Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 95 * 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 95 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 1775 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 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 120 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 -63947.812 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -63947.812

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

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 1775 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 17 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 95 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 065631,6142.970,-913.546,37,1.2,42,-9.4 TGT_NAME AW

_CALLS 1 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.092,0.198

_SM_DEPTHo -0.05 KALMAN_X -73563.2,-286.6,-5476.0,44922.5,8193.9

_SM_ANGLEo -58.4 KALMAN_Y 89105.2,46.3,843.4,-73372.5,-2058.9

GPS2 070127,6142.971,-913.481,14,1.2,14,-9.4 MHEAD_RNG_PITCHd_Wd 344.5,18622,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 762

Post-dive calculations and measurements:

FINISH -0.8,1.002247 XPDR_PINGS 2

SM_CCo 18849,0.00,0.000,0,0,1651,306.62 ALTIM_BOTTOM_PING 675.0,82.2

SM_GC 0.21,11.55,0.00,0.00,0.023,0.000,0.000,45,2895,1651,-10.80,-0.14,306.62 _24V_AH 23.4,20.548

IRIDIUM_FIX 6117.23,-901.66,271107,050555 _10V_AH 10.1,8.544

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47448,910

HUMID 2099 CFSIZE 260165632,253489152

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,55,0,0

TCM_TEMP 17.50 GPS 271107,121738,6147.693,-915.083,25,2.0,25,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 158 96.50 SBE_CT 646 24 362.85

Roll_motor 207 89 436.46 SBE_O2 643 19 286.19

VBD_pump_during_apogee 386 1257 11360.63 WL_BB2F 533 105 1310.32

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 37 103 91.33 nil 0 0 0.00

Iridium_during_connect 28 160 105.66 nil 0 0 0.00

Iridium_during_xfer 134 223 699.64

Transponder_ping 6 420 61.42

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.48

TT8 1715 19 343.04

LPSleep 14343 2 317.27

TT8_Active 553 19 110.60

TT8_Sampling 2173 39 873.84

TT8_CF8 369 45 170.84

TT8_Kalman 33 81 27.57

Analog_circuits 1655 12 200.70

GPS_charging 0 0 0.00

Compass 2128 8 172.02

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.10 -146.6 0.0 0.0 0 86 0.00 0.00 -64.88 0.000 6 0.000 0.000 48 2916 3500

88 -1.10 -146.6 1.9 -4.4 3 110 11.95 2.67 0.00 0.000 4 0.159 0.063 2164 1489 3501

137 -1.10 -146.6 18.1 -12.4 5 141 0.00 2.70 0.00 0.000 6 0.000 0.079 2164 2888 3502

464 -1.10 -146.6 41.5 -5.6 21 465 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2888 3502

773 -1.10 -146.6 62.0 -5.9 36 774 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2888 3502

1082 -1.10 -146.6 82.6 -6.8 51 1087 0.00 2.60 0.00 0.000 4 0.000 0.070 2165 1489 3502

1121 -1.10 -146.6 85.3 -7.0 53 1126 0.00 2.65 0.00 0.000 6 0.000 0.073 2165 2901 3502

1446 -1.10 -146.6 106.6 -7.3 69 1451 0.00 2.62 0.00 0.000 4 0.000 0.067 2165 1484 3501

1478 -1.10 -146.6 109.2 -7.9 70 1485 0.00 2.67 0.00 0.000 6 0.000 0.074 2165 2894 3502

1795 -1.10 -146.6 132.5 -7.3 86 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2894 3502

2103 -1.10 -146.6 156.0 -7.7 101 2107 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1481 3502

2173 -1.10 -146.6 161.5 -7.7 104 2178 0.00 2.67 0.00 0.000 6 0.000 0.073 2165 2892 3502

2495 -1.10 -146.6 186.0 -7.5 120 2496 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2892 3502

2804 -1.10 -146.6 208.0 -6.8 135 2808 0.00 2.60 0.00 0.000 4 0.000 0.066 2165 1483 3502

2846 -1.10 -146.6 210.9 -6.9 137 2851 0.00 2.67 0.00 0.000 6 0.000 0.071 2165 2899 3502

3173 -1.10 -146.6 233.1 -6.4 153 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3502

3483 -1.10 -146.6 249.1 -4.7 168 3487 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1480 3502

3570 -1.10 -146.6 253.4 -5.1 172 3575 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2908 3502

3897 -1.10 -146.6 269.9 -5.7 188 3901 0.00 2.62 0.00 0.000 4 0.000 0.066 2165 1481 3502

3935 -1.10 -146.6 272.4 -6.5 190 3939 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2899 3502

4260 -1.10 -146.6 294.6 -7.2 206 4265 0.00 2.60 0.00 0.000 4 0.000 0.065 2165 1486 3502

4299 -1.10 -146.6 297.6 -7.8 208 4303 0.00 2.62 0.00 0.000 6 0.000 0.070 2165 2900 3502

4624 -1.10 -146.6 321.8 -7.5 224 4628 0.00 2.60 0.00 0.000 4 0.000 0.067 2164 1481 3502

4656 -1.10 -146.6 324.4 -8.1 225 4663 0.00 2.65 0.00 0.000 6 0.000 0.070 2165 2894 3502

4974 -1.10 -146.6 350.1 -8.2 241 4978 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1480 3502

5012 -1.10 -146.6 353.5 -8.7 243 5016 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2900 3502

5337 -1.10 -146.6 380.6 -8.4 259 5341 0.00 2.60 0.00 0.000 4 0.000 0.064 2165 1487 3502

5385 -1.10 -146.6 384.7 -8.4 261 5390 0.00 2.65 0.00 0.000 6 0.000 0.068 2165 2901 3502

5706 -1.10 -146.6 407.7 -6.3 277 5710 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1489 3502

5738 -1.10 -146.6 409.6 -6.1 278 5745 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2892 3502

6054 -1.10 -146.6 429.1 -6.3 294 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2892 3502

6363 -1.10 -146.6 443.6 -4.8 309 6368 0.00 2.58 0.00 0.000 4 0.000 0.065 2165 1485 3502

6412 -1.10 -146.6 446.1 -4.9 311 6417 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2909 3502

6733 -1.10 -146.6 467.2 -7.8 327 6737 0.00 2.58 0.00 0.000 4 0.000 0.063 2165 1479 3502

6765 -1.10 -146.6 470.1 -8.5 328 6772 0.00 2.65 0.00 0.000 6 0.000 0.067 2165 2900 3502

7081 -1.10 -146.6 497.0 -8.2 344 7085 0.00 2.58 0.00 0.000 4 0.000 0.062 2165 1486 3502

7123 -1.10 -146.6 500.7 -8.0 346 7128 0.00 2.62 0.00 0.000 6 0.000 0.066 2165 2899 3502

7450 -1.10 -146.6 523.3 -5.2 362 7455 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1484 3502

7483 -1.10 -146.6 524.7 -4.5 363 7490 0.00 2.60 0.00 0.000 6 0.000 0.065 2165 2904 3502

7798 -1.10 -146.6 538.7 -4.4 379 7802 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1485 3502

7846 -1.10 -146.6 541.4 -6.3 381 7851 0.00 2.62 0.00 0.000 6 0.000 0.064 2165 2900 3502

8167 -1.10 -146.6 567.5 -11.9 397 8172 0.00 2.58 0.00 0.000 4 0.000 0.060 2165 1478 3502

8210 -1.10 -146.6 571.3 -8.6 399 8215 0.00 2.62 0.00 0.000 6 0.000 0.064 2165 2897 3502

8538 -1.10 -146.6 584.2 -2.0 415 8539 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2897 3502

8847 -1.10 -146.6 596.4 -4.6 430 8848 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2897 3502

9156 -1.10 -146.6 618.2 -7.9 445 9157 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3502

9465 -1.10 -146.6 641.8 -6.3 460 9469 0.00 2.55 0.00 0.000 4 0.000 0.057 2165 1474 3502

9520 -1.10 -146.6 645.0 -5.3 462 9527 0.00 2.60 0.00 0.000 6 0.000 0.061 2165 2900 3502

9835 -1.10 -146.6 656.9 -4.2 478 9840 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1485 3502

9879 -1.10 -146.6 659.1 -5.8 480 9883 0.00 2.60 0.00 0.000 6 0.000 0.067 2164 2900 3502

10206 -1.10 -146.6 678.8 -4.6 496 10207 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3502

10515 -1.10 -146.6 697.4 -8.6 511 10519 0.00 2.58 0.00 0.000 4 0.000 0.061 2165 1484 3501

10558 -1.10 -146.6 701.3 -9.5 513 10562 0.00 2.62 0.00 0.000 6 0.000 0.067 2165 2911 3501

10884 -1.10 -146.6 727.5 -9.6 529 10888 0.00 2.58 0.00 0.000 4 0.000 0.060 2165 1483 3501

11136 -1.10 -146.6 743.5 -4.0 540 11140 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2899 3501

11208 end dive: BOTTOM_OBSTACLE_DETECTED

state 11208 begin apogee

11214 -0.42 0.0 748.7 7.6 544 11342 0.75 0.00 125.22 1.257 6 0.087 0.000 2317 1774 2901

11343 end apogee: CONTROL_FINISHED_OK

state 11343 begin climb

11345 1.10 146.6 755.2 0.0 550 11477 1.55 2.72 123.78 1.209 4 0.053 0.072 2651 362 2303

11526 1.11 149.5 750.3 5.9 559 11536 0.00 2.58 4.43 0.787 6 0.000 0.046 2651 1778 2291

11863 1.14 173.0 732.9 5.3 576 11886 0.00 0.00 21.27 1.180 6 0.000 0.000 2652 1783 2195

12192 1.30 306.8 716.1 2.3 592 12315 0.17 2.78 111.50 1.237 4 0.044 0.070 2709 360 1650

12449 1.30 306.8 695.8 10.4 604 12454 0.00 2.55 0.00 0.000 6 0.000 0.047 2710 1779 1649

12775 1.30 306.8 652.5 12.5 620 12779 0.00 2.65 0.00 0.000 4 0.000 0.077 2709 3183 1648

12926 1.30 306.8 634.7 12.6 627 12930 0.00 2.55 0.00 0.000 6 0.000 0.053 2709 1770 1647

13250 1.30 306.8 600.4 11.1 643 13255 0.00 2.62 0.00 0.000 4 0.000 0.070 2709 3183 1647

13345 1.30 306.8 588.8 13.3 647 13349 0.00 2.55 0.00 0.000 6 0.000 0.050 2709 1768 1647

13659 1.30 306.8 548.5 12.8 662 13664 0.00 2.65 0.00 0.000 4 0.000 0.070 2709 3185 1647

13752 1.30 306.8 537.2 11.9 666 13757 0.00 2.55 0.00 0.000 6 0.000 0.051 2709 1777 1647

14074 1.30 306.8 500.4 10.4 682 14078 0.00 2.62 0.00 0.000 4 0.000 0.071 2709 3185 1647

14157 1.30 306.8 491.7 10.3 686 14162 0.00 2.53 0.00 0.000 6 0.000 0.052 2709 1777 1647

14483 1.30 306.8 456.9 11.3 702 14487 0.00 2.62 0.00 0.000 4 0.000 0.072 2709 3183 1647

14554 1.30 306.8 448.5 12.0 705 14558 0.00 2.55 0.00 0.000 6 0.000 0.053 2709 1778 1647

14875 1.30 306.8 411.6 12.0 721 14879 0.00 2.62 0.00 0.000 4 0.000 0.071 2709 3184 1647

14929 1.30 306.8 405.2 11.4 723 14936 0.00 2.55 0.00 0.000 6 0.000 0.053 2709 1778 1648

15244 1.30 306.8 371.0 10.7 739 15249 0.00 2.65 0.00 0.000 4 0.000 0.074 2709 3188 1648

15328 1.30 306.8 362.5 9.4 743 15332 0.00 2.53 0.00 0.000 6 0.000 0.054 2710 1776 1648

15653 1.30 306.8 334.1 8.9 759 15657 0.00 2.65 0.00 0.000 4 0.000 0.075 2709 3186 1648

15729 1.30 306.8 326.8 8.9 762 15736 0.00 2.55 0.00 0.000 6 0.000 0.054 2709 1782 1648

16045 1.30 306.8 296.8 10.0 778 16049 0.00 2.62 0.00 0.000 4 0.000 0.074 2709 3184 1648

16150 1.30 306.8 285.1 11.1 783 16155 0.00 2.55 0.00 0.000 6 0.000 0.056 2709 1768 1649

16476 1.30 306.8 247.3 11.2 799 16480 0.00 2.65 0.00 0.000 4 0.000 0.074 2710 3185 1649

16569 1.30 306.8 236.3 11.3 803 16574 0.00 2.58 0.00 0.000 6 0.000 0.058 2710 1777 1649

16890 1.30 306.8 203.6 9.8 819 16895 0.00 2.65 0.00 0.000 4 0.000 0.075 2710 3188 1649

16962 1.30 306.8 196.4 10.5 822 16966 0.00 2.58 0.00 0.000 6 0.000 0.057 2710 1775 1649

17283 1.30 306.8 162.8 10.4 838 17287 0.00 2.62 0.00 0.000 4 0.000 0.077 2709 3182 1650

17348 1.30 306.8 155.8 10.5 841 17352 0.00 2.58 0.00 0.000 6 0.000 0.058 2710 1773 1650

17675 1.30 306.8 118.4 11.4 857 17679 0.00 2.65 0.00 0.000 4 0.000 0.076 2710 3182 1650

17760 1.30 306.8 109.1 11.5 861 17764 0.00 2.55 0.00 0.000 6 0.000 0.058 2710 1772 1650

18085 1.30 306.8 72.9 11.1 877 18089 0.00 2.65 0.00 0.000 4 0.000 0.076 2709 3182 1651

18161 1.30 306.8 63.8 11.8 880 18169 0.00 2.58 0.00 0.000 6 0.000 0.058 2710 1773 1650

18477 1.30 306.8 32.8 9.1 896 18482 0.00 2.65 0.00 0.000 4 0.000 0.075 2710 3182 1650

18565 1.30 306.8 23.3 9.2 900 18570 0.00 2.58 0.00 0.000 6 0.000 0.058 2710 1773 1651

18747 end climb: SURFACE_DEPTH_REACHED

state 18747 begin surface coast

18769 end surface coast: CONTROL_FINISHED_OK

state 18769 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	95	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	1775	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	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	120	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	-63947.812	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	065631,6142.970,-913.546,37,1.2,42,-9.4	TGT_NAME	AW
_CALLS	1	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.092,0.198
_SM_DEPTHo	-0.05	KALMAN_X	-73563.2,-286.6,-5476.0,44922.5,8193.9
_SM_ANGLEo	-58.4	KALMAN_Y	89105.2,46.3,843.4,-73372.5,-2058.9
GPS2	070127,6142.971,-913.481,14,1.2,14,-9.4	MHEAD_RNG_PITCHd_Wd	344.5,18622,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	762

FINISH	-0.8,1.002247	XPDR_PINGS	2
SM_CCo	18849,0.00,0.000,0,0,1651,306.62	ALTIM_BOTTOM_PING	675.0,82.2
SM_GC	0.21,11.55,0.00,0.00,0.023,0.000,0.000,45,2895,1651,-10.80,-0.14,306.62	_24V_AH	23.4,20.548
IRIDIUM_FIX	6117.23,-901.66,271107,050555	_10V_AH	10.1,8.544
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47448,910
HUMID	2099	CFSIZE	260165632,253489152
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,55,0,0
TCM_TEMP	17.50	GPS	271107,121738,6147.693,-915.083,25,2.0,25,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	158	96.50	SBE_CT	646	24	362.85
Roll_motor	207	89	436.46	SBE_O2	643	19	286.19
VBD_pump_during_apogee	386	1257	11360.63	WL_BB2F	533	105	1310.32
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	37	103	91.33	nil	0	0	0.00
Iridium_during_connect	28	160	105.66	nil	0	0	0.00
Iridium_during_xfer	134	223	699.64
Transponder_ping	6	420	61.42
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.48
TT8	1715	19	343.04
LPSleep	14343	2	317.27
TT8_Active	553	19	110.60
TT8_Sampling	2173	39	873.84
TT8_CF8	369	45	170.84
TT8_Kalman	33	81	27.57
Analog_circuits	1655	12	200.70
GPS_charging	0	0	0.00
Compass	2128	8	172.02
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.10	-146.6	0.0	0.0	0	86	0.00	0.00	-64.88	0.000	6	0.000	0.000	48	2916	3500
88	-1.10	-146.6	1.9	-4.4	3	110	11.95	2.67	0.00	0.000	4	0.159	0.063	2164	1489	3501
137	-1.10	-146.6	18.1	-12.4	5	141	0.00	2.70	0.00	0.000	6	0.000	0.079	2164	2888	3502
464	-1.10	-146.6	41.5	-5.6	21	465	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2888	3502
773	-1.10	-146.6	62.0	-5.9	36	774	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2888	3502
1082	-1.10	-146.6	82.6	-6.8	51	1087	0.00	2.60	0.00	0.000	4	0.000	0.070	2165	1489	3502
1121	-1.10	-146.6	85.3	-7.0	53	1126	0.00	2.65	0.00	0.000	6	0.000	0.073	2165	2901	3502
1446	-1.10	-146.6	106.6	-7.3	69	1451	0.00	2.62	0.00	0.000	4	0.000	0.067	2165	1484	3501
1478	-1.10	-146.6	109.2	-7.9	70	1485	0.00	2.67	0.00	0.000	6	0.000	0.074	2165	2894	3502
1795	-1.10	-146.6	132.5	-7.3	86	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2894	3502
2103	-1.10	-146.6	156.0	-7.7	101	2107	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1481	3502
2173	-1.10	-146.6	161.5	-7.7	104	2178	0.00	2.67	0.00	0.000	6	0.000	0.073	2165	2892	3502
2495	-1.10	-146.6	186.0	-7.5	120	2496	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2892	3502
2804	-1.10	-146.6	208.0	-6.8	135	2808	0.00	2.60	0.00	0.000	4	0.000	0.066	2165	1483	3502
2846	-1.10	-146.6	210.9	-6.9	137	2851	0.00	2.67	0.00	0.000	6	0.000	0.071	2165	2899	3502
3173	-1.10	-146.6	233.1	-6.4	153	3175	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3502
3483	-1.10	-146.6	249.1	-4.7	168	3487	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1480	3502
3570	-1.10	-146.6	253.4	-5.1	172	3575	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2908	3502
3897	-1.10	-146.6	269.9	-5.7	188	3901	0.00	2.62	0.00	0.000	4	0.000	0.066	2165	1481	3502
3935	-1.10	-146.6	272.4	-6.5	190	3939	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2899	3502
4260	-1.10	-146.6	294.6	-7.2	206	4265	0.00	2.60	0.00	0.000	4	0.000	0.065	2165	1486	3502
4299	-1.10	-146.6	297.6	-7.8	208	4303	0.00	2.62	0.00	0.000	6	0.000	0.070	2165	2900	3502
4624	-1.10	-146.6	321.8	-7.5	224	4628	0.00	2.60	0.00	0.000	4	0.000	0.067	2164	1481	3502
4656	-1.10	-146.6	324.4	-8.1	225	4663	0.00	2.65	0.00	0.000	6	0.000	0.070	2165	2894	3502
4974	-1.10	-146.6	350.1	-8.2	241	4978	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1480	3502
5012	-1.10	-146.6	353.5	-8.7	243	5016	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2900	3502
5337	-1.10	-146.6	380.6	-8.4	259	5341	0.00	2.60	0.00	0.000	4	0.000	0.064	2165	1487	3502
5385	-1.10	-146.6	384.7	-8.4	261	5390	0.00	2.65	0.00	0.000	6	0.000	0.068	2165	2901	3502
5706	-1.10	-146.6	407.7	-6.3	277	5710	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1489	3502
5738	-1.10	-146.6	409.6	-6.1	278	5745	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2892	3502
6054	-1.10	-146.6	429.1	-6.3	294	6055	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2892	3502
6363	-1.10	-146.6	443.6	-4.8	309	6368	0.00	2.58	0.00	0.000	4	0.000	0.065	2165	1485	3502
6412	-1.10	-146.6	446.1	-4.9	311	6417	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2909	3502
6733	-1.10	-146.6	467.2	-7.8	327	6737	0.00	2.58	0.00	0.000	4	0.000	0.063	2165	1479	3502
6765	-1.10	-146.6	470.1	-8.5	328	6772	0.00	2.65	0.00	0.000	6	0.000	0.067	2165	2900	3502
7081	-1.10	-146.6	497.0	-8.2	344	7085	0.00	2.58	0.00	0.000	4	0.000	0.062	2165	1486	3502
7123	-1.10	-146.6	500.7	-8.0	346	7128	0.00	2.62	0.00	0.000	6	0.000	0.066	2165	2899	3502
7450	-1.10	-146.6	523.3	-5.2	362	7455	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1484	3502
7483	-1.10	-146.6	524.7	-4.5	363	7490	0.00	2.60	0.00	0.000	6	0.000	0.065	2165	2904	3502
7798	-1.10	-146.6	538.7	-4.4	379	7802	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1485	3502
7846	-1.10	-146.6	541.4	-6.3	381	7851	0.00	2.62	0.00	0.000	6	0.000	0.064	2165	2900	3502
8167	-1.10	-146.6	567.5	-11.9	397	8172	0.00	2.58	0.00	0.000	4	0.000	0.060	2165	1478	3502
8210	-1.10	-146.6	571.3	-8.6	399	8215	0.00	2.62	0.00	0.000	6	0.000	0.064	2165	2897	3502
8538	-1.10	-146.6	584.2	-2.0	415	8539	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2897	3502
8847	-1.10	-146.6	596.4	-4.6	430	8848	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2897	3502
9156	-1.10	-146.6	618.2	-7.9	445	9157	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3502
9465	-1.10	-146.6	641.8	-6.3	460	9469	0.00	2.55	0.00	0.000	4	0.000	0.057	2165	1474	3502
9520	-1.10	-146.6	645.0	-5.3	462	9527	0.00	2.60	0.00	0.000	6	0.000	0.061	2165	2900	3502
9835	-1.10	-146.6	656.9	-4.2	478	9840	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1485	3502
9879	-1.10	-146.6	659.1	-5.8	480	9883	0.00	2.60	0.00	0.000	6	0.000	0.067	2164	2900	3502
10206	-1.10	-146.6	678.8	-4.6	496	10207	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3502
10515	-1.10	-146.6	697.4	-8.6	511	10519	0.00	2.58	0.00	0.000	4	0.000	0.061	2165	1484	3501
10558	-1.10	-146.6	701.3	-9.5	513	10562	0.00	2.62	0.00	0.000	6	0.000	0.067	2165	2911	3501
10884	-1.10	-146.6	727.5	-9.6	529	10888	0.00	2.58	0.00	0.000	4	0.000	0.060	2165	1483	3501
11136	-1.10	-146.6	743.5	-4.0	540	11140	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2899	3501
11208	end dive: BOTTOM_OBSTACLE_DETECTED
state	11208	begin apogee
11214	-0.42	0.0	748.7	7.6	544	11342	0.75	0.00	125.22	1.257	6	0.087	0.000	2317	1774	2901
11343	end apogee: CONTROL_FINISHED_OK
state	11343	begin climb
11345	1.10	146.6	755.2	0.0	550	11477	1.55	2.72	123.78	1.209	4	0.053	0.072	2651	362	2303
11526	1.11	149.5	750.3	5.9	559	11536	0.00	2.58	4.43	0.787	6	0.000	0.046	2651	1778	2291
11863	1.14	173.0	732.9	5.3	576	11886	0.00	0.00	21.27	1.180	6	0.000	0.000	2652	1783	2195
12192	1.30	306.8	716.1	2.3	592	12315	0.17	2.78	111.50	1.237	4	0.044	0.070	2709	360	1650
12449	1.30	306.8	695.8	10.4	604	12454	0.00	2.55	0.00	0.000	6	0.000	0.047	2710	1779	1649
12775	1.30	306.8	652.5	12.5	620	12779	0.00	2.65	0.00	0.000	4	0.000	0.077	2709	3183	1648
12926	1.30	306.8	634.7	12.6	627	12930	0.00	2.55	0.00	0.000	6	0.000	0.053	2709	1770	1647
13250	1.30	306.8	600.4	11.1	643	13255	0.00	2.62	0.00	0.000	4	0.000	0.070	2709	3183	1647
13345	1.30	306.8	588.8	13.3	647	13349	0.00	2.55	0.00	0.000	6	0.000	0.050	2709	1768	1647
13659	1.30	306.8	548.5	12.8	662	13664	0.00	2.65	0.00	0.000	4	0.000	0.070	2709	3185	1647
13752	1.30	306.8	537.2	11.9	666	13757	0.00	2.55	0.00	0.000	6	0.000	0.051	2709	1777	1647
14074	1.30	306.8	500.4	10.4	682	14078	0.00	2.62	0.00	0.000	4	0.000	0.071	2709	3185	1647
14157	1.30	306.8	491.7	10.3	686	14162	0.00	2.53	0.00	0.000	6	0.000	0.052	2709	1777	1647
14483	1.30	306.8	456.9	11.3	702	14487	0.00	2.62	0.00	0.000	4	0.000	0.072	2709	3183	1647
14554	1.30	306.8	448.5	12.0	705	14558	0.00	2.55	0.00	0.000	6	0.000	0.053	2709	1778	1647
14875	1.30	306.8	411.6	12.0	721	14879	0.00	2.62	0.00	0.000	4	0.000	0.071	2709	3184	1647
14929	1.30	306.8	405.2	11.4	723	14936	0.00	2.55	0.00	0.000	6	0.000	0.053	2709	1778	1648
15244	1.30	306.8	371.0	10.7	739	15249	0.00	2.65	0.00	0.000	4	0.000	0.074	2709	3188	1648
15328	1.30	306.8	362.5	9.4	743	15332	0.00	2.53	0.00	0.000	6	0.000	0.054	2710	1776	1648
15653	1.30	306.8	334.1	8.9	759	15657	0.00	2.65	0.00	0.000	4	0.000	0.075	2709	3186	1648
15729	1.30	306.8	326.8	8.9	762	15736	0.00	2.55	0.00	0.000	6	0.000	0.054	2709	1782	1648
16045	1.30	306.8	296.8	10.0	778	16049	0.00	2.62	0.00	0.000	4	0.000	0.074	2709	3184	1648
16150	1.30	306.8	285.1	11.1	783	16155	0.00	2.55	0.00	0.000	6	0.000	0.056	2709	1768	1649
16476	1.30	306.8	247.3	11.2	799	16480	0.00	2.65	0.00	0.000	4	0.000	0.074	2710	3185	1649
16569	1.30	306.8	236.3	11.3	803	16574	0.00	2.58	0.00	0.000	6	0.000	0.058	2710	1777	1649
16890	1.30	306.8	203.6	9.8	819	16895	0.00	2.65	0.00	0.000	4	0.000	0.075	2710	3188	1649
16962	1.30	306.8	196.4	10.5	822	16966	0.00	2.58	0.00	0.000	6	0.000	0.057	2710	1775	1649
17283	1.30	306.8	162.8	10.4	838	17287	0.00	2.62	0.00	0.000	4	0.000	0.077	2709	3182	1650
17348	1.30	306.8	155.8	10.5	841	17352	0.00	2.58	0.00	0.000	6	0.000	0.058	2710	1773	1650
17675	1.30	306.8	118.4	11.4	857	17679	0.00	2.65	0.00	0.000	4	0.000	0.076	2710	3182	1650
17760	1.30	306.8	109.1	11.5	861	17764	0.00	2.55	0.00	0.000	6	0.000	0.058	2710	1772	1650
18085	1.30	306.8	72.9	11.1	877	18089	0.00	2.65	0.00	0.000	4	0.000	0.076	2709	3182	1651
18161	1.30	306.8	63.8	11.8	880	18169	0.00	2.58	0.00	0.000	6	0.000	0.058	2710	1773	1650
18477	1.30	306.8	32.8	9.1	896	18482	0.00	2.65	0.00	0.000	4	0.000	0.075	2710	3182	1650
18565	1.30	306.8	23.3	9.2	900	18570	0.00	2.58	0.00	0.000	6	0.000	0.058	2710	1773	1651
18747	end climb: SURFACE_DEPTH_REACHED
state	18747	begin surface coast
18769	end surface coast: CONTROL_FINISHED_OK
state	18769	begin surface