Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 96 * 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 96 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 -63961.422 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 -63961.422

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 19 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 11 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 96 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 121738,6147.693,-915.083,25,2.0,25,-9.5 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6153.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.108,0.186

_SM_DEPTHo 0.03 KALMAN_X -78802.1,-66.3,248.7,42939.3,-2591.0

_SM_ANGLEo -56.4 KALMAN_Y 93344.1,147.1,537.0,-68627.9,-215.6

GPS2 122551,6147.723,-914.905,12,2.0,12,-9.5 MHEAD_RNG_PITCHd_Wd 39.6,9774,-11.4,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 709

Post-dive calculations and measurements:

FINISH -0.9,1.027285 XPDR_PINGS 2

SM_CCo 18389,36.88,0.680,2,0,1678,300.00 ALTIM_BOTTOM_PING 625.6,73.5

SM_GC -0.06,0.00,0.00,36.88,0.000,0.000,0.680,48,2890,1678,-10.87,-0.28,300.00 _24V_AH 23.4,20.692

IRIDIUM_FIX 6121.73,-917.27,271107,161626 _10V_AH 10.1,8.633

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44132,888

HUMID 2071 CFSIZE 260165632,253427712

INTERNAL_PRESSURE 8.86753 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,57,2,0

TCM_TEMP 17.50 GPS 271107,173525,6150.024,-912.074,39,1.2,39,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 96.59 SBE_CT 640 24 359.63

Roll_motor 218 84 430.39 SBE_O2 629 19 279.70

VBD_pump_during_apogee 342 1237 9917.83 WL_BB2F 523 105 1286.15

VBD_pump_during_surface 36 679 586.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 195.45 nil 0 0 0.00

Iridium_during_connect 55 160 207.29 nil 0 0 0.00

Iridium_during_xfer 199 223 1042.35

Transponder_ping 6 420 58.97

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.56

TT8 1693 19 338.58

LPSleep 13885 2 307.14

TT8_Active 575 19 115.07

TT8_Sampling 2245 39 902.84

TT8_CF8 542 45 251.01

TT8_Kalman 33 81 27.58

Analog_circuits 1717 12 208.14

GPS_charging 0 0 0.00

Compass 2215 8 179.00

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

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

20 -1.12 -140.7 0.0 0.0 0 84 0.00 0.00 -61.97 0.000 2 0.000 0.000 45 2898 3385

86 -1.12 -140.7 3.2 -7.9 3 109 11.90 2.65 -1.70 0.000 4 0.158 0.084 2159 1494 3478

311 -1.12 -140.7 27.9 -7.5 13 315 0.00 2.62 0.00 0.000 6 0.000 0.071 2159 2899 3478

636 -1.12 -140.7 55.0 -8.4 29 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2899 3478

945 -1.12 -140.7 80.8 -8.3 44 950 0.00 2.60 0.00 0.000 4 0.000 0.064 2159 1487 3478

977 -1.12 -140.7 83.9 -9.0 45 984 0.00 2.65 0.00 0.000 6 0.000 0.069 2159 2897 3479

1295 -1.12 -140.7 114.4 -8.8 61 1299 0.00 2.60 0.00 0.000 4 0.000 0.067 2159 1489 3479

1326 -1.12 -140.7 117.3 -8.0 62 1334 0.00 2.65 0.00 0.000 6 0.000 0.071 2159 2894 3479

1642 -1.12 -140.7 141.3 -7.2 78 1647 0.00 2.60 0.00 0.000 4 0.000 0.066 2159 1482 3479

1674 -1.12 -140.7 143.5 -6.5 79 1681 0.00 2.65 0.00 0.000 6 0.000 0.071 2159 2890 3479

1990 -1.13 -146.6 162.1 -5.4 95 1995 0.00 2.58 -0.10 0.000 4 0.000 0.076 2159 1489 3506

2051 -1.13 -146.6 165.3 -5.5 98 2055 0.00 2.62 0.00 0.000 6 0.000 0.071 2159 2899 3506

2376 -1.13 -146.6 184.2 -6.1 114 2377 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2899 3506

2685 -1.13 -146.6 207.5 -8.4 129 2689 0.00 2.58 0.00 0.000 4 0.000 0.065 2159 1484 3506

2740 -1.13 -146.6 212.1 -8.5 131 2747 0.00 2.65 0.00 0.000 6 0.000 0.069 2159 2899 3506

3055 -1.13 -146.6 237.9 -7.5 147 3060 0.00 2.60 0.00 0.000 4 0.000 0.064 2159 1483 3506

3098 -1.13 -146.6 240.9 -6.6 149 3103 0.00 2.65 0.00 0.000 6 0.000 0.068 2159 2899 3506

3425 -1.13 -146.6 263.6 -6.6 165 3429 0.00 2.58 0.00 0.000 4 0.000 0.066 2159 1482 3506

3465 -1.13 -146.6 265.9 -6.0 166 3471 0.00 2.62 0.00 0.000 6 0.000 0.067 2159 2900 3506

3779 -1.13 -146.6 284.3 -6.7 182 3780 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2900 3506

4088 -1.13 -146.6 304.2 -6.5 197 4093 0.00 2.58 0.00 0.000 4 0.000 0.064 2159 1486 3506

4150 -1.13 -146.6 308.5 -7.3 200 4154 0.00 2.60 0.00 0.000 6 0.000 0.069 2159 2900 3506

4475 -1.13 -146.6 330.0 -6.8 216 4480 0.00 2.60 0.00 0.000 4 0.000 0.064 2159 1480 3506

4530 -1.13 -146.6 333.8 -7.3 218 4537 0.00 2.65 0.00 0.000 6 0.000 0.069 2159 2898 3506

4845 -1.13 -146.6 354.4 -6.2 234 4850 0.00 2.58 0.00 0.000 4 0.000 0.063 2159 1479 3506

4878 -1.13 -146.6 356.3 -6.0 235 4885 0.00 2.65 0.00 0.000 6 0.000 0.068 2159 2896 3506

5193 -1.13 -146.6 376.5 -6.5 251 5197 0.00 2.58 0.00 0.000 4 0.000 0.063 2159 1486 3506

5236 -1.13 -146.6 379.4 -6.8 253 5240 0.00 2.62 0.00 0.000 6 0.000 0.070 2159 2901 3506

5563 -1.13 -146.6 398.4 -5.6 269 5567 0.00 2.58 0.00 0.000 4 0.000 0.063 2159 1484 3506

5596 -1.13 -146.6 400.1 -6.0 270 5603 0.00 2.62 0.00 0.000 6 0.000 0.071 2159 2899 3506

5912 -1.13 -146.6 416.0 -5.8 286 5916 0.00 2.55 0.00 0.000 4 0.000 0.064 2159 1487 3506

5972 -1.13 -146.6 420.0 -6.9 289 5976 0.00 2.60 0.00 0.000 6 0.000 0.070 2159 2899 3506

6303 -1.13 -146.6 445.3 -8.6 305 6304 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2899 3506

6612 -1.13 -146.6 471.4 -8.0 320 6617 0.00 2.55 0.00 0.000 4 0.000 0.061 2159 1482 3506

6667 -1.13 -146.6 475.3 -7.1 322 6674 0.00 2.65 0.00 0.000 6 0.000 0.069 2159 2897 3506

6982 -1.13 -146.6 496.5 -6.6 338 6986 0.00 2.55 0.00 0.000 4 0.000 0.063 2158 1482 3506

7026 -1.13 -146.6 499.6 -7.1 340 7031 0.00 2.60 0.00 0.000 6 0.000 0.068 2159 2900 3506

7352 -1.13 -146.6 523.3 -7.0 356 7356 0.00 2.58 0.00 0.000 4 0.000 0.062 2159 1486 3506

7400 -1.13 -146.6 526.7 -6.6 358 7405 0.00 2.62 0.00 0.000 6 0.000 0.067 2159 2893 3506

7721 -1.13 -146.6 545.8 -6.3 374 7726 0.00 2.58 0.00 0.000 4 0.000 0.061 2159 1480 3506

7820 -1.13 -146.6 552.4 -6.8 378 7827 0.00 2.65 0.00 0.000 6 0.000 0.066 2159 2902 3506

8136 -1.13 -146.6 573.6 -7.1 394 8140 0.00 2.55 0.00 0.000 4 0.000 0.060 2159 1486 3506

8189 -1.13 -146.6 577.9 -8.6 396 8196 0.00 2.62 0.00 0.000 6 0.000 0.067 2159 2900 3506

8509 -1.13 -146.6 600.2 -6.6 412 8510 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 2900 3506

8815 -1.13 -146.6 615.1 -4.6 427 8819 0.00 2.58 0.00 0.000 4 0.000 0.058 2159 1478 3506

8925 -1.13 -146.6 619.5 -3.6 432 8930 0.00 2.62 0.00 0.000 6 0.000 0.065 2159 2907 3506

9252 -1.13 -146.6 635.9 -5.7 448 9256 0.00 2.60 0.00 0.000 4 0.000 0.063 2159 1486 3506

9396 -1.13 -146.6 645.5 -6.4 454 9402 0.00 2.62 0.00 0.000 6 0.000 0.071 2159 2901 3506

9711 -1.13 -146.6 666.6 -7.4 470 9715 0.00 2.58 0.00 0.000 4 0.000 0.065 2159 1487 3506

9773 -1.13 -146.6 670.9 -6.3 473 9777 0.00 2.65 0.00 0.000 6 0.000 0.074 2159 2901 3506

10035 end dive: BOTTOM_OBSTACLE_DETECTED

state 10035 begin apogee

10041 -0.42 0.0 690.4 9.4 486 10168 0.77 0.00 124.38 1.238 6 0.087 0.000 2317 1773 2901

10169 end apogee: CONTROL_FINISHED_OK

state 10169 begin climb

10171 1.13 146.6 692.8 0.0 492 10302 1.62 2.78 122.62 1.187 4 0.072 0.077 2651 3192 2303

10556 1.16 176.0 679.5 5.2 509 10587 0.00 2.58 25.88 1.157 6 0.000 0.054 2651 1772 2183

10908 1.16 176.0 657.7 7.1 527 10912 0.00 2.72 0.00 0.000 4 0.000 0.077 2652 3191 2182

11120 1.17 183.6 642.1 5.8 536 11135 0.00 2.60 7.80 1.029 6 0.000 0.063 2651 1778 2152

11456 1.17 183.6 623.1 7.8 553 11460 0.00 2.67 0.00 0.000 4 0.000 0.077 2651 3187 2151

11504 1.17 183.6 619.8 6.0 555 11509 0.00 2.62 0.00 0.000 6 0.000 0.060 2652 1776 2150

11826 1.26 257.8 604.0 3.9 571 11896 0.15 2.75 61.70 1.206 4 0.040 0.071 2703 367 1849

11957 1.26 257.8 596.6 7.2 577 11961 0.00 2.53 0.00 0.000 6 0.000 0.044 2703 1784 1849

12283 1.26 257.8 571.1 9.1 593 12288 0.00 2.62 0.00 0.000 4 0.000 0.074 2703 3179 1847

12338 1.26 257.8 565.3 10.1 595 12346 0.00 2.58 0.00 0.000 6 0.000 0.054 2703 1774 1847

12654 1.26 257.8 527.7 12.3 611 12658 0.00 2.65 0.00 0.000 4 0.000 0.071 2703 3185 1847

12719 1.26 257.8 519.9 11.4 614 12723 0.00 2.55 0.00 0.000 6 0.000 0.051 2703 1769 1847

13045 1.26 257.8 489.6 8.0 630 13050 0.00 2.62 0.00 0.000 4 0.000 0.071 2703 3181 1847

13129 1.26 257.8 483.2 7.3 634 13134 0.00 2.53 0.00 0.000 6 0.000 0.051 2703 1773 1847

13455 1.26 257.8 455.4 9.6 650 13459 0.00 2.65 0.00 0.000 4 0.000 0.071 2703 3183 1848

13531 1.26 257.8 447.8 10.1 653 13538 0.00 2.55 0.00 0.000 6 0.000 0.052 2703 1777 1848

13847 1.26 257.8 417.8 9.1 669 13851 0.00 2.62 0.00 0.000 4 0.000 0.070 2703 3179 1848

13934 1.26 257.8 409.9 8.3 673 13939 0.00 2.55 0.00 0.000 6 0.000 0.053 2703 1776 1848

14261 1.26 257.8 380.5 9.8 689 14265 0.00 2.62 0.00 0.000 4 0.000 0.072 2703 3184 1849

14368 1.26 257.8 369.7 9.7 694 14372 0.00 2.55 0.00 0.000 6 0.000 0.054 2703 1766 1849

14692 1.26 257.8 338.0 9.0 710 14697 0.00 2.65 0.00 0.000 4 0.000 0.073 2703 3185 1849

14815 1.26 257.8 327.7 7.7 715 14823 0.00 2.58 0.00 0.000 6 0.000 0.055 2703 1773 1849

15130 1.26 257.8 302.1 8.9 731 15135 0.00 2.62 0.00 0.000 4 0.000 0.072 2703 3179 1850

15185 1.26 257.8 297.0 9.6 733 15192 0.00 2.55 0.00 0.000 6 0.000 0.054 2703 1776 1851

15500 1.26 257.8 268.3 9.1 749 15505 0.00 2.65 0.00 0.000 4 0.000 0.073 2703 3184 1851

15584 1.26 257.8 260.6 8.9 753 15588 0.00 2.53 0.00 0.000 6 0.000 0.055 2703 1776 1851

15909 1.26 257.8 232.9 8.3 769 15913 0.00 2.62 0.00 0.000 4 0.000 0.073 2703 3184 1852

16008 1.26 257.8 224.2 8.8 773 16015 0.00 2.55 0.00 0.000 6 0.000 0.055 2703 1782 1852

16323 1.26 257.8 195.0 9.1 789 16328 0.00 2.62 0.00 0.000 4 0.000 0.075 2703 3185 1852

16407 1.26 257.8 187.1 9.5 793 16411 0.00 2.53 0.00 0.000 6 0.000 0.055 2703 1776 1852

16732 1.26 257.8 155.9 9.8 809 16737 0.00 2.65 0.00 0.000 4 0.000 0.074 2703 3186 1852

16826 1.26 257.8 146.6 9.5 813 16831 0.00 2.55 0.00 0.000 6 0.000 0.056 2703 1784 1853

17148 1.26 257.8 116.8 9.2 829 17152 0.00 2.62 0.00 0.000 4 0.000 0.075 2703 3183 1853

17247 1.26 257.8 107.2 9.4 833 17255 0.00 2.58 0.00 0.000 6 0.000 0.056 2703 1771 1853

17563 1.26 257.8 76.8 9.5 849 17567 0.00 2.65 0.00 0.000 4 0.000 0.074 2703 3181 1854

17656 1.26 257.8 67.8 8.7 853 17661 0.00 2.55 0.00 0.000 6 0.000 0.057 2703 1768 1854

17977 1.26 257.8 37.0 10.7 869 17982 0.00 2.65 0.00 0.000 4 0.000 0.073 2703 3186 1854

18084 1.26 257.8 25.7 11.0 874 18088 0.00 2.55 0.00 0.000 6 0.000 0.055 2703 1774 1854

18346 end climb: SURFACE_DEPTH_REACHED

state 18346 begin surface coast

18368 end surface coast: CONTROL_FINISHED_OK

state 18368 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	96	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	-63961.422	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	121738,6147.693,-915.083,25,2.0,25,-9.5	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6153.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.108,0.186
_SM_DEPTHo	0.03	KALMAN_X	-78802.1,-66.3,248.7,42939.3,-2591.0
_SM_ANGLEo	-56.4	KALMAN_Y	93344.1,147.1,537.0,-68627.9,-215.6
GPS2	122551,6147.723,-914.905,12,2.0,12,-9.5	MHEAD_RNG_PITCHd_Wd	39.6,9774,-11.4,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	709

FINISH	-0.9,1.027285	XPDR_PINGS	2
SM_CCo	18389,36.88,0.680,2,0,1678,300.00	ALTIM_BOTTOM_PING	625.6,73.5
SM_GC	-0.06,0.00,0.00,36.88,0.000,0.000,0.680,48,2890,1678,-10.87,-0.28,300.00	_24V_AH	23.4,20.692
IRIDIUM_FIX	6121.73,-917.27,271107,161626	_10V_AH	10.1,8.633
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44132,888
HUMID	2071	CFSIZE	260165632,253427712
INTERNAL_PRESSURE	8.86753	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,57,2,0
TCM_TEMP	17.50	GPS	271107,173525,6150.024,-912.074,39,1.2,39,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	96.59	SBE_CT	640	24	359.63
Roll_motor	218	84	430.39	SBE_O2	629	19	279.70
VBD_pump_during_apogee	342	1237	9917.83	WL_BB2F	523	105	1286.15
VBD_pump_during_surface	36	679	586.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	195.45	nil	0	0	0.00
Iridium_during_connect	55	160	207.29	nil	0	0	0.00
Iridium_during_xfer	199	223	1042.35
Transponder_ping	6	420	58.97
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.56
TT8	1693	19	338.58
LPSleep	13885	2	307.14
TT8_Active	575	19	115.07
TT8_Sampling	2245	39	902.84
TT8_CF8	542	45	251.01
TT8_Kalman	33	81	27.58
Analog_circuits	1717	12	208.14
GPS_charging	0	0	0.00
Compass	2215	8	179.00
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
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
20	-1.12	-140.7	0.0	0.0	0	84	0.00	0.00	-61.97	0.000	2	0.000	0.000	45	2898	3385
86	-1.12	-140.7	3.2	-7.9	3	109	11.90	2.65	-1.70	0.000	4	0.158	0.084	2159	1494	3478
311	-1.12	-140.7	27.9	-7.5	13	315	0.00	2.62	0.00	0.000	6	0.000	0.071	2159	2899	3478
636	-1.12	-140.7	55.0	-8.4	29	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2899	3478
945	-1.12	-140.7	80.8	-8.3	44	950	0.00	2.60	0.00	0.000	4	0.000	0.064	2159	1487	3478
977	-1.12	-140.7	83.9	-9.0	45	984	0.00	2.65	0.00	0.000	6	0.000	0.069	2159	2897	3479
1295	-1.12	-140.7	114.4	-8.8	61	1299	0.00	2.60	0.00	0.000	4	0.000	0.067	2159	1489	3479
1326	-1.12	-140.7	117.3	-8.0	62	1334	0.00	2.65	0.00	0.000	6	0.000	0.071	2159	2894	3479
1642	-1.12	-140.7	141.3	-7.2	78	1647	0.00	2.60	0.00	0.000	4	0.000	0.066	2159	1482	3479
1674	-1.12	-140.7	143.5	-6.5	79	1681	0.00	2.65	0.00	0.000	6	0.000	0.071	2159	2890	3479
1990	-1.13	-146.6	162.1	-5.4	95	1995	0.00	2.58	-0.10	0.000	4	0.000	0.076	2159	1489	3506
2051	-1.13	-146.6	165.3	-5.5	98	2055	0.00	2.62	0.00	0.000	6	0.000	0.071	2159	2899	3506
2376	-1.13	-146.6	184.2	-6.1	114	2377	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2899	3506
2685	-1.13	-146.6	207.5	-8.4	129	2689	0.00	2.58	0.00	0.000	4	0.000	0.065	2159	1484	3506
2740	-1.13	-146.6	212.1	-8.5	131	2747	0.00	2.65	0.00	0.000	6	0.000	0.069	2159	2899	3506
3055	-1.13	-146.6	237.9	-7.5	147	3060	0.00	2.60	0.00	0.000	4	0.000	0.064	2159	1483	3506
3098	-1.13	-146.6	240.9	-6.6	149	3103	0.00	2.65	0.00	0.000	6	0.000	0.068	2159	2899	3506
3425	-1.13	-146.6	263.6	-6.6	165	3429	0.00	2.58	0.00	0.000	4	0.000	0.066	2159	1482	3506
3465	-1.13	-146.6	265.9	-6.0	166	3471	0.00	2.62	0.00	0.000	6	0.000	0.067	2159	2900	3506
3779	-1.13	-146.6	284.3	-6.7	182	3780	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2900	3506
4088	-1.13	-146.6	304.2	-6.5	197	4093	0.00	2.58	0.00	0.000	4	0.000	0.064	2159	1486	3506
4150	-1.13	-146.6	308.5	-7.3	200	4154	0.00	2.60	0.00	0.000	6	0.000	0.069	2159	2900	3506
4475	-1.13	-146.6	330.0	-6.8	216	4480	0.00	2.60	0.00	0.000	4	0.000	0.064	2159	1480	3506
4530	-1.13	-146.6	333.8	-7.3	218	4537	0.00	2.65	0.00	0.000	6	0.000	0.069	2159	2898	3506
4845	-1.13	-146.6	354.4	-6.2	234	4850	0.00	2.58	0.00	0.000	4	0.000	0.063	2159	1479	3506
4878	-1.13	-146.6	356.3	-6.0	235	4885	0.00	2.65	0.00	0.000	6	0.000	0.068	2159	2896	3506
5193	-1.13	-146.6	376.5	-6.5	251	5197	0.00	2.58	0.00	0.000	4	0.000	0.063	2159	1486	3506
5236	-1.13	-146.6	379.4	-6.8	253	5240	0.00	2.62	0.00	0.000	6	0.000	0.070	2159	2901	3506
5563	-1.13	-146.6	398.4	-5.6	269	5567	0.00	2.58	0.00	0.000	4	0.000	0.063	2159	1484	3506
5596	-1.13	-146.6	400.1	-6.0	270	5603	0.00	2.62	0.00	0.000	6	0.000	0.071	2159	2899	3506
5912	-1.13	-146.6	416.0	-5.8	286	5916	0.00	2.55	0.00	0.000	4	0.000	0.064	2159	1487	3506
5972	-1.13	-146.6	420.0	-6.9	289	5976	0.00	2.60	0.00	0.000	6	0.000	0.070	2159	2899	3506
6303	-1.13	-146.6	445.3	-8.6	305	6304	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2899	3506
6612	-1.13	-146.6	471.4	-8.0	320	6617	0.00	2.55	0.00	0.000	4	0.000	0.061	2159	1482	3506
6667	-1.13	-146.6	475.3	-7.1	322	6674	0.00	2.65	0.00	0.000	6	0.000	0.069	2159	2897	3506
6982	-1.13	-146.6	496.5	-6.6	338	6986	0.00	2.55	0.00	0.000	4	0.000	0.063	2158	1482	3506
7026	-1.13	-146.6	499.6	-7.1	340	7031	0.00	2.60	0.00	0.000	6	0.000	0.068	2159	2900	3506
7352	-1.13	-146.6	523.3	-7.0	356	7356	0.00	2.58	0.00	0.000	4	0.000	0.062	2159	1486	3506
7400	-1.13	-146.6	526.7	-6.6	358	7405	0.00	2.62	0.00	0.000	6	0.000	0.067	2159	2893	3506
7721	-1.13	-146.6	545.8	-6.3	374	7726	0.00	2.58	0.00	0.000	4	0.000	0.061	2159	1480	3506
7820	-1.13	-146.6	552.4	-6.8	378	7827	0.00	2.65	0.00	0.000	6	0.000	0.066	2159	2902	3506
8136	-1.13	-146.6	573.6	-7.1	394	8140	0.00	2.55	0.00	0.000	4	0.000	0.060	2159	1486	3506
8189	-1.13	-146.6	577.9	-8.6	396	8196	0.00	2.62	0.00	0.000	6	0.000	0.067	2159	2900	3506
8509	-1.13	-146.6	600.2	-6.6	412	8510	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	2900	3506
8815	-1.13	-146.6	615.1	-4.6	427	8819	0.00	2.58	0.00	0.000	4	0.000	0.058	2159	1478	3506
8925	-1.13	-146.6	619.5	-3.6	432	8930	0.00	2.62	0.00	0.000	6	0.000	0.065	2159	2907	3506
9252	-1.13	-146.6	635.9	-5.7	448	9256	0.00	2.60	0.00	0.000	4	0.000	0.063	2159	1486	3506
9396	-1.13	-146.6	645.5	-6.4	454	9402	0.00	2.62	0.00	0.000	6	0.000	0.071	2159	2901	3506
9711	-1.13	-146.6	666.6	-7.4	470	9715	0.00	2.58	0.00	0.000	4	0.000	0.065	2159	1487	3506
9773	-1.13	-146.6	670.9	-6.3	473	9777	0.00	2.65	0.00	0.000	6	0.000	0.074	2159	2901	3506
10035	end dive: BOTTOM_OBSTACLE_DETECTED
state	10035	begin apogee
10041	-0.42	0.0	690.4	9.4	486	10168	0.77	0.00	124.38	1.238	6	0.087	0.000	2317	1773	2901
10169	end apogee: CONTROL_FINISHED_OK
state	10169	begin climb
10171	1.13	146.6	692.8	0.0	492	10302	1.62	2.78	122.62	1.187	4	0.072	0.077	2651	3192	2303
10556	1.16	176.0	679.5	5.2	509	10587	0.00	2.58	25.88	1.157	6	0.000	0.054	2651	1772	2183
10908	1.16	176.0	657.7	7.1	527	10912	0.00	2.72	0.00	0.000	4	0.000	0.077	2652	3191	2182
11120	1.17	183.6	642.1	5.8	536	11135	0.00	2.60	7.80	1.029	6	0.000	0.063	2651	1778	2152
11456	1.17	183.6	623.1	7.8	553	11460	0.00	2.67	0.00	0.000	4	0.000	0.077	2651	3187	2151
11504	1.17	183.6	619.8	6.0	555	11509	0.00	2.62	0.00	0.000	6	0.000	0.060	2652	1776	2150
11826	1.26	257.8	604.0	3.9	571	11896	0.15	2.75	61.70	1.206	4	0.040	0.071	2703	367	1849
11957	1.26	257.8	596.6	7.2	577	11961	0.00	2.53	0.00	0.000	6	0.000	0.044	2703	1784	1849
12283	1.26	257.8	571.1	9.1	593	12288	0.00	2.62	0.00	0.000	4	0.000	0.074	2703	3179	1847
12338	1.26	257.8	565.3	10.1	595	12346	0.00	2.58	0.00	0.000	6	0.000	0.054	2703	1774	1847
12654	1.26	257.8	527.7	12.3	611	12658	0.00	2.65	0.00	0.000	4	0.000	0.071	2703	3185	1847
12719	1.26	257.8	519.9	11.4	614	12723	0.00	2.55	0.00	0.000	6	0.000	0.051	2703	1769	1847
13045	1.26	257.8	489.6	8.0	630	13050	0.00	2.62	0.00	0.000	4	0.000	0.071	2703	3181	1847
13129	1.26	257.8	483.2	7.3	634	13134	0.00	2.53	0.00	0.000	6	0.000	0.051	2703	1773	1847
13455	1.26	257.8	455.4	9.6	650	13459	0.00	2.65	0.00	0.000	4	0.000	0.071	2703	3183	1848
13531	1.26	257.8	447.8	10.1	653	13538	0.00	2.55	0.00	0.000	6	0.000	0.052	2703	1777	1848
13847	1.26	257.8	417.8	9.1	669	13851	0.00	2.62	0.00	0.000	4	0.000	0.070	2703	3179	1848
13934	1.26	257.8	409.9	8.3	673	13939	0.00	2.55	0.00	0.000	6	0.000	0.053	2703	1776	1848
14261	1.26	257.8	380.5	9.8	689	14265	0.00	2.62	0.00	0.000	4	0.000	0.072	2703	3184	1849
14368	1.26	257.8	369.7	9.7	694	14372	0.00	2.55	0.00	0.000	6	0.000	0.054	2703	1766	1849
14692	1.26	257.8	338.0	9.0	710	14697	0.00	2.65	0.00	0.000	4	0.000	0.073	2703	3185	1849
14815	1.26	257.8	327.7	7.7	715	14823	0.00	2.58	0.00	0.000	6	0.000	0.055	2703	1773	1849
15130	1.26	257.8	302.1	8.9	731	15135	0.00	2.62	0.00	0.000	4	0.000	0.072	2703	3179	1850
15185	1.26	257.8	297.0	9.6	733	15192	0.00	2.55	0.00	0.000	6	0.000	0.054	2703	1776	1851
15500	1.26	257.8	268.3	9.1	749	15505	0.00	2.65	0.00	0.000	4	0.000	0.073	2703	3184	1851
15584	1.26	257.8	260.6	8.9	753	15588	0.00	2.53	0.00	0.000	6	0.000	0.055	2703	1776	1851
15909	1.26	257.8	232.9	8.3	769	15913	0.00	2.62	0.00	0.000	4	0.000	0.073	2703	3184	1852
16008	1.26	257.8	224.2	8.8	773	16015	0.00	2.55	0.00	0.000	6	0.000	0.055	2703	1782	1852
16323	1.26	257.8	195.0	9.1	789	16328	0.00	2.62	0.00	0.000	4	0.000	0.075	2703	3185	1852
16407	1.26	257.8	187.1	9.5	793	16411	0.00	2.53	0.00	0.000	6	0.000	0.055	2703	1776	1852
16732	1.26	257.8	155.9	9.8	809	16737	0.00	2.65	0.00	0.000	4	0.000	0.074	2703	3186	1852
16826	1.26	257.8	146.6	9.5	813	16831	0.00	2.55	0.00	0.000	6	0.000	0.056	2703	1784	1853
17148	1.26	257.8	116.8	9.2	829	17152	0.00	2.62	0.00	0.000	4	0.000	0.075	2703	3183	1853
17247	1.26	257.8	107.2	9.4	833	17255	0.00	2.58	0.00	0.000	6	0.000	0.056	2703	1771	1853
17563	1.26	257.8	76.8	9.5	849	17567	0.00	2.65	0.00	0.000	4	0.000	0.074	2703	3181	1854
17656	1.26	257.8	67.8	8.7	853	17661	0.00	2.55	0.00	0.000	6	0.000	0.057	2703	1768	1854
17977	1.26	257.8	37.0	10.7	869	17982	0.00	2.65	0.00	0.000	4	0.000	0.073	2703	3186	1854
18084	1.26	257.8	25.7	11.0	874	18088	0.00	2.55	0.00	0.000	6	0.000	0.055	2703	1774	1854
18346	end climb: SURFACE_DEPTH_REACHED
state	18346	begin surface coast
18368	end surface coast: CONTROL_FINISHED_OK
state	18368	begin surface