Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 430 * 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 430 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 29 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 -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 -70827.164 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

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

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -70827.164

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 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 29 USE_BATHY -3

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 430 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 172838,6151.400,-916.810,27,1.7,27,-9.5 TGT_NAME FB

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.26 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -56.6 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 173439,6151.326,-916.800,15,1.7,15,-9.5 MHEAD_RNG_PITCHd_Wd 175.1,59905,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 662

Post-dive calculations and measurements:

FINISH -0.2,1.027349 XPDR_PINGS 2

SM_CCo 18580,43.15,0.823,1,0,1678,300.00 ALTIM_BOTTOM_PING 601.2,109.7

SM_GC -0.29,0.00,0.00,43.15,0.000,0.000,0.823,46,2901,1678,-10.87,0.03,300.00 _24V_AH 23.1,71.726

IRIDIUM_FIX 6130.75,-919.48,210497,131349 _10V_AH 10.1,33.312

TT8_MAMPS 0.029146 DATA_FILE_SIZE 44222,890

HUMID 2070 CFSIZE 260165632,235356160

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,1,0

TCM_TEMP 17.00 GPS 260108,224701,6148.728,-914.307,38,1.1,43,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 93.51 SBE_CT 656 24 363.76

Roll_motor 162 96 363.27 SBE_O2 615 19 270.30

VBD_pump_during_apogee 339 1298 10192.66 WL_BB2F 562 105 1364.30

VBD_pump_during_surface 43 822 820.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.79 nil 0 0 0.00

Iridium_during_connect 40 160 150.82 nil 0 0 0.00

Iridium_during_xfer 150 223 775.95

Transponder_ping 5 420 53.36

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1640 19 328.12

LPSleep 14283 2 315.93

TT8_Active 532 19 106.49

TT8_Sampling 1958 39 787.45

TT8_CF8 588 45 272.13

TT8_Kalman 0 81 0.00

Analog_circuits 1533 12 185.87

GPS_charging 0 0 0.00

Compass 1929 8 155.88

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

25 -1.10 -146.6 0.0 0.0 0 107 0.00 0.00 -79.25 0.000 6 0.000 0.000 46 2903 3501

110 -1.10 -146.6 4.6 -7.8 4 126 11.90 1.73 0.00 0.000 4 0.156 0.084 2163 3785 3503

379 -1.10 -146.6 33.9 -4.6 15 383 0.00 1.58 0.00 0.000 6 0.000 0.056 2163 2910 3503

706 -1.10 -146.6 58.6 -8.6 31 710 0.00 1.73 0.00 0.000 4 0.000 0.097 2163 3787 3503

858 -1.10 -146.6 67.8 -6.7 37 864 0.00 1.60 0.00 0.000 6 0.000 0.052 2163 2909 3503

1175 -1.10 -146.6 97.7 -10.6 53 1180 0.00 2.62 0.00 0.000 4 0.000 0.067 2163 1480 3503

1225 -1.10 -146.6 102.9 -9.7 55 1230 0.00 2.67 0.00 0.000 6 0.000 0.070 2163 2902 3503

1543 -1.10 -146.6 126.6 -6.5 70 1547 0.00 2.62 0.00 0.000 4 0.000 0.065 2163 1485 3503

1576 -1.10 -146.6 129.2 -7.2 71 1582 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2902 3503

1894 -1.10 -146.6 145.3 -4.6 87 1898 0.00 2.62 0.00 0.000 4 0.000 0.064 2163 1480 3503

1927 -1.10 -146.6 146.5 -3.3 88 1934 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2903 3503

2243 -1.10 -146.6 167.4 -8.0 104 2244 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2903 3503

2552 -1.10 -146.6 195.3 -9.3 119 2556 0.00 2.60 0.00 0.000 4 0.000 0.062 2163 1484 3503

2596 -1.10 -146.6 199.4 -9.6 121 2601 0.00 2.62 0.00 0.000 6 0.000 0.066 2163 2900 3503

2917 -1.10 -146.6 223.7 -7.4 137 2919 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3503

3227 -1.10 -146.6 244.9 -6.8 152 3231 0.00 2.58 0.00 0.000 4 0.000 0.061 2163 1482 3503

3271 -1.10 -146.6 248.2 -6.8 154 3276 0.00 2.65 0.00 0.000 6 0.000 0.070 2163 2902 3503

3592 -1.10 -146.6 270.7 -7.2 170 3596 0.00 2.60 0.00 0.000 4 0.000 0.061 2163 1476 3503

3641 -1.10 -146.6 274.4 -7.5 172 3645 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2900 3503

3957 -1.10 -146.6 299.7 -7.7 187 3961 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1480 3503

3984 -1.10 -146.6 301.8 -7.8 188 3988 0.00 2.62 0.00 0.000 6 0.000 0.066 2163 2900 3503

4304 -1.10 -146.6 324.8 -7.3 204 4309 0.00 2.55 0.00 0.000 4 0.000 0.057 2163 1483 3503

4338 -1.10 -146.6 327.4 -7.8 205 4342 0.00 2.62 0.00 0.000 6 0.000 0.065 2163 2899 3503

4654 -1.10 -146.6 351.2 -8.0 220 4655 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3503

4963 -1.10 -146.6 375.0 -7.6 235 4968 0.00 2.60 0.00 0.000 4 0.000 0.061 2163 1480 3503

5013 -1.10 -146.6 379.0 -8.2 237 5018 0.00 2.62 0.00 0.000 6 0.000 0.064 2163 2900 3503

5329 -1.10 -146.6 402.8 -7.3 252 5330 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

5639 -1.10 -146.6 425.5 -7.5 267 5643 0.00 2.58 0.00 0.000 4 0.000 0.057 2163 1477 3503

5683 -1.10 -146.6 428.9 -7.5 269 5688 0.00 2.62 0.00 0.000 6 0.000 0.059 2163 2909 3503

6005 -1.10 -146.6 451.5 -6.9 285 6006 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3503

6313 -1.10 -146.6 473.6 -7.0 300 6318 0.00 2.55 0.00 0.000 4 0.000 0.051 2163 1475 3503

6358 -1.10 -146.6 477.2 -7.9 302 6362 0.00 2.58 0.00 0.000 6 0.000 0.056 2163 2900 3503

6679 -1.10 -146.6 502.1 -8.1 318 6682 0.00 1.65 0.00 0.000 4 0.000 0.084 2163 3783 3503

6785 -1.10 -146.6 510.7 -8.4 322 6791 0.00 1.55 0.00 0.000 6 0.000 0.037 2163 2896 3503

7101 -1.10 -146.6 533.4 -7.2 338 7104 0.00 1.67 0.00 0.000 4 0.000 0.078 2163 3785 3503

7124 -1.10 -146.6 535.2 -7.9 339 7127 0.00 1.52 0.00 0.000 6 0.000 0.035 2164 2899 3503

7456 -1.10 -146.6 559.4 -7.5 355 7461 0.00 2.47 0.00 0.000 4 0.000 0.047 2163 1483 3503

7507 -1.10 -146.6 563.3 -7.8 357 7511 0.00 2.58 0.00 0.000 6 0.000 0.055 2163 2901 3503

7822 -1.10 -146.6 585.7 -7.1 372 7827 0.00 2.47 0.00 0.000 4 0.000 0.043 2163 1480 3503

7850 -1.10 -146.6 587.6 -6.7 373 7854 0.00 2.58 0.00 0.000 6 0.000 0.054 2163 2909 3503

8171 -1.10 -146.6 608.8 -5.9 389 8173 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2909 3503

8480 -1.10 -146.6 627.0 -6.3 404 8484 0.00 2.50 0.00 0.000 4 0.000 0.041 2163 1482 3503

8626 -1.10 -146.6 634.5 -4.9 410 8631 0.00 2.58 0.00 0.000 6 0.000 0.055 2163 2901 3503

8942 -1.10 -146.6 655.1 -7.3 425 8945 0.00 1.65 0.00 0.000 4 0.000 0.081 2164 3788 3503

8997 -1.10 -146.6 658.7 -6.1 427 9001 0.00 1.55 0.00 0.000 6 0.000 0.038 2163 2886 3503

9069 end dive: TARGET_DEPTH_EXCEEDED

state 9069 begin apogee

9078 -0.42 0.0 662.6 5.2 431 9211 0.75 0.00 127.30 1.299 6 0.079 0.000 2317 2102 2901

9212 end apogee: CONTROL_FINISHED_OK

state 9212 begin climb

9215 1.10 146.6 667.4 0.0 438 9346 1.55 2.65 122.43 1.277 4 0.055 0.060 2651 705 2303

9457 1.18 206.3 664.3 4.3 449 9515 0.00 2.47 51.30 1.259 6 0.000 0.036 2651 2112 2059

9827 1.18 206.3 640.1 6.8 467 9831 0.00 2.55 0.00 0.000 4 0.000 0.064 2651 3500 2057

9927 1.18 206.3 631.9 8.6 471 9933 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2097 2057

10243 1.18 206.3 610.5 6.7 487 10247 0.00 2.55 0.00 0.000 4 0.000 0.061 2651 699 2056

10287 1.18 206.3 607.3 6.9 489 10291 0.00 2.45 0.00 0.000 6 0.000 0.037 2651 2099 2055

10608 1.18 206.3 585.8 6.7 505 10613 0.00 2.58 0.00 0.000 4 0.000 0.062 2651 3505 2054

10648 1.18 206.3 582.8 7.5 507 10652 0.00 2.45 0.00 0.000 6 0.000 0.037 2651 2099 2054

10974 1.18 206.3 560.8 6.5 523 10979 0.00 2.58 0.00 0.000 4 0.000 0.061 2651 3507 2052

11038 1.18 206.3 556.9 6.2 526 11042 0.00 2.45 0.00 0.000 6 0.000 0.037 2651 2100 2052

11364 1.18 206.3 537.0 6.2 542 11366 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2099 2052

11674 1.18 206.3 515.9 6.5 557 11678 0.00 2.55 0.00 0.000 4 0.000 0.059 2651 3502 2052

11729 1.18 206.3 511.0 8.8 559 11735 0.00 2.45 0.00 0.000 6 0.000 0.035 2651 2094 2051

12045 1.18 206.3 489.2 6.7 575 12049 0.00 2.55 0.00 0.000 4 0.000 0.060 2651 3503 2051

12068 1.18 213.1 487.8 5.8 576 12079 0.00 2.42 5.88 0.983 6 0.000 0.034 2651 2100 2032

12395 1.18 213.1 465.8 7.2 592 12397 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2100 2032

12704 1.18 213.1 443.0 7.3 607 12708 0.00 2.60 0.00 0.000 4 0.000 0.063 2651 3508 2032

12732 1.18 213.1 440.8 8.3 608 12736 0.00 2.47 0.00 0.000 6 0.000 0.038 2651 2097 2032

13048 1.18 213.1 419.2 6.3 623 13049 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2097 2033

13357 1.18 213.1 398.5 7.0 638 13358 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2097 2033

13666 1.18 213.1 376.0 7.4 653 13671 0.00 2.62 0.00 0.000 4 0.000 0.067 2651 3507 2034

13699 1.18 213.1 373.4 7.9 654 13705 0.00 2.50 0.00 0.000 6 0.000 0.044 2651 2098 2034

14015 1.18 213.1 351.0 7.2 670 14016 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2034

14324 1.18 213.1 326.3 8.2 685 14325 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2035

14633 1.18 213.1 302.0 6.6 700 14634 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2035

14943 1.18 213.1 280.5 7.2 715 14944 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2036

15251 1.18 213.1 258.2 8.1 730 15253 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2036

15561 1.18 213.1 233.0 8.2 745 15562 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 2037

15870 1.18 213.1 207.5 7.6 760 15875 0.00 2.60 0.00 0.000 4 0.000 0.065 2651 3503 2037

15910 1.18 213.1 203.9 9.1 762 15914 0.00 2.47 0.00 0.000 6 0.000 0.044 2651 2099 2037

16236 1.18 213.1 178.9 9.1 778 16238 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2099 2037

16546 1.18 213.1 150.6 7.8 793 16551 0.00 2.60 0.00 0.000 4 0.000 0.067 2651 3501 2037

16568 1.18 213.1 149.1 7.0 794 16572 0.00 2.47 0.00 0.000 6 0.000 0.045 2651 2100 2037

16892 1.20 225.4 126.6 5.7 810 16913 0.00 2.67 12.68 0.890 4 0.000 0.067 2651 3501 1982

16925 1.20 225.4 124.3 6.4 811 16929 0.00 2.53 0.00 0.000 6 0.000 0.046 2651 2098 1981

17241 1.20 225.4 100.1 8.0 826 17242 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2098 1982

17550 1.22 239.7 79.0 5.6 841 17573 0.12 2.70 12.80 0.871 4 0.044 0.071 2691 3494 1923

17597 1.22 239.7 75.1 9.2 843 17601 0.00 2.50 0.00 0.000 6 0.000 0.047 2690 2100 1923

17924 1.22 239.7 50.7 7.1 859 17928 0.00 2.58 0.00 0.000 4 0.000 0.062 2691 691 1923

17968 1.22 239.7 47.3 6.8 861 17972 0.00 2.47 0.00 0.000 6 0.000 0.042 2691 2096 1923

18289 1.23 246.9 21.6 5.8 877 18299 0.00 0.00 7.43 0.790 6 0.000 0.000 2691 2097 1894

18535 end climb: SURFACE_DEPTH_REACHED

state 18535 begin surface coast

18555 end surface coast: CONTROL_FINISHED_OK

state 18555 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	430	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	29	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	-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	-70827.164	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	172838,6151.400,-916.810,27,1.7,27,-9.5	TGT_NAME	FB
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.26	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-56.6	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	173439,6151.326,-916.800,15,1.7,15,-9.5	MHEAD_RNG_PITCHd_Wd	175.1,59905,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	662

FINISH	-0.2,1.027349	XPDR_PINGS	2
SM_CCo	18580,43.15,0.823,1,0,1678,300.00	ALTIM_BOTTOM_PING	601.2,109.7
SM_GC	-0.29,0.00,0.00,43.15,0.000,0.000,0.823,46,2901,1678,-10.87,0.03,300.00	_24V_AH	23.1,71.726
IRIDIUM_FIX	6130.75,-919.48,210497,131349	_10V_AH	10.1,33.312
TT8_MAMPS	0.029146	DATA_FILE_SIZE	44222,890
HUMID	2070	CFSIZE	260165632,235356160
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
TCM_TEMP	17.00	GPS	260108,224701,6148.728,-914.307,38,1.1,43,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	93.51	SBE_CT	656	24	363.76
Roll_motor	162	96	363.27	SBE_O2	615	19	270.30
VBD_pump_during_apogee	339	1298	10192.66	WL_BB2F	562	105	1364.30
VBD_pump_during_surface	43	822	820.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.79	nil	0	0	0.00
Iridium_during_connect	40	160	150.82	nil	0	0	0.00
Iridium_during_xfer	150	223	775.95
Transponder_ping	5	420	53.36
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1640	19	328.12
LPSleep	14283	2	315.93
TT8_Active	532	19	106.49
TT8_Sampling	1958	39	787.45
TT8_CF8	588	45	272.13
TT8_Kalman	0	81	0.00
Analog_circuits	1533	12	185.87
GPS_charging	0	0	0.00
Compass	1929	8	155.88
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
25	-1.10	-146.6	0.0	0.0	0	107	0.00	0.00	-79.25	0.000	6	0.000	0.000	46	2903	3501
110	-1.10	-146.6	4.6	-7.8	4	126	11.90	1.73	0.00	0.000	4	0.156	0.084	2163	3785	3503
379	-1.10	-146.6	33.9	-4.6	15	383	0.00	1.58	0.00	0.000	6	0.000	0.056	2163	2910	3503
706	-1.10	-146.6	58.6	-8.6	31	710	0.00	1.73	0.00	0.000	4	0.000	0.097	2163	3787	3503
858	-1.10	-146.6	67.8	-6.7	37	864	0.00	1.60	0.00	0.000	6	0.000	0.052	2163	2909	3503
1175	-1.10	-146.6	97.7	-10.6	53	1180	0.00	2.62	0.00	0.000	4	0.000	0.067	2163	1480	3503
1225	-1.10	-146.6	102.9	-9.7	55	1230	0.00	2.67	0.00	0.000	6	0.000	0.070	2163	2902	3503
1543	-1.10	-146.6	126.6	-6.5	70	1547	0.00	2.62	0.00	0.000	4	0.000	0.065	2163	1485	3503
1576	-1.10	-146.6	129.2	-7.2	71	1582	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2902	3503
1894	-1.10	-146.6	145.3	-4.6	87	1898	0.00	2.62	0.00	0.000	4	0.000	0.064	2163	1480	3503
1927	-1.10	-146.6	146.5	-3.3	88	1934	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2903	3503
2243	-1.10	-146.6	167.4	-8.0	104	2244	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2903	3503
2552	-1.10	-146.6	195.3	-9.3	119	2556	0.00	2.60	0.00	0.000	4	0.000	0.062	2163	1484	3503
2596	-1.10	-146.6	199.4	-9.6	121	2601	0.00	2.62	0.00	0.000	6	0.000	0.066	2163	2900	3503
2917	-1.10	-146.6	223.7	-7.4	137	2919	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3503
3227	-1.10	-146.6	244.9	-6.8	152	3231	0.00	2.58	0.00	0.000	4	0.000	0.061	2163	1482	3503
3271	-1.10	-146.6	248.2	-6.8	154	3276	0.00	2.65	0.00	0.000	6	0.000	0.070	2163	2902	3503
3592	-1.10	-146.6	270.7	-7.2	170	3596	0.00	2.60	0.00	0.000	4	0.000	0.061	2163	1476	3503
3641	-1.10	-146.6	274.4	-7.5	172	3645	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2900	3503
3957	-1.10	-146.6	299.7	-7.7	187	3961	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1480	3503
3984	-1.10	-146.6	301.8	-7.8	188	3988	0.00	2.62	0.00	0.000	6	0.000	0.066	2163	2900	3503
4304	-1.10	-146.6	324.8	-7.3	204	4309	0.00	2.55	0.00	0.000	4	0.000	0.057	2163	1483	3503
4338	-1.10	-146.6	327.4	-7.8	205	4342	0.00	2.62	0.00	0.000	6	0.000	0.065	2163	2899	3503
4654	-1.10	-146.6	351.2	-8.0	220	4655	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3503
4963	-1.10	-146.6	375.0	-7.6	235	4968	0.00	2.60	0.00	0.000	4	0.000	0.061	2163	1480	3503
5013	-1.10	-146.6	379.0	-8.2	237	5018	0.00	2.62	0.00	0.000	6	0.000	0.064	2163	2900	3503
5329	-1.10	-146.6	402.8	-7.3	252	5330	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
5639	-1.10	-146.6	425.5	-7.5	267	5643	0.00	2.58	0.00	0.000	4	0.000	0.057	2163	1477	3503
5683	-1.10	-146.6	428.9	-7.5	269	5688	0.00	2.62	0.00	0.000	6	0.000	0.059	2163	2909	3503
6005	-1.10	-146.6	451.5	-6.9	285	6006	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3503
6313	-1.10	-146.6	473.6	-7.0	300	6318	0.00	2.55	0.00	0.000	4	0.000	0.051	2163	1475	3503
6358	-1.10	-146.6	477.2	-7.9	302	6362	0.00	2.58	0.00	0.000	6	0.000	0.056	2163	2900	3503
6679	-1.10	-146.6	502.1	-8.1	318	6682	0.00	1.65	0.00	0.000	4	0.000	0.084	2163	3783	3503
6785	-1.10	-146.6	510.7	-8.4	322	6791	0.00	1.55	0.00	0.000	6	0.000	0.037	2163	2896	3503
7101	-1.10	-146.6	533.4	-7.2	338	7104	0.00	1.67	0.00	0.000	4	0.000	0.078	2163	3785	3503
7124	-1.10	-146.6	535.2	-7.9	339	7127	0.00	1.52	0.00	0.000	6	0.000	0.035	2164	2899	3503
7456	-1.10	-146.6	559.4	-7.5	355	7461	0.00	2.47	0.00	0.000	4	0.000	0.047	2163	1483	3503
7507	-1.10	-146.6	563.3	-7.8	357	7511	0.00	2.58	0.00	0.000	6	0.000	0.055	2163	2901	3503
7822	-1.10	-146.6	585.7	-7.1	372	7827	0.00	2.47	0.00	0.000	4	0.000	0.043	2163	1480	3503
7850	-1.10	-146.6	587.6	-6.7	373	7854	0.00	2.58	0.00	0.000	6	0.000	0.054	2163	2909	3503
8171	-1.10	-146.6	608.8	-5.9	389	8173	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2909	3503
8480	-1.10	-146.6	627.0	-6.3	404	8484	0.00	2.50	0.00	0.000	4	0.000	0.041	2163	1482	3503
8626	-1.10	-146.6	634.5	-4.9	410	8631	0.00	2.58	0.00	0.000	6	0.000	0.055	2163	2901	3503
8942	-1.10	-146.6	655.1	-7.3	425	8945	0.00	1.65	0.00	0.000	4	0.000	0.081	2164	3788	3503
8997	-1.10	-146.6	658.7	-6.1	427	9001	0.00	1.55	0.00	0.000	6	0.000	0.038	2163	2886	3503
9069	end dive: TARGET_DEPTH_EXCEEDED
state	9069	begin apogee
9078	-0.42	0.0	662.6	5.2	431	9211	0.75	0.00	127.30	1.299	6	0.079	0.000	2317	2102	2901
9212	end apogee: CONTROL_FINISHED_OK
state	9212	begin climb
9215	1.10	146.6	667.4	0.0	438	9346	1.55	2.65	122.43	1.277	4	0.055	0.060	2651	705	2303
9457	1.18	206.3	664.3	4.3	449	9515	0.00	2.47	51.30	1.259	6	0.000	0.036	2651	2112	2059
9827	1.18	206.3	640.1	6.8	467	9831	0.00	2.55	0.00	0.000	4	0.000	0.064	2651	3500	2057
9927	1.18	206.3	631.9	8.6	471	9933	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2097	2057
10243	1.18	206.3	610.5	6.7	487	10247	0.00	2.55	0.00	0.000	4	0.000	0.061	2651	699	2056
10287	1.18	206.3	607.3	6.9	489	10291	0.00	2.45	0.00	0.000	6	0.000	0.037	2651	2099	2055
10608	1.18	206.3	585.8	6.7	505	10613	0.00	2.58	0.00	0.000	4	0.000	0.062	2651	3505	2054
10648	1.18	206.3	582.8	7.5	507	10652	0.00	2.45	0.00	0.000	6	0.000	0.037	2651	2099	2054
10974	1.18	206.3	560.8	6.5	523	10979	0.00	2.58	0.00	0.000	4	0.000	0.061	2651	3507	2052
11038	1.18	206.3	556.9	6.2	526	11042	0.00	2.45	0.00	0.000	6	0.000	0.037	2651	2100	2052
11364	1.18	206.3	537.0	6.2	542	11366	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2099	2052
11674	1.18	206.3	515.9	6.5	557	11678	0.00	2.55	0.00	0.000	4	0.000	0.059	2651	3502	2052
11729	1.18	206.3	511.0	8.8	559	11735	0.00	2.45	0.00	0.000	6	0.000	0.035	2651	2094	2051
12045	1.18	206.3	489.2	6.7	575	12049	0.00	2.55	0.00	0.000	4	0.000	0.060	2651	3503	2051
12068	1.18	213.1	487.8	5.8	576	12079	0.00	2.42	5.88	0.983	6	0.000	0.034	2651	2100	2032
12395	1.18	213.1	465.8	7.2	592	12397	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2100	2032
12704	1.18	213.1	443.0	7.3	607	12708	0.00	2.60	0.00	0.000	4	0.000	0.063	2651	3508	2032
12732	1.18	213.1	440.8	8.3	608	12736	0.00	2.47	0.00	0.000	6	0.000	0.038	2651	2097	2032
13048	1.18	213.1	419.2	6.3	623	13049	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2097	2033
13357	1.18	213.1	398.5	7.0	638	13358	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2097	2033
13666	1.18	213.1	376.0	7.4	653	13671	0.00	2.62	0.00	0.000	4	0.000	0.067	2651	3507	2034
13699	1.18	213.1	373.4	7.9	654	13705	0.00	2.50	0.00	0.000	6	0.000	0.044	2651	2098	2034
14015	1.18	213.1	351.0	7.2	670	14016	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2034
14324	1.18	213.1	326.3	8.2	685	14325	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2035
14633	1.18	213.1	302.0	6.6	700	14634	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2035
14943	1.18	213.1	280.5	7.2	715	14944	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2036
15251	1.18	213.1	258.2	8.1	730	15253	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2036
15561	1.18	213.1	233.0	8.2	745	15562	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	2037
15870	1.18	213.1	207.5	7.6	760	15875	0.00	2.60	0.00	0.000	4	0.000	0.065	2651	3503	2037
15910	1.18	213.1	203.9	9.1	762	15914	0.00	2.47	0.00	0.000	6	0.000	0.044	2651	2099	2037
16236	1.18	213.1	178.9	9.1	778	16238	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2099	2037
16546	1.18	213.1	150.6	7.8	793	16551	0.00	2.60	0.00	0.000	4	0.000	0.067	2651	3501	2037
16568	1.18	213.1	149.1	7.0	794	16572	0.00	2.47	0.00	0.000	6	0.000	0.045	2651	2100	2037
16892	1.20	225.4	126.6	5.7	810	16913	0.00	2.67	12.68	0.890	4	0.000	0.067	2651	3501	1982
16925	1.20	225.4	124.3	6.4	811	16929	0.00	2.53	0.00	0.000	6	0.000	0.046	2651	2098	1981
17241	1.20	225.4	100.1	8.0	826	17242	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2098	1982
17550	1.22	239.7	79.0	5.6	841	17573	0.12	2.70	12.80	0.871	4	0.044	0.071	2691	3494	1923
17597	1.22	239.7	75.1	9.2	843	17601	0.00	2.50	0.00	0.000	6	0.000	0.047	2690	2100	1923
17924	1.22	239.7	50.7	7.1	859	17928	0.00	2.58	0.00	0.000	4	0.000	0.062	2691	691	1923
17968	1.22	239.7	47.3	6.8	861	17972	0.00	2.47	0.00	0.000	6	0.000	0.042	2691	2096	1923
18289	1.23	246.9	21.6	5.8	877	18299	0.00	0.00	7.43	0.790	6	0.000	0.000	2691	2097	1894
18535	end climb: SURFACE_DEPTH_REACHED
state	18535	begin surface coast
18555	end surface coast: CONTROL_FINISHED_OK
state	18555	begin surface