Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 174 * 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 174 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 -2 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 -65529.504 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 -65529.504

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 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 18 USE_BATHY -2

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 174 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 165656,6247.116,-1207.205,101,1.0,101,-11.4 TGT_NAME FW

_CALLS 3 TGT_LATLONG 6252.000,-1230.000

_XMS_NAKs 9 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.141,0.167

_SM_DEPTHo -0.25 KALMAN_X -212638.1,-17.6,313.2,24922.5,2186.0

_SM_ANGLEo -50.3 KALMAN_Y -74986.5,-64.9,-264.4,210605.3,-3271.9

GPS2 171021,6247.052,-1206.941,16,0.9,16,-11.4 MHEAD_RNG_PITCHd_Wd 331.2,21524,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 665

Post-dive calculations and measurements:

FINISH -0.3,1.027293 XPDR_PINGS 2

SM_CCo 18792,51.00,0.722,2,0,1678,300.00 ALTIM_BOTTOM_PING 575.3,109.5

SM_GC -0.09,0.00,0.00,51.00,0.000,0.000,0.722,48,2906,1678,-10.87,0.17,300.00 _24V_AH 23.4,31.705

IRIDIUM_FIX 6221.17,-1210.29,141207,212121 _10V_AH 10.1,15.384

TT8_MAMPS 0.028379 DATA_FILE_SIZE 47413,908

HUMID 2059 CFSIZE 260165632,248373248

INTERNAL_PRESSURE 8.85776 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,51,2,0

TCM_TEMP 15.90 GPS 141207,222716,6246.718,-1210.456,39,5.2,58,-11.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 160 97.25 SBE_CT 656 24 368.68

Roll_motor 196 109 503.81 SBE_O2 633 19 281.57

VBD_pump_during_apogee 332 1212 9428.46 WL_BB2F 552 105 1357.37

VBD_pump_during_surface 51 721 861.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 111 103 269.43 nil 0 0 0.00

Iridium_during_connect 110 160 412.91 nil 0 0 0.00

Iridium_during_xfer 342 223 1786.55

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.20

TT8 1709 19 341.91

LPSleep 14482 2 320.34

TT8_Active 549 19 109.94

TT8_Sampling 2133 39 857.79

TT8_CF8 799 45 369.96

TT8_Kalman 33 81 27.57

Analog_circuits 1633 12 198.02

GPS_charging 0 0 0.00

Compass 2091 8 169.01

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 18 begin dive

20 -1.10 -146.6 0.0 0.0 0 83 0.00 0.00 -61.47 0.000 2 0.000 0.000 51 2909 3417

85 -1.10 -146.6 3.5 -8.3 3 108 12.00 1.73 -1.52 0.000 4 0.160 0.110 2164 3785 3502

359 -1.10 -146.6 30.9 -6.2 15 364 0.00 1.52 0.00 0.000 6 0.000 0.034 2165 2899 3502

687 -1.10 -146.6 62.2 -8.4 31 690 0.00 1.70 0.00 0.000 4 0.000 0.083 2165 3789 3502

944 -1.10 -146.6 81.5 -9.6 42 948 0.00 1.52 0.00 0.000 6 0.000 0.032 2165 2899 3503

1265 -1.10 -146.6 105.2 -8.5 58 1269 0.00 1.70 0.00 0.000 4 0.000 0.084 2165 3790 3503

1320 -1.10 -146.6 110.0 -8.2 60 1324 0.00 1.52 0.00 0.000 6 0.000 0.031 2165 2896 3503

1641 -1.10 -146.6 133.7 -6.6 76 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2895 3503

1951 -1.10 -146.6 155.3 -6.8 91 1955 0.00 2.58 0.00 0.000 4 0.000 0.071 2165 1500 3503

1994 -1.10 -146.6 158.0 -5.5 93 1998 0.00 2.62 0.00 0.000 6 0.000 0.074 2165 2898 3503

2320 -1.10 -146.6 179.1 -6.3 109 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2898 3503

2631 -1.10 -146.6 200.2 -7.2 124 2635 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1492 3503

2669 -1.10 -146.6 202.8 -6.8 126 2674 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2899 3503

2995 -1.10 -146.6 227.8 -7.7 142 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2899 3503

3305 -1.10 -146.6 251.3 -7.7 157 3310 0.00 2.60 0.00 0.000 4 0.000 0.068 2165 1496 3503

3371 -1.10 -146.6 256.6 -8.4 160 3376 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2892 3503

3698 -1.10 -146.6 279.5 -6.7 176 3700 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2892 3503

4009 -1.10 -146.6 300.3 -6.8 191 4013 0.00 2.55 0.00 0.000 4 0.000 0.067 2164 1496 3503

4058 -1.10 -146.6 303.9 -6.9 193 4063 0.00 2.62 0.00 0.000 6 0.000 0.071 2165 2903 3503

4380 -1.10 -146.6 326.3 -7.3 209 4384 0.00 2.60 0.00 0.000 4 0.000 0.067 2165 1491 3503

4412 -1.10 -146.6 328.8 -7.7 210 4418 0.00 2.65 0.00 0.000 6 0.000 0.071 2165 2899 3503

4728 -1.10 -146.6 352.3 -7.6 226 4732 0.00 2.58 0.00 0.000 4 0.000 0.067 2165 1498 3503

4766 -1.10 -146.6 355.5 -8.2 228 4770 0.00 2.60 0.00 0.000 6 0.000 0.071 2165 2900 3503

5091 -1.10 -146.6 381.5 -8.0 244 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2900 3503

5400 -1.10 -146.6 406.9 -8.3 259 5405 0.00 2.58 0.00 0.000 4 0.000 0.064 2165 1497 3503

5472 -1.10 -146.6 412.9 -8.3 262 5476 0.00 2.62 0.00 0.000 6 0.000 0.068 2165 2901 3503

5793 -1.10 -146.6 437.7 -7.6 278 5797 0.00 2.55 0.00 0.000 4 0.000 0.061 2165 1490 3503

5831 -1.10 -146.6 440.6 -7.7 280 5836 0.00 2.60 0.00 0.000 6 0.000 0.067 2165 2900 3503

6158 -1.10 -146.6 463.0 -6.6 296 6162 0.00 2.55 0.00 0.000 4 0.000 0.057 2165 1486 3503

6196 -1.10 -146.6 465.5 -6.5 298 6200 0.00 2.60 0.00 0.000 6 0.000 0.066 2165 2900 3503

6521 -1.10 -146.6 486.7 -6.8 314 6526 0.00 2.53 0.00 0.000 4 0.000 0.054 2165 1484 3503

6587 -1.10 -146.6 491.5 -7.6 317 6592 0.00 2.60 0.00 0.000 6 0.000 0.062 2165 2908 3503

6914 -1.10 -146.6 514.0 -7.1 333 6918 0.00 2.50 0.00 0.000 4 0.000 0.052 2165 1492 3503

6952 -1.10 -146.6 516.9 -7.6 335 6957 0.00 2.58 0.00 0.000 6 0.000 0.062 2165 2900 3503

7279 -1.10 -146.6 540.1 -6.8 351 7283 0.00 2.50 0.00 0.000 4 0.000 0.049 2165 1490 3503

7327 -1.10 -146.6 543.4 -7.0 353 7332 0.00 2.58 0.00 0.000 6 0.000 0.061 2165 2904 3503

7648 -1.10 -146.6 564.3 -6.9 369 7653 0.00 2.50 0.00 0.000 4 0.000 0.048 2165 1482 3503

7669 -1.10 -146.6 565.7 -6.5 370 7674 0.00 2.58 0.00 0.000 6 0.000 0.058 2165 2904 3503

7997 -1.10 -146.6 587.3 -6.5 386 8001 0.00 2.50 0.00 0.000 4 0.000 0.046 2165 1483 3503

8045 -1.10 -146.6 590.5 -6.2 388 8049 0.00 2.58 0.00 0.000 6 0.000 0.059 2165 2904 3502

8366 -1.10 -146.6 610.8 -6.5 404 8370 0.00 2.47 0.00 0.000 4 0.000 0.044 2165 1487 3502

8432 -1.10 -146.6 615.0 -6.1 407 8436 0.00 2.55 0.00 0.000 6 0.000 0.056 2165 2904 3502

8758 -1.10 -146.6 634.2 -6.2 423 8759 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2904 3502

9068 -1.10 -146.6 652.6 -5.8 438 9072 0.00 2.47 0.00 0.000 4 0.000 0.042 2165 1489 3502

9152 -1.10 -146.6 657.3 -5.8 442 9156 0.00 2.55 0.00 0.000 6 0.000 0.055 2165 2905 3501

9310 end dive: TARGET_DEPTH_EXCEEDED

state 9310 begin apogee

9316 -0.42 0.0 665.3 5.0 450 9445 0.73 0.00 125.05 1.213 6 0.067 0.000 2319 2088 2901

9445 end apogee: CONTROL_FINISHED_OK

state 9445 begin climb

9448 1.10 146.6 669.1 0.0 456 9579 1.52 2.58 121.65 1.177 4 0.051 0.056 2649 712 2303

9673 1.16 189.8 661.0 4.8 466 9720 0.00 2.45 37.53 1.137 6 0.000 0.035 2649 2117 2127

10030 1.17 204.6 639.6 5.6 484 10052 0.00 2.60 13.82 1.100 4 0.000 0.063 2649 3495 2067

10084 1.17 204.6 636.0 7.1 486 10089 0.00 2.47 0.00 0.000 6 0.000 0.036 2649 2106 2067

10406 1.17 204.6 614.4 6.8 502 10410 0.00 2.58 0.00 0.000 4 0.000 0.062 2649 3501 2065

10471 1.17 204.6 609.5 7.3 505 10475 0.00 2.47 0.00 0.000 6 0.000 0.036 2649 2100 2065

10798 1.17 204.6 588.4 6.3 521 10802 0.00 2.58 0.00 0.000 4 0.000 0.061 2649 3502 2064

10852 1.17 204.6 584.9 6.1 523 10859 0.00 2.45 0.00 0.000 6 0.000 0.035 2649 2091 2064

11168 1.17 204.6 565.0 6.6 539 11172 0.00 2.47 0.00 0.000 4 0.000 0.054 2649 701 2063

11209 1.19 213.6 562.4 5.7 541 11223 0.00 2.42 8.48 1.058 6 0.000 0.034 2649 2104 2030

11539 1.19 213.6 539.0 7.1 557 11543 0.00 2.55 0.00 0.000 4 0.000 0.061 2649 3499 2029

11572 1.19 213.6 536.5 7.5 558 11578 0.00 2.45 0.00 0.000 6 0.000 0.035 2649 2093 2029

11886 1.19 213.6 513.2 7.4 574 11887 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2093 2029

12196 1.19 213.6 492.8 6.4 589 12200 0.00 2.58 0.00 0.000 4 0.000 0.062 2649 3500 2029

12289 1.19 213.6 486.3 6.8 593 12294 0.00 2.45 0.00 0.000 6 0.000 0.035 2649 2103 2029

12610 1.19 213.6 465.2 6.3 609 12615 0.00 2.58 0.00 0.000 4 0.000 0.064 2649 3502 2029

12654 1.19 213.6 462.2 7.1 611 12658 0.00 2.45 0.00 0.000 6 0.000 0.038 2649 2096 2029

12980 1.19 213.6 440.6 6.8 627 12981 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2096 2029

13290 1.19 213.6 419.7 6.7 642 13294 0.00 2.60 0.00 0.000 4 0.000 0.069 2649 3499 2029

13377 1.19 213.6 413.5 7.2 646 13382 0.00 2.47 0.00 0.000 6 0.000 0.041 2649 2106 2030

13704 1.19 213.6 391.7 6.6 662 13705 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2106 2030

14013 1.19 213.6 371.5 6.5 677 14018 0.00 2.60 0.00 0.000 4 0.000 0.070 2649 3502 2030

14091 1.19 213.6 366.2 7.0 680 14097 0.00 2.50 0.00 0.000 6 0.000 0.044 2649 2099 2030

14407 1.20 222.0 347.1 5.8 696 14421 0.00 2.67 8.68 0.917 4 0.000 0.070 2649 3498 1996

14455 1.20 226.8 344.1 5.9 698 14466 0.10 2.47 5.75 0.813 6 0.050 0.043 2684 2099 1976

14775 1.20 226.8 320.5 8.1 713 14779 0.00 2.55 0.00 0.000 4 0.000 0.063 2685 692 1976

14807 1.20 226.8 317.8 8.2 714 14813 0.00 2.47 0.00 0.000 6 0.000 0.044 2685 2091 1976

15122 1.20 226.8 292.1 8.5 730 15127 0.00 2.62 0.00 0.000 4 0.000 0.071 2685 3513 1976

15171 1.20 226.8 287.6 9.4 732 15175 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2099 1976

15492 1.20 226.8 261.1 8.0 748 15496 0.00 2.55 0.00 0.000 4 0.000 0.062 2685 692 1976

15568 1.20 226.8 254.5 8.6 751 15575 0.00 2.47 0.00 0.000 6 0.000 0.044 2685 2100 1976

15884 1.20 226.8 228.2 8.4 767 15885 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2100 1976

16193 1.20 226.8 204.2 7.5 782 16197 0.00 2.62 0.00 0.000 4 0.000 0.072 2685 3515 1976

16225 1.20 226.8 201.7 7.4 783 16231 0.00 2.53 0.00 0.000 6 0.000 0.048 2685 2094 1976

16540 1.20 226.8 178.3 7.2 799 16541 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2094 1976

16849 1.20 226.8 156.5 7.4 814 16850 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2094 1977

17159 1.20 226.8 131.7 8.4 829 17164 0.00 2.67 0.00 0.000 4 0.000 0.074 2685 3518 1977

17230 1.20 226.8 125.3 8.8 832 17234 0.00 2.53 0.00 0.000 6 0.000 0.048 2685 2094 1977

17552 1.20 226.8 97.5 8.6 848 17556 0.00 2.65 0.00 0.000 4 0.000 0.071 2684 3512 1977

17591 1.20 226.8 94.0 9.3 850 17595 0.00 2.50 0.00 0.000 6 0.000 0.048 2684 2102 1977

17916 1.20 226.8 68.5 6.5 866 17920 0.00 2.58 0.00 0.000 4 0.000 0.065 2684 688 1978

17970 1.22 238.5 64.8 5.7 868 17987 0.00 2.50 11.32 0.768 6 0.000 0.043 2684 2099 1928

18302 1.22 238.5 38.5 8.2 885 18307 0.00 2.62 0.00 0.000 4 0.000 0.071 2685 3516 1928

18346 1.22 238.5 34.8 8.5 887 18350 0.00 2.53 0.00 0.000 6 0.000 0.047 2685 2093 1928

18673 1.22 238.5 9.3 8.6 903 18677 0.00 2.55 0.00 0.000 4 0.000 0.062 2685 688 1928

18734 1.22 238.5 2.6 11.0 906 18739 0.00 2.50 0.00 0.000 6 0.000 0.045 2685 2097 1928

18742 end climb: SURFACE_DEPTH_REACHED

state 18742 begin surface coast

18771 end surface coast: CONTROL_FINISHED_OK

state 18771 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	174	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	-2	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	-65529.504	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	165656,6247.116,-1207.205,101,1.0,101,-11.4	TGT_NAME	FW
_CALLS	3	TGT_LATLONG	6252.000,-1230.000
_XMS_NAKs	9	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.141,0.167
_SM_DEPTHo	-0.25	KALMAN_X	-212638.1,-17.6,313.2,24922.5,2186.0
_SM_ANGLEo	-50.3	KALMAN_Y	-74986.5,-64.9,-264.4,210605.3,-3271.9
GPS2	171021,6247.052,-1206.941,16,0.9,16,-11.4	MHEAD_RNG_PITCHd_Wd	331.2,21524,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	665

FINISH	-0.3,1.027293	XPDR_PINGS	2
SM_CCo	18792,51.00,0.722,2,0,1678,300.00	ALTIM_BOTTOM_PING	575.3,109.5
SM_GC	-0.09,0.00,0.00,51.00,0.000,0.000,0.722,48,2906,1678,-10.87,0.17,300.00	_24V_AH	23.4,31.705
IRIDIUM_FIX	6221.17,-1210.29,141207,212121	_10V_AH	10.1,15.384
TT8_MAMPS	0.028379	DATA_FILE_SIZE	47413,908
HUMID	2059	CFSIZE	260165632,248373248
INTERNAL_PRESSURE	8.85776	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,51,2,0
TCM_TEMP	15.90	GPS	141207,222716,6246.718,-1210.456,39,5.2,58,-11.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	160	97.25	SBE_CT	656	24	368.68
Roll_motor	196	109	503.81	SBE_O2	633	19	281.57
VBD_pump_during_apogee	332	1212	9428.46	WL_BB2F	552	105	1357.37
VBD_pump_during_surface	51	721	861.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	111	103	269.43	nil	0	0	0.00
Iridium_during_connect	110	160	412.91	nil	0	0	0.00
Iridium_during_xfer	342	223	1786.55
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.20
TT8	1709	19	341.91
LPSleep	14482	2	320.34
TT8_Active	549	19	109.94
TT8_Sampling	2133	39	857.79
TT8_CF8	799	45	369.96
TT8_Kalman	33	81	27.57
Analog_circuits	1633	12	198.02
GPS_charging	0	0	0.00
Compass	2091	8	169.01
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	18	begin dive
20	-1.10	-146.6	0.0	0.0	0	83	0.00	0.00	-61.47	0.000	2	0.000	0.000	51	2909	3417
85	-1.10	-146.6	3.5	-8.3	3	108	12.00	1.73	-1.52	0.000	4	0.160	0.110	2164	3785	3502
359	-1.10	-146.6	30.9	-6.2	15	364	0.00	1.52	0.00	0.000	6	0.000	0.034	2165	2899	3502
687	-1.10	-146.6	62.2	-8.4	31	690	0.00	1.70	0.00	0.000	4	0.000	0.083	2165	3789	3502
944	-1.10	-146.6	81.5	-9.6	42	948	0.00	1.52	0.00	0.000	6	0.000	0.032	2165	2899	3503
1265	-1.10	-146.6	105.2	-8.5	58	1269	0.00	1.70	0.00	0.000	4	0.000	0.084	2165	3790	3503
1320	-1.10	-146.6	110.0	-8.2	60	1324	0.00	1.52	0.00	0.000	6	0.000	0.031	2165	2896	3503
1641	-1.10	-146.6	133.7	-6.6	76	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2895	3503
1951	-1.10	-146.6	155.3	-6.8	91	1955	0.00	2.58	0.00	0.000	4	0.000	0.071	2165	1500	3503
1994	-1.10	-146.6	158.0	-5.5	93	1998	0.00	2.62	0.00	0.000	6	0.000	0.074	2165	2898	3503
2320	-1.10	-146.6	179.1	-6.3	109	2321	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2898	3503
2631	-1.10	-146.6	200.2	-7.2	124	2635	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1492	3503
2669	-1.10	-146.6	202.8	-6.8	126	2674	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2899	3503
2995	-1.10	-146.6	227.8	-7.7	142	2996	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2899	3503
3305	-1.10	-146.6	251.3	-7.7	157	3310	0.00	2.60	0.00	0.000	4	0.000	0.068	2165	1496	3503
3371	-1.10	-146.6	256.6	-8.4	160	3376	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2892	3503
3698	-1.10	-146.6	279.5	-6.7	176	3700	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2892	3503
4009	-1.10	-146.6	300.3	-6.8	191	4013	0.00	2.55	0.00	0.000	4	0.000	0.067	2164	1496	3503
4058	-1.10	-146.6	303.9	-6.9	193	4063	0.00	2.62	0.00	0.000	6	0.000	0.071	2165	2903	3503
4380	-1.10	-146.6	326.3	-7.3	209	4384	0.00	2.60	0.00	0.000	4	0.000	0.067	2165	1491	3503
4412	-1.10	-146.6	328.8	-7.7	210	4418	0.00	2.65	0.00	0.000	6	0.000	0.071	2165	2899	3503
4728	-1.10	-146.6	352.3	-7.6	226	4732	0.00	2.58	0.00	0.000	4	0.000	0.067	2165	1498	3503
4766	-1.10	-146.6	355.5	-8.2	228	4770	0.00	2.60	0.00	0.000	6	0.000	0.071	2165	2900	3503
5091	-1.10	-146.6	381.5	-8.0	244	5093	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2900	3503
5400	-1.10	-146.6	406.9	-8.3	259	5405	0.00	2.58	0.00	0.000	4	0.000	0.064	2165	1497	3503
5472	-1.10	-146.6	412.9	-8.3	262	5476	0.00	2.62	0.00	0.000	6	0.000	0.068	2165	2901	3503
5793	-1.10	-146.6	437.7	-7.6	278	5797	0.00	2.55	0.00	0.000	4	0.000	0.061	2165	1490	3503
5831	-1.10	-146.6	440.6	-7.7	280	5836	0.00	2.60	0.00	0.000	6	0.000	0.067	2165	2900	3503
6158	-1.10	-146.6	463.0	-6.6	296	6162	0.00	2.55	0.00	0.000	4	0.000	0.057	2165	1486	3503
6196	-1.10	-146.6	465.5	-6.5	298	6200	0.00	2.60	0.00	0.000	6	0.000	0.066	2165	2900	3503
6521	-1.10	-146.6	486.7	-6.8	314	6526	0.00	2.53	0.00	0.000	4	0.000	0.054	2165	1484	3503
6587	-1.10	-146.6	491.5	-7.6	317	6592	0.00	2.60	0.00	0.000	6	0.000	0.062	2165	2908	3503
6914	-1.10	-146.6	514.0	-7.1	333	6918	0.00	2.50	0.00	0.000	4	0.000	0.052	2165	1492	3503
6952	-1.10	-146.6	516.9	-7.6	335	6957	0.00	2.58	0.00	0.000	6	0.000	0.062	2165	2900	3503
7279	-1.10	-146.6	540.1	-6.8	351	7283	0.00	2.50	0.00	0.000	4	0.000	0.049	2165	1490	3503
7327	-1.10	-146.6	543.4	-7.0	353	7332	0.00	2.58	0.00	0.000	6	0.000	0.061	2165	2904	3503
7648	-1.10	-146.6	564.3	-6.9	369	7653	0.00	2.50	0.00	0.000	4	0.000	0.048	2165	1482	3503
7669	-1.10	-146.6	565.7	-6.5	370	7674	0.00	2.58	0.00	0.000	6	0.000	0.058	2165	2904	3503
7997	-1.10	-146.6	587.3	-6.5	386	8001	0.00	2.50	0.00	0.000	4	0.000	0.046	2165	1483	3503
8045	-1.10	-146.6	590.5	-6.2	388	8049	0.00	2.58	0.00	0.000	6	0.000	0.059	2165	2904	3502
8366	-1.10	-146.6	610.8	-6.5	404	8370	0.00	2.47	0.00	0.000	4	0.000	0.044	2165	1487	3502
8432	-1.10	-146.6	615.0	-6.1	407	8436	0.00	2.55	0.00	0.000	6	0.000	0.056	2165	2904	3502
8758	-1.10	-146.6	634.2	-6.2	423	8759	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2904	3502
9068	-1.10	-146.6	652.6	-5.8	438	9072	0.00	2.47	0.00	0.000	4	0.000	0.042	2165	1489	3502
9152	-1.10	-146.6	657.3	-5.8	442	9156	0.00	2.55	0.00	0.000	6	0.000	0.055	2165	2905	3501
9310	end dive: TARGET_DEPTH_EXCEEDED
state	9310	begin apogee
9316	-0.42	0.0	665.3	5.0	450	9445	0.73	0.00	125.05	1.213	6	0.067	0.000	2319	2088	2901
9445	end apogee: CONTROL_FINISHED_OK
state	9445	begin climb
9448	1.10	146.6	669.1	0.0	456	9579	1.52	2.58	121.65	1.177	4	0.051	0.056	2649	712	2303
9673	1.16	189.8	661.0	4.8	466	9720	0.00	2.45	37.53	1.137	6	0.000	0.035	2649	2117	2127
10030	1.17	204.6	639.6	5.6	484	10052	0.00	2.60	13.82	1.100	4	0.000	0.063	2649	3495	2067
10084	1.17	204.6	636.0	7.1	486	10089	0.00	2.47	0.00	0.000	6	0.000	0.036	2649	2106	2067
10406	1.17	204.6	614.4	6.8	502	10410	0.00	2.58	0.00	0.000	4	0.000	0.062	2649	3501	2065
10471	1.17	204.6	609.5	7.3	505	10475	0.00	2.47	0.00	0.000	6	0.000	0.036	2649	2100	2065
10798	1.17	204.6	588.4	6.3	521	10802	0.00	2.58	0.00	0.000	4	0.000	0.061	2649	3502	2064
10852	1.17	204.6	584.9	6.1	523	10859	0.00	2.45	0.00	0.000	6	0.000	0.035	2649	2091	2064
11168	1.17	204.6	565.0	6.6	539	11172	0.00	2.47	0.00	0.000	4	0.000	0.054	2649	701	2063
11209	1.19	213.6	562.4	5.7	541	11223	0.00	2.42	8.48	1.058	6	0.000	0.034	2649	2104	2030
11539	1.19	213.6	539.0	7.1	557	11543	0.00	2.55	0.00	0.000	4	0.000	0.061	2649	3499	2029
11572	1.19	213.6	536.5	7.5	558	11578	0.00	2.45	0.00	0.000	6	0.000	0.035	2649	2093	2029
11886	1.19	213.6	513.2	7.4	574	11887	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2093	2029
12196	1.19	213.6	492.8	6.4	589	12200	0.00	2.58	0.00	0.000	4	0.000	0.062	2649	3500	2029
12289	1.19	213.6	486.3	6.8	593	12294	0.00	2.45	0.00	0.000	6	0.000	0.035	2649	2103	2029
12610	1.19	213.6	465.2	6.3	609	12615	0.00	2.58	0.00	0.000	4	0.000	0.064	2649	3502	2029
12654	1.19	213.6	462.2	7.1	611	12658	0.00	2.45	0.00	0.000	6	0.000	0.038	2649	2096	2029
12980	1.19	213.6	440.6	6.8	627	12981	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2096	2029
13290	1.19	213.6	419.7	6.7	642	13294	0.00	2.60	0.00	0.000	4	0.000	0.069	2649	3499	2029
13377	1.19	213.6	413.5	7.2	646	13382	0.00	2.47	0.00	0.000	6	0.000	0.041	2649	2106	2030
13704	1.19	213.6	391.7	6.6	662	13705	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2106	2030
14013	1.19	213.6	371.5	6.5	677	14018	0.00	2.60	0.00	0.000	4	0.000	0.070	2649	3502	2030
14091	1.19	213.6	366.2	7.0	680	14097	0.00	2.50	0.00	0.000	6	0.000	0.044	2649	2099	2030
14407	1.20	222.0	347.1	5.8	696	14421	0.00	2.67	8.68	0.917	4	0.000	0.070	2649	3498	1996
14455	1.20	226.8	344.1	5.9	698	14466	0.10	2.47	5.75	0.813	6	0.050	0.043	2684	2099	1976
14775	1.20	226.8	320.5	8.1	713	14779	0.00	2.55	0.00	0.000	4	0.000	0.063	2685	692	1976
14807	1.20	226.8	317.8	8.2	714	14813	0.00	2.47	0.00	0.000	6	0.000	0.044	2685	2091	1976
15122	1.20	226.8	292.1	8.5	730	15127	0.00	2.62	0.00	0.000	4	0.000	0.071	2685	3513	1976
15171	1.20	226.8	287.6	9.4	732	15175	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2099	1976
15492	1.20	226.8	261.1	8.0	748	15496	0.00	2.55	0.00	0.000	4	0.000	0.062	2685	692	1976
15568	1.20	226.8	254.5	8.6	751	15575	0.00	2.47	0.00	0.000	6	0.000	0.044	2685	2100	1976
15884	1.20	226.8	228.2	8.4	767	15885	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2100	1976
16193	1.20	226.8	204.2	7.5	782	16197	0.00	2.62	0.00	0.000	4	0.000	0.072	2685	3515	1976
16225	1.20	226.8	201.7	7.4	783	16231	0.00	2.53	0.00	0.000	6	0.000	0.048	2685	2094	1976
16540	1.20	226.8	178.3	7.2	799	16541	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2094	1976
16849	1.20	226.8	156.5	7.4	814	16850	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2094	1977
17159	1.20	226.8	131.7	8.4	829	17164	0.00	2.67	0.00	0.000	4	0.000	0.074	2685	3518	1977
17230	1.20	226.8	125.3	8.8	832	17234	0.00	2.53	0.00	0.000	6	0.000	0.048	2685	2094	1977
17552	1.20	226.8	97.5	8.6	848	17556	0.00	2.65	0.00	0.000	4	0.000	0.071	2684	3512	1977
17591	1.20	226.8	94.0	9.3	850	17595	0.00	2.50	0.00	0.000	6	0.000	0.048	2684	2102	1977
17916	1.20	226.8	68.5	6.5	866	17920	0.00	2.58	0.00	0.000	4	0.000	0.065	2684	688	1978
17970	1.22	238.5	64.8	5.7	868	17987	0.00	2.50	11.32	0.768	6	0.000	0.043	2684	2099	1928
18302	1.22	238.5	38.5	8.2	885	18307	0.00	2.62	0.00	0.000	4	0.000	0.071	2685	3516	1928
18346	1.22	238.5	34.8	8.5	887	18350	0.00	2.53	0.00	0.000	6	0.000	0.047	2685	2093	1928
18673	1.22	238.5	9.3	8.6	903	18677	0.00	2.55	0.00	0.000	4	0.000	0.062	2685	688	1928
18734	1.22	238.5	2.6	11.0	906	18739	0.00	2.50	0.00	0.000	6	0.000	0.045	2685	2097	1928
18742	end climb: SURFACE_DEPTH_REACHED
state	18742	begin surface coast
18771	end surface coast: CONTROL_FINISHED_OK
state	18771	begin surface