Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 179 * 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 179 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 10 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 -65642.141 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 -65642.141

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 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 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 179 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 195808,6251.093,-1222.141,34,1.0,34,-11.6 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6252.000,-1230.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.159,0.150

_SM_DEPTHo -0.02 KALMAN_X -212412.5,21.9,-940.1,12514.7,1388.9

_SM_ANGLEo -62.2 KALMAN_Y -87299.7,707.4,-262.7,229612.0,-2739.1

GPS2 200402,6251.093,-1222.160,15,1.3,32,-11.6 MHEAD_RNG_PITCHd_Wd 324.9,6832,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 649

Post-dive calculations and measurements:

FINISH 0.3,1.027319 XPDR_PINGS 1

SM_CCo 19178,54.67,0.768,0,0,1678,300.00 ALTIM_BOTTOM_PING 600.9,65.5

SM_GC -0.20,0.00,0.00,54.67,0.000,0.000,0.768,48,2896,1678,-10.87,-0.11,300.00 _24V_AH 23.4,32.407

IRIDIUM_FIX 6225.82,-1220.49,151207,191901 _10V_AH 10.1,15.826

TT8_MAMPS 0.029146 DATA_FILE_SIZE 47443,929

HUMID 2072 CFSIZE 260165632,248045568

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,39,0,0

TCM_TEMP 17.20 GPS 161207,012656,6252.804,-1228.752,41,1.6,41,-11.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 155 94.09 SBE_CT 666 24 374.26

Roll_motor 189 76 340.51 SBE_O2 656 19 292.06

VBD_pump_during_apogee 324 1232 9361.43 WL_BB2F 600 105 1474.80

VBD_pump_during_surface 54 767 982.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.83 nil 0 0 0.00

Iridium_during_connect 34 160 129.92 nil 0 0 0.00

Iridium_during_xfer 158 223 828.30

Transponder_ping 5 420 51.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.19

TT8 1719 19 343.91

LPSleep 14772 2 326.76

TT8_Active 544 19 108.97

TT8_Sampling 2098 39 843.38

TT8_CF8 467 45 216.14

TT8_Kalman 33 81 27.57

Analog_circuits 1591 12 192.95

GPS_charging 0 0 0.00

Compass 2050 8 165.70

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 18 begin dive

22 -1.10 -146.6 0.0 0.0 0 84 0.00 0.00 -60.62 0.000 2 0.000 0.000 43 2899 3421

86 -1.10 -146.6 3.9 -9.3 3 109 11.93 2.62 -1.40 0.000 4 0.156 0.076 2167 1493 3502

249 -1.10 -146.6 23.9 -5.8 10 254 0.00 2.67 0.00 0.000 6 0.000 0.074 2167 2906 3502

571 -1.10 -146.6 46.1 -6.6 26 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2906 3502

879 -1.10 -146.6 66.1 -7.3 41 880 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2906 3503

1188 -1.10 -146.6 89.2 -7.4 56 1192 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1494 3502

1227 -1.10 -146.6 92.2 -7.2 58 1231 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2900 3503

1552 -1.10 -146.6 116.2 -7.1 74 1557 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 1491 3503

1579 -1.10 -146.6 118.2 -7.0 75 1583 0.00 2.60 0.00 0.000 6 0.000 0.068 2167 2899 3503

1900 -1.10 -146.6 140.9 -7.0 91 1905 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1493 3503

1940 -1.10 -146.6 143.8 -7.2 93 1944 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2900 3503

2265 -1.10 -146.6 168.0 -7.4 109 2270 0.00 2.60 0.00 0.000 4 0.000 0.068 2167 1494 3503

2292 -1.10 -146.6 170.1 -7.4 110 2296 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2901 3503

2613 -1.10 -146.6 193.2 -6.8 126 2618 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1490 3503

2646 -1.10 -146.6 195.3 -6.4 127 2652 0.00 2.62 0.00 0.000 6 0.000 0.068 2166 2906 3504

2961 -1.10 -146.6 216.0 -7.0 143 2962 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2906 3503

3270 -1.10 -146.6 237.5 -6.8 158 3275 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1493 3503

3342 -1.10 -146.6 242.2 -6.5 161 3347 0.00 2.58 0.00 0.000 6 0.000 0.067 2167 2900 3503

3663 -1.10 -146.6 260.4 -5.5 177 3664 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

3972 -1.10 -146.6 279.2 -6.3 192 3976 0.00 2.60 0.00 0.000 4 0.000 0.064 2167 1484 3503

4015 -1.10 -146.6 282.1 -6.6 194 4019 0.00 2.62 0.00 0.000 6 0.000 0.068 2167 2903 3503

4342 -1.10 -146.6 302.3 -6.1 210 4343 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3503

4651 -1.10 -146.6 324.9 -7.8 225 4656 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 1489 3504

4705 -1.10 -146.6 329.4 -7.8 227 4710 0.00 2.60 0.00 0.000 6 0.000 0.068 2167 2899 3503

5026 -1.10 -146.6 351.7 -6.6 243 5030 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1484 3503

5057 -1.10 -146.6 353.7 -6.3 244 5064 0.00 2.62 0.00 0.000 6 0.000 0.068 2167 2903 3503

5373 -1.10 -146.6 373.5 -6.6 260 5377 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1488 3503

5426 -1.10 -146.6 377.1 -6.1 262 5433 0.00 2.60 0.00 0.000 6 0.000 0.068 2167 2899 3503

5742 -1.10 -146.6 398.5 -7.3 278 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2899 3503

6052 -1.10 -146.6 421.8 -7.6 293 6056 0.00 2.58 0.00 0.000 4 0.000 0.061 2167 1485 3503

6128 -1.10 -146.6 427.9 -8.4 296 6135 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2899 3503

6444 -1.10 -146.6 455.1 -9.4 312 6448 0.00 2.55 0.00 0.000 4 0.000 0.060 2167 1490 3503

6475 -1.10 -146.6 458.1 -9.7 313 6482 0.00 2.60 0.00 0.000 6 0.000 0.065 2167 2903 3503

6791 -1.10 -146.6 482.8 -6.6 329 6792 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3503

7100 -1.10 -146.6 506.7 -7.9 344 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2903 3503

7410 -1.10 -146.6 533.1 -8.9 359 7414 0.00 2.53 0.00 0.000 4 0.000 0.051 2167 1484 3503

7503 -1.10 -146.6 542.3 -9.7 363 7507 0.00 2.58 0.00 0.000 6 0.000 0.060 2167 2900 3503

7825 -1.10 -146.6 562.3 -4.7 379 7826 0.00 0.00 0.00 0.000 6 0.000 0.000 2166 2900 3503

8134 -1.10 -146.6 576.8 -5.0 394 8135 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3503

8443 -1.10 -146.6 595.1 -6.3 409 8447 0.00 2.50 0.00 0.000 4 0.000 0.047 2167 1479 3503

8482 -1.10 -146.6 597.5 -6.9 411 8486 0.00 2.58 0.00 0.000 6 0.000 0.058 2167 2901 3503

8807 -1.10 -146.6 618.7 -7.0 427 8812 0.00 2.47 0.00 0.000 4 0.000 0.043 2167 1476 3503

8914 -1.10 -146.6 623.9 -4.5 432 8918 0.00 2.58 0.00 0.000 6 0.000 0.058 2167 2902 3503

9240 -1.10 -146.6 645.1 -6.4 448 9244 0.00 2.50 0.00 0.000 4 0.000 0.046 2167 1483 3502

9305 end dive: TARGET_DEPTH_EXCEEDED

state 9306 begin apogee

9311 -0.42 0.0 649.1 6.2 451 9439 0.70 0.00 124.82 1.233 6 0.079 0.000 2314 2117 2901

9440 end apogee: CONTROL_FINISHED_OK

state 9440 begin climb

9442 1.10 146.6 654.6 0.0 457 9573 1.55 2.65 122.05 1.193 4 0.050 0.061 2651 3500 2303

9662 1.12 162.6 653.7 5.6 467 9682 0.00 2.47 15.00 1.097 6 0.000 0.037 2651 2093 2238

10004 1.18 208.0 633.9 4.7 484 10049 0.00 2.62 39.12 1.184 4 0.000 0.059 2651 708 2053

10077 1.18 208.0 629.2 6.7 487 10081 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2114 2053

10398 1.18 208.0 609.1 6.5 503 10402 0.00 2.58 0.00 0.000 4 0.000 0.057 2651 701 2051

10486 1.18 208.0 602.2 7.0 507 10490 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2100 2051

10813 1.19 219.5 580.3 5.7 523 10825 0.00 0.00 10.68 1.110 6 0.000 0.000 2651 2100 2006

11122 1.19 219.5 559.3 6.6 538 11126 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3501 2004

11187 1.19 219.5 554.8 6.5 541 11192 0.00 2.45 0.00 0.000 6 0.000 0.040 2651 2102 2004

11514 1.19 219.5 532.0 6.6 557 11518 0.00 2.53 0.00 0.000 4 0.000 0.057 2651 700 2004

11579 1.19 219.5 527.1 7.2 560 11584 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2116 2003

11906 1.19 219.5 505.2 6.1 576 11911 0.00 2.58 0.00 0.000 4 0.000 0.067 2651 3508 2003

11972 1.19 219.5 500.4 6.9 579 11977 0.00 2.47 0.00 0.000 6 0.000 0.039 2651 2096 2003

12299 1.19 219.5 476.6 7.5 595 12300 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2096 2003

12608 1.19 219.5 454.5 6.1 610 12612 0.00 2.62 0.00 0.000 4 0.000 0.067 2651 3504 2003

12662 1.19 219.5 451.0 6.0 612 12669 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2107 2003

12978 1.19 219.5 431.8 6.6 628 12982 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3507 2003

13054 1.19 219.5 426.2 7.2 631 13061 0.00 2.50 0.00 0.000 6 0.000 0.041 2651 2083 2003

13370 1.19 219.5 405.3 6.2 647 13371 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2083 2003

13679 1.19 219.5 386.9 6.4 662 13684 0.00 2.62 0.00 0.000 4 0.000 0.067 2651 3505 2004

13768 1.19 219.5 380.3 7.7 666 13772 0.00 2.47 0.00 0.000 6 0.000 0.040 2651 2107 2004

14094 1.19 219.5 356.8 6.9 682 14099 0.00 2.60 0.00 0.000 4 0.000 0.069 2651 3504 2004

14138 1.19 219.5 353.5 7.2 684 14142 0.00 2.45 0.00 0.000 6 0.000 0.041 2651 2100 2004

14464 1.19 219.5 330.4 7.0 700 14469 0.00 2.62 0.00 0.000 4 0.000 0.070 2651 3508 2005

14503 1.19 219.5 327.5 7.7 702 14508 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2098 2005

14829 1.19 219.5 304.1 7.4 718 14834 0.00 2.62 0.00 0.000 4 0.000 0.069 2651 3506 2005

14868 1.19 219.5 301.1 8.1 720 14873 0.00 2.47 0.00 0.000 6 0.000 0.042 2651 2097 2005

15194 1.19 219.5 277.2 7.0 736 15198 0.00 2.62 0.00 0.000 4 0.000 0.068 2651 3506 2005

15226 1.19 219.5 274.7 7.5 737 15232 0.00 2.45 0.00 0.000 6 0.000 0.041 2651 2102 2006

15541 1.19 219.5 250.1 8.5 753 15545 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3504 2006

15579 1.19 219.5 246.6 8.8 755 15583 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2093 2006

15906 1.19 219.5 220.2 7.7 771 15907 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2093 2007

16215 1.19 219.5 197.5 7.3 786 16219 0.00 2.62 0.00 0.000 4 0.000 0.068 2651 3504 2007

16263 1.19 219.5 193.7 7.4 788 16268 0.00 2.47 0.00 0.000 6 0.000 0.041 2651 2092 2007

16585 1.19 219.5 170.8 6.9 804 16586 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2092 2007

16894 1.19 219.5 149.2 6.8 819 16898 0.00 2.60 0.00 0.000 4 0.000 0.068 2651 3504 2008

16955 1.19 219.5 144.6 7.4 822 16959 0.00 2.47 0.00 0.000 6 0.000 0.043 2651 2093 2008

17281 1.19 221.0 123.6 6.0 838 17286 0.00 2.62 0.00 0.000 4 0.000 0.067 2651 3508 2008

17336 1.19 221.0 119.9 6.4 840 17343 0.00 2.50 0.00 0.000 6 0.000 0.045 2650 2104 2008

17652 1.19 221.0 99.8 6.4 856 17653 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2104 2008

17961 1.19 221.0 79.8 6.7 871 17966 0.00 2.60 0.00 0.000 4 0.000 0.069 2651 3504 2008

18027 1.19 221.0 75.3 6.3 874 18032 0.00 2.47 0.00 0.000 6 0.000 0.042 2651 2107 2008

18355 1.20 223.8 54.5 5.9 890 18366 0.00 2.62 5.97 0.684 4 0.000 0.070 2651 3504 1988

18395 1.21 230.4 52.3 5.8 892 18408 0.00 2.47 6.93 0.704 6 0.000 0.044 2651 2100 1961

18725 1.21 230.4 29.8 7.5 908 18726 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2101 1961

19034 1.21 230.4 7.9 7.0 923 19039 0.00 2.65 0.00 0.000 4 0.000 0.077 2651 3503 1961

19089 1.21 230.4 4.3 6.5 925 19096 0.00 2.50 0.00 0.000 6 0.000 0.044 2651 2095 1961

19135 end climb: SURFACE_DEPTH_REACHED

state 19135 begin surface coast

19157 end surface coast: CONTROL_FINISHED_OK

state 19157 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	179	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	10	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	-65642.141	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	195808,6251.093,-1222.141,34,1.0,34,-11.6	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6252.000,-1230.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.159,0.150
_SM_DEPTHo	-0.02	KALMAN_X	-212412.5,21.9,-940.1,12514.7,1388.9
_SM_ANGLEo	-62.2	KALMAN_Y	-87299.7,707.4,-262.7,229612.0,-2739.1
GPS2	200402,6251.093,-1222.160,15,1.3,32,-11.6	MHEAD_RNG_PITCHd_Wd	324.9,6832,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	649

FINISH	0.3,1.027319	XPDR_PINGS	1
SM_CCo	19178,54.67,0.768,0,0,1678,300.00	ALTIM_BOTTOM_PING	600.9,65.5
SM_GC	-0.20,0.00,0.00,54.67,0.000,0.000,0.768,48,2896,1678,-10.87,-0.11,300.00	_24V_AH	23.4,32.407
IRIDIUM_FIX	6225.82,-1220.49,151207,191901	_10V_AH	10.1,15.826
TT8_MAMPS	0.029146	DATA_FILE_SIZE	47443,929
HUMID	2072	CFSIZE	260165632,248045568
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,39,0,0
TCM_TEMP	17.20	GPS	161207,012656,6252.804,-1228.752,41,1.6,41,-11.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	155	94.09	SBE_CT	666	24	374.26
Roll_motor	189	76	340.51	SBE_O2	656	19	292.06
VBD_pump_during_apogee	324	1232	9361.43	WL_BB2F	600	105	1474.80
VBD_pump_during_surface	54	767	982.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.83	nil	0	0	0.00
Iridium_during_connect	34	160	129.92	nil	0	0	0.00
Iridium_during_xfer	158	223	828.30
Transponder_ping	5	420	51.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.19
TT8	1719	19	343.91
LPSleep	14772	2	326.76
TT8_Active	544	19	108.97
TT8_Sampling	2098	39	843.38
TT8_CF8	467	45	216.14
TT8_Kalman	33	81	27.57
Analog_circuits	1591	12	192.95
GPS_charging	0	0	0.00
Compass	2050	8	165.70
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	18	begin dive
22	-1.10	-146.6	0.0	0.0	0	84	0.00	0.00	-60.62	0.000	2	0.000	0.000	43	2899	3421
86	-1.10	-146.6	3.9	-9.3	3	109	11.93	2.62	-1.40	0.000	4	0.156	0.076	2167	1493	3502
249	-1.10	-146.6	23.9	-5.8	10	254	0.00	2.67	0.00	0.000	6	0.000	0.074	2167	2906	3502
571	-1.10	-146.6	46.1	-6.6	26	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2906	3502
879	-1.10	-146.6	66.1	-7.3	41	880	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2906	3503
1188	-1.10	-146.6	89.2	-7.4	56	1192	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1494	3502
1227	-1.10	-146.6	92.2	-7.2	58	1231	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2900	3503
1552	-1.10	-146.6	116.2	-7.1	74	1557	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	1491	3503
1579	-1.10	-146.6	118.2	-7.0	75	1583	0.00	2.60	0.00	0.000	6	0.000	0.068	2167	2899	3503
1900	-1.10	-146.6	140.9	-7.0	91	1905	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1493	3503
1940	-1.10	-146.6	143.8	-7.2	93	1944	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2900	3503
2265	-1.10	-146.6	168.0	-7.4	109	2270	0.00	2.60	0.00	0.000	4	0.000	0.068	2167	1494	3503
2292	-1.10	-146.6	170.1	-7.4	110	2296	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2901	3503
2613	-1.10	-146.6	193.2	-6.8	126	2618	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1490	3503
2646	-1.10	-146.6	195.3	-6.4	127	2652	0.00	2.62	0.00	0.000	6	0.000	0.068	2166	2906	3504
2961	-1.10	-146.6	216.0	-7.0	143	2962	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2906	3503
3270	-1.10	-146.6	237.5	-6.8	158	3275	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1493	3503
3342	-1.10	-146.6	242.2	-6.5	161	3347	0.00	2.58	0.00	0.000	6	0.000	0.067	2167	2900	3503
3663	-1.10	-146.6	260.4	-5.5	177	3664	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
3972	-1.10	-146.6	279.2	-6.3	192	3976	0.00	2.60	0.00	0.000	4	0.000	0.064	2167	1484	3503
4015	-1.10	-146.6	282.1	-6.6	194	4019	0.00	2.62	0.00	0.000	6	0.000	0.068	2167	2903	3503
4342	-1.10	-146.6	302.3	-6.1	210	4343	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3503
4651	-1.10	-146.6	324.9	-7.8	225	4656	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	1489	3504
4705	-1.10	-146.6	329.4	-7.8	227	4710	0.00	2.60	0.00	0.000	6	0.000	0.068	2167	2899	3503
5026	-1.10	-146.6	351.7	-6.6	243	5030	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1484	3503
5057	-1.10	-146.6	353.7	-6.3	244	5064	0.00	2.62	0.00	0.000	6	0.000	0.068	2167	2903	3503
5373	-1.10	-146.6	373.5	-6.6	260	5377	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1488	3503
5426	-1.10	-146.6	377.1	-6.1	262	5433	0.00	2.60	0.00	0.000	6	0.000	0.068	2167	2899	3503
5742	-1.10	-146.6	398.5	-7.3	278	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2899	3503
6052	-1.10	-146.6	421.8	-7.6	293	6056	0.00	2.58	0.00	0.000	4	0.000	0.061	2167	1485	3503
6128	-1.10	-146.6	427.9	-8.4	296	6135	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2899	3503
6444	-1.10	-146.6	455.1	-9.4	312	6448	0.00	2.55	0.00	0.000	4	0.000	0.060	2167	1490	3503
6475	-1.10	-146.6	458.1	-9.7	313	6482	0.00	2.60	0.00	0.000	6	0.000	0.065	2167	2903	3503
6791	-1.10	-146.6	482.8	-6.6	329	6792	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3503
7100	-1.10	-146.6	506.7	-7.9	344	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2903	3503
7410	-1.10	-146.6	533.1	-8.9	359	7414	0.00	2.53	0.00	0.000	4	0.000	0.051	2167	1484	3503
7503	-1.10	-146.6	542.3	-9.7	363	7507	0.00	2.58	0.00	0.000	6	0.000	0.060	2167	2900	3503
7825	-1.10	-146.6	562.3	-4.7	379	7826	0.00	0.00	0.00	0.000	6	0.000	0.000	2166	2900	3503
8134	-1.10	-146.6	576.8	-5.0	394	8135	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3503
8443	-1.10	-146.6	595.1	-6.3	409	8447	0.00	2.50	0.00	0.000	4	0.000	0.047	2167	1479	3503
8482	-1.10	-146.6	597.5	-6.9	411	8486	0.00	2.58	0.00	0.000	6	0.000	0.058	2167	2901	3503
8807	-1.10	-146.6	618.7	-7.0	427	8812	0.00	2.47	0.00	0.000	4	0.000	0.043	2167	1476	3503
8914	-1.10	-146.6	623.9	-4.5	432	8918	0.00	2.58	0.00	0.000	6	0.000	0.058	2167	2902	3503
9240	-1.10	-146.6	645.1	-6.4	448	9244	0.00	2.50	0.00	0.000	4	0.000	0.046	2167	1483	3502
9305	end dive: TARGET_DEPTH_EXCEEDED
state	9306	begin apogee
9311	-0.42	0.0	649.1	6.2	451	9439	0.70	0.00	124.82	1.233	6	0.079	0.000	2314	2117	2901
9440	end apogee: CONTROL_FINISHED_OK
state	9440	begin climb
9442	1.10	146.6	654.6	0.0	457	9573	1.55	2.65	122.05	1.193	4	0.050	0.061	2651	3500	2303
9662	1.12	162.6	653.7	5.6	467	9682	0.00	2.47	15.00	1.097	6	0.000	0.037	2651	2093	2238
10004	1.18	208.0	633.9	4.7	484	10049	0.00	2.62	39.12	1.184	4	0.000	0.059	2651	708	2053
10077	1.18	208.0	629.2	6.7	487	10081	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2114	2053
10398	1.18	208.0	609.1	6.5	503	10402	0.00	2.58	0.00	0.000	4	0.000	0.057	2651	701	2051
10486	1.18	208.0	602.2	7.0	507	10490	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2100	2051
10813	1.19	219.5	580.3	5.7	523	10825	0.00	0.00	10.68	1.110	6	0.000	0.000	2651	2100	2006
11122	1.19	219.5	559.3	6.6	538	11126	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3501	2004
11187	1.19	219.5	554.8	6.5	541	11192	0.00	2.45	0.00	0.000	6	0.000	0.040	2651	2102	2004
11514	1.19	219.5	532.0	6.6	557	11518	0.00	2.53	0.00	0.000	4	0.000	0.057	2651	700	2004
11579	1.19	219.5	527.1	7.2	560	11584	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2116	2003
11906	1.19	219.5	505.2	6.1	576	11911	0.00	2.58	0.00	0.000	4	0.000	0.067	2651	3508	2003
11972	1.19	219.5	500.4	6.9	579	11977	0.00	2.47	0.00	0.000	6	0.000	0.039	2651	2096	2003
12299	1.19	219.5	476.6	7.5	595	12300	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2096	2003
12608	1.19	219.5	454.5	6.1	610	12612	0.00	2.62	0.00	0.000	4	0.000	0.067	2651	3504	2003
12662	1.19	219.5	451.0	6.0	612	12669	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2107	2003
12978	1.19	219.5	431.8	6.6	628	12982	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3507	2003
13054	1.19	219.5	426.2	7.2	631	13061	0.00	2.50	0.00	0.000	6	0.000	0.041	2651	2083	2003
13370	1.19	219.5	405.3	6.2	647	13371	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2083	2003
13679	1.19	219.5	386.9	6.4	662	13684	0.00	2.62	0.00	0.000	4	0.000	0.067	2651	3505	2004
13768	1.19	219.5	380.3	7.7	666	13772	0.00	2.47	0.00	0.000	6	0.000	0.040	2651	2107	2004
14094	1.19	219.5	356.8	6.9	682	14099	0.00	2.60	0.00	0.000	4	0.000	0.069	2651	3504	2004
14138	1.19	219.5	353.5	7.2	684	14142	0.00	2.45	0.00	0.000	6	0.000	0.041	2651	2100	2004
14464	1.19	219.5	330.4	7.0	700	14469	0.00	2.62	0.00	0.000	4	0.000	0.070	2651	3508	2005
14503	1.19	219.5	327.5	7.7	702	14508	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2098	2005
14829	1.19	219.5	304.1	7.4	718	14834	0.00	2.62	0.00	0.000	4	0.000	0.069	2651	3506	2005
14868	1.19	219.5	301.1	8.1	720	14873	0.00	2.47	0.00	0.000	6	0.000	0.042	2651	2097	2005
15194	1.19	219.5	277.2	7.0	736	15198	0.00	2.62	0.00	0.000	4	0.000	0.068	2651	3506	2005
15226	1.19	219.5	274.7	7.5	737	15232	0.00	2.45	0.00	0.000	6	0.000	0.041	2651	2102	2006
15541	1.19	219.5	250.1	8.5	753	15545	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3504	2006
15579	1.19	219.5	246.6	8.8	755	15583	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2093	2006
15906	1.19	219.5	220.2	7.7	771	15907	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2093	2007
16215	1.19	219.5	197.5	7.3	786	16219	0.00	2.62	0.00	0.000	4	0.000	0.068	2651	3504	2007
16263	1.19	219.5	193.7	7.4	788	16268	0.00	2.47	0.00	0.000	6	0.000	0.041	2651	2092	2007
16585	1.19	219.5	170.8	6.9	804	16586	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2092	2007
16894	1.19	219.5	149.2	6.8	819	16898	0.00	2.60	0.00	0.000	4	0.000	0.068	2651	3504	2008
16955	1.19	219.5	144.6	7.4	822	16959	0.00	2.47	0.00	0.000	6	0.000	0.043	2651	2093	2008
17281	1.19	221.0	123.6	6.0	838	17286	0.00	2.62	0.00	0.000	4	0.000	0.067	2651	3508	2008
17336	1.19	221.0	119.9	6.4	840	17343	0.00	2.50	0.00	0.000	6	0.000	0.045	2650	2104	2008
17652	1.19	221.0	99.8	6.4	856	17653	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2104	2008
17961	1.19	221.0	79.8	6.7	871	17966	0.00	2.60	0.00	0.000	4	0.000	0.069	2651	3504	2008
18027	1.19	221.0	75.3	6.3	874	18032	0.00	2.47	0.00	0.000	6	0.000	0.042	2651	2107	2008
18355	1.20	223.8	54.5	5.9	890	18366	0.00	2.62	5.97	0.684	4	0.000	0.070	2651	3504	1988
18395	1.21	230.4	52.3	5.8	892	18408	0.00	2.47	6.93	0.704	6	0.000	0.044	2651	2100	1961
18725	1.21	230.4	29.8	7.5	908	18726	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2101	1961
19034	1.21	230.4	7.9	7.0	923	19039	0.00	2.65	0.00	0.000	4	0.000	0.077	2651	3503	1961
19089	1.21	230.4	4.3	6.5	925	19096	0.00	2.50	0.00	0.000	6	0.000	0.044	2651	2095	1961
19135	end climb: SURFACE_DEPTH_REACHED
state	19135	begin surface coast
19157	end surface coast: CONTROL_FINISHED_OK
state	19157	begin surface