.000	0.044	2649	2093	2101
12359	1.16	195.3	702.1	6.8	594	12360	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2093	2100
12667	1.16	195.3	676.9	9.7	609	12672	0.00	2.60	0.00	0.000	4	0.000	0.068	2649	692	2099
12757	1.16	195.3	669.8	6.9	613	12762	0.00	2.53	0.00	0.000	6	0.000	0.046	2649	2100	2099
13079	1.16	195.3	645.9	8.3	629	13083	0.00	2.62	0.00	0.000	4	0.000	0.071	2649	3514	2097
13111	1.16	195.3	643.2	7.8	630	13118	0.00	2.50	0.00	0.000	6	0.000	0.041	2649	2098	2097
13428	1.16	195.3	617.9	8.7	646	13429	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2098	2096
13737	1.18	208.2	597.6	5.6	661	13753	0.00	2.60	10.93	1.195	4	0.000	0.060	2649	698	2052
13905	1.18	208.2	587.8	6.3	667	13911	0.00	2.50	0.00	0.000	6	0.000	0.040	2649	2109	2052
14221	1.18	208.2	566.1	6.7	683	14225	0.00	2.58	0.00	0.000	4	0.000	0.064	2649	3512	2052
14299	1.18	208.2	560.5	7.1	686	14305	0.00	2.47	0.00	0.000	6	0.000	0.037	2649	2097	2052
14615	1.18	208.2	537.6	7.5	702	14619	0.00	2.62	0.00	0.000	4	0.000	0.063	2649	3516	2052
14655	1.18	208.2	534.2	7.9	704	14659	0.00	2.47	0.00	0.000	6	0.000	0.036	2649	2095	2052
14982	1.18	208.2	504.6	9.6	720	14986	0.00	2.62	0.00	0.000	4	0.000	0.063	2649	3515	2053
15037	1.18	208.2	498.8	9.9	722	15044	0.00	2.45	0.00	0.000	6	0.000	0.036	2649	2104	2053
15353	1.18	208.2	469.6	8.9	738	15357	0.00	2.60	0.00	0.000	4	0.000	0.065	2649	3516	2054
15399	1.18	208.2	465.5	8.7	740	15403	0.00	2.47	0.00	0.000	6	0.000	0.038	2649	2102	2054
15732	1.18	208.2	440.7	6.5	756	15733	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2102	2054
16041	1.18	208.2	421.7	6.3	771	16045	0.00	2.62	0.00	0.000	4	0.000	0.067	2649	3512	2055
16096	1.19	216.2	418.4	5.8	773	16110	0.00	2.50	9.07	1.007	6	0.000	0.041	2649	2097	2019
16434	1.30	305.7	401.8	3.5	790	16517	0.17	2.72	75.15	1.112	4	0.039	0.071	2700	3512	1653
16553	1.30	305.7	396.4	6.2	795	16558	0.00	2.55	0.00	0.000	6	0.000	0.044	2700	2100	1653
16870	1.30	305.7	366.4	10.4	810	16874	0.00	2.58	0.00	0.000	4	0.000	0.064	2700	695	1653
16954	1.30	305.7	358.0	9.3	814	16959	0.00	2.47	0.00	0.000	6	0.000	0.041	2700	2105	1653
17281	1.30	305.7	328.1	11.7	830	17286	0.00	2.62	0.00	0.000	4	0.000	0.071	2700	3513	1653
17315	1.30	305.7	324.2	11.0	831	17321	0.00	2.53	0.00	0.000	6	0.000	0.044	2700	2102	1653
17631	1.30	305.7	285.5	11.8	847	17635	0.00	2.55	0.00	0.000	4	0.000	0.063	2700	691	1654
17693	1.30	305.7	278.1	10.8	850	17698	0.00	2.50	0.00	0.000	6	0.000	0.046	2700	2096	1654
18021	1.30	305.7	243.3	11.4	866	18025	0.00	2.67	0.00	0.000	4	0.000	0.077	2700	3515	1654
18076	1.30	305.7	236.6	11.3	868	18082	0.00	2.55	0.00	0.000	6	0.000	0.048	2700	2097	1654
18392	1.30	305.7	197.8	11.0	884	18393	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2097	1654
18702	1.30	305.7	167.6	6.9	899	18703	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2097	1655
19011	1.30	305.7	145.9	7.0	914	19012	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2096	1655
19320	1.30	305.7	118.4	10.8	929	19321	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2096	1655
19630	1.30	305.7	80.9	12.4	944	19631	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2096	1655
19938	1.30	305.7	49.6	9.1	959	19940	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2096	1655
20249	1.30	305.7	20.3	9.8	974	20254	0.00	2.67	0.00	0.000	4	0.000	0.077	2700	3509	1655
20282	1.30	305.7	16.6	10.0	975	20289	0.00	2.55	0.00	0.000	6	0.000	0.055	2700	2104	1655
20451	end climb: SURFACE_DEPTH_REACHED
state	20451	begin surface coast
20475	end surface coast: CONTROL_FINISHED_OK
state	20475	begin surface