Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 433 * 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 433 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 12 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 -70872.734 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 -70872.734

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 26 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 12 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 433 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 084925,6145.711,-912.451,62,1.9,79,-9.4 TGT_NAME FB

_CALLS 1 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 11 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.020,-0.218

_SM_DEPTHo -0.18 KALMAN_X -132816.5,336.3,-67.9,-69746.9,3448.5

_SM_ANGLEo -56.5 KALMAN_Y -172894.2,-517.8,223.0,462266.0,3982.7

GPS2 085655,6145.786,-912.347,12,2.0,16,-9.4 MHEAD_RNG_PITCHd_Wd 176.5,49000,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 729

Post-dive calculations and measurements:

FINISH -0.8,1.027336 XPDR_PINGS 2

SM_CCo 18880,0.00,0.000,0,0,1609,317.17 ALTIM_BOTTOM_PING 650.3,89.8

SM_GC -0.17,11.68,0.00,0.00,0.033,0.000,0.000,49,2890,1609,-10.79,-0.28,317.17 _24V_AH 23.1,72.213

IRIDIUM_FIX 6121.73,-912.78,220497,030303 _10V_AH 10.1,33.565

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44261,902

HUMID 2077 CFSIZE 260165632,235155456

INTERNAL_PRESSURE 8.82846 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 17.20 GPS 270108,141325,6145.139,-911.702,42,0.9,42,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 154 93.14 SBE_CT 667 24 369.80

Roll_motor 173 117 469.38 SBE_O2 630 19 276.65

VBD_pump_during_apogee 399 1330 12278.41 WL_BB2F 538 105 1306.67

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.80 nil 0 0 0.00

Iridium_during_connect 51 160 189.07 nil 0 0 0.00

Iridium_during_xfer 224 223 1157.91

Transponder_ping 6 420 58.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.34

TT8 1680 19 336.13

LPSleep 14375 2 317.97

TT8_Active 518 19 103.67

TT8_Sampling 2061 39 828.59

TT8_CF8 704 45 325.75

TT8_Kalman 0 81 0.00

Analog_circuits 1587 12 192.46

GPS_charging 0 0 0.00

Compass 2028 8 163.94

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

24 -1.10 -146.6 0.0 0.0 0 87 0.00 0.00 -60.97 0.000 2 0.000 0.000 44 2900 3340

91 -1.10 -146.6 3.2 -8.4 3 113 11.93 1.77 -2.92 0.000 4 0.155 0.117 2164 3782 3501

326 -1.10 -146.6 31.3 -7.9 13 329 0.00 1.58 0.00 0.000 6 0.000 0.054 2164 2909 3503

648 -1.10 -146.6 53.8 -6.7 29 652 0.00 2.62 0.00 0.000 4 0.000 0.071 2164 1485 3503

680 -1.10 -146.6 56.1 -6.6 30 687 0.00 2.62 0.00 0.000 6 0.000 0.070 2164 2900 3502

998 -1.10 -146.6 81.8 -6.9 46 1001 0.00 1.70 0.00 0.000 4 0.000 0.093 2164 3789 3503

1037 -1.10 -146.6 85.0 -9.0 47 1043 0.00 1.60 0.00 0.000 6 0.000 0.051 2164 2905 3503

1353 -1.10 -146.6 106.3 -5.9 63 1358 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1481 3503

1409 -1.10 -146.6 109.9 -6.0 65 1415 0.00 2.65 0.00 0.000 6 0.000 0.070 2164 2903 3503

1727 -1.10 -146.6 125.4 -4.7 81 1728 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3503

2035 -1.10 -146.6 148.2 -8.6 96 2036 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2903 3503

2346 -1.10 -146.6 176.6 -8.5 111 2350 0.00 2.60 0.00 0.000 4 0.000 0.063 2164 1486 3503

2373 -1.10 -146.6 179.2 -8.3 112 2377 0.00 2.65 0.00 0.000 6 0.000 0.071 2164 2901 3503

2689 -1.10 -146.6 202.5 -6.8 127 2690 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2901 3503

2997 -1.10 -146.6 224.1 -7.4 142 3002 0.00 2.60 0.00 0.000 4 0.000 0.065 2164 1486 3504

3042 -1.10 -146.6 227.5 -7.4 144 3046 0.00 2.65 0.00 0.000 6 0.000 0.069 2164 2902 3504

3363 -1.10 -146.6 249.2 -6.9 160 3364 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2902 3504

3672 -1.10 -146.6 271.2 -6.4 175 3676 0.00 2.60 0.00 0.000 4 0.000 0.064 2164 1484 3504

3711 -1.10 -146.6 273.7 -6.7 177 3716 0.00 2.62 0.00 0.000 6 0.000 0.065 2164 2908 3503

4038 -1.10 -146.6 292.8 -6.0 193 4043 0.00 2.60 0.00 0.000 4 0.000 0.061 2164 1482 3504

4061 -1.10 -146.6 294.2 -5.5 194 4065 0.00 2.62 0.00 0.000 6 0.000 0.066 2164 2900 3504

4382 -1.10 -146.6 309.9 -4.2 210 4383 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2900 3504

4692 -1.10 -146.6 324.6 -4.5 225 4697 0.00 2.58 0.00 0.000 4 0.000 0.058 2164 1482 3504

4748 -1.10 -146.6 327.4 -4.4 227 4752 0.00 2.62 0.00 0.000 6 0.000 0.065 2164 2900 3504

5064 -1.10 -146.6 341.9 -4.7 242 5068 0.00 2.55 0.00 0.000 4 0.000 0.058 2164 1482 3504

5104 -1.10 -146.6 343.8 -5.0 243 5109 0.00 2.62 0.00 0.000 6 0.000 0.064 2164 2903 3504

5419 -1.10 -146.6 358.8 -4.9 259 5421 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2904 3504

5730 -1.10 -146.6 376.1 -5.8 274 5734 0.00 2.58 0.00 0.000 4 0.000 0.060 2164 1480 3504

5786 -1.10 -146.6 379.4 -6.0 276 5792 0.00 2.65 0.00 0.000 6 0.000 0.066 2164 2909 3504

6101 -1.10 -146.6 393.4 -2.9 292 6103 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2909 3504

6411 -1.10 -146.6 407.2 -6.5 307 6415 0.00 2.58 0.00 0.000 4 0.000 0.058 2164 1480 3503

6488 -1.10 -146.6 412.9 -7.3 310 6495 0.00 2.60 0.00 0.000 6 0.000 0.065 2164 2900 3503

6804 -1.10 -146.6 437.0 -7.9 326 6808 0.00 1.67 0.00 0.000 4 0.000 0.088 2164 3789 3504

6895 -1.10 -146.6 443.1 -6.9 330 6899 0.00 1.58 0.00 0.000 6 0.000 0.042 2164 2868 3504

7228 -1.10 -146.6 465.7 -6.4 346 7232 0.00 2.42 0.00 0.000 4 0.000 0.054 2164 1491 3504

7273 -1.10 -146.6 468.7 -6.7 348 7277 0.00 2.60 0.00 0.000 6 0.000 0.061 2164 2909 3504

7594 -1.10 -146.6 492.4 -7.4 364 7597 0.00 1.65 0.00 0.000 4 0.000 0.086 2164 3785 3504

7650 -1.10 -146.6 496.8 -7.7 366 7653 0.00 1.55 0.00 0.000 6 0.000 0.038 2164 2902 3504

7971 -1.10 -146.6 515.7 -5.4 382 7975 0.00 2.47 0.00 0.000 4 0.000 0.048 2164 1487 3504

8000 -1.10 -146.6 517.2 -5.6 383 8004 0.00 2.58 0.00 0.000 6 0.000 0.057 2164 2905 3503

8315 -1.10 -146.6 535.9 -4.5 398 8317 0.00 0.00 0.00 0.000 6 0.000 0.000 2164 2905 3504

8625 -1.10 -146.6 549.7 -5.0 413 8632 0.00 1.62 0.00 0.000 4 0.000 0.082 2164 3780 3503

8661 -1.10 -146.6 551.7 -5.9 414 8665 0.00 1.52 0.00 0.000 6 0.000 0.035 2164 2900 3504

8982 -1.10 -146.6 568.9 -6.5 430 8987 0.00 2.45 0.00 0.000 4 0.000 0.045 2164 1482 3504

9038 -1.10 -146.6 572.7 -7.6 432 9044 0.00 2.58 0.00 0.000 6 0.000 0.054 2164 2903 3504

9354 -1.10 -146.6 596.6 -8.0 448 9359 0.00 2.50 0.00 0.000 4 0.000 0.045 2164 1483 3504

9427 -1.10 -146.6 602.1 -7.9 451 9432 0.00 2.58 0.00 0.000 6 0.000 0.054 2164 2908 3503

9743 -1.10 -146.6 624.4 -7.2 466 9748 0.00 2.50 0.00 0.000 4 0.000 0.044 2164 1481 3503

9771 -1.10 -146.6 626.0 -5.5 467 9776 0.00 2.58 0.00 0.000 6 0.000 0.055 2164 2902 3503

10087 -1.10 -146.6 646.4 -8.6 482 10090 0.00 1.65 0.00 0.000 4 0.000 0.081 2164 3790 3503

10248 -1.10 -146.6 659.1 -8.3 489 10252 0.00 1.52 0.00 0.000 6 0.000 0.033 2164 2894 3503

10580 -1.10 -146.6 690.5 -10.8 505 10584 0.00 1.70 0.00 0.000 4 0.000 0.088 2164 3782 3503

10839 -1.10 -146.6 725.5 -5.5 516 10843 0.00 1.52 0.00 0.000 6 0.000 0.041 2164 2917 3503

11160 -1.10 -146.6 693.5 1.1 532 11164 0.00 1.67 0.00 0.000 4 0.000 0.093 2164 3783 3503

11246 -1.10 -146.6 699.0 -8.4 535 11252 0.00 1.58 0.00 0.000 6 0.000 0.046 2164 2902 3503

11559 end dive: TARGET_DEPTH_EXCEEDED

state 11560 begin apogee

11568 -0.42 0.0 729.7 8.1 551 11702 0.75 0.00 128.27 1.331 6 0.074 0.000 2322 2104 2901

11703 end apogee: CONTROL_FINISHED_OK

state 11703 begin climb

11706 1.10 146.6 737.5 0.0 558 11839 1.52 2.72 124.57 1.292 4 0.061 0.068 2647 3514 2303

11954 1.10 146.6 723.4 9.9 569 11960 0.00 2.55 0.00 0.000 6 0.000 0.042 2647 2092 2302

12270 1.25 266.8 707.8 2.7 585 12381 0.15 2.67 102.60 1.312 4 0.046 0.063 2692 697 1812

12539 1.31 316.6 691.3 4.6 597 12590 0.00 2.53 43.97 1.280 6 0.000 0.043 2692 2111 1610

12904 1.31 316.6 655.5 9.2 615 12908 0.00 2.65 0.00 0.000 4 0.000 0.075 2692 3511 1607

12970 1.31 316.6 648.8 8.4 618 12974 0.00 2.53 0.00 0.000 6 0.000 0.044 2692 2101 1607

13291 1.31 316.6 618.7 7.6 634 13292 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2097 1606

13600 1.31 316.6 584.3 13.1 649 13604 0.00 2.55 0.00 0.000 4 0.000 0.058 2692 697 1605

13689 1.31 316.6 572.6 11.7 653 13693 0.00 2.47 0.00 0.000 6 0.000 0.038 2692 2104 1605

14010 1.31 316.6 525.2 15.3 669 14015 0.00 2.58 0.00 0.000 4 0.000 0.055 2692 691 1605

14032 1.31 316.6 521.6 15.5 670 14037 0.00 2.47 0.00 0.000 6 0.000 0.038 2692 2103 1605

14353 1.31 316.6 479.0 13.0 686 14358 0.00 2.60 0.00 0.000 4 0.000 0.069 2692 3508 1605

14387 1.31 316.6 474.1 14.5 687 14393 0.00 2.50 0.00 0.000 6 0.000 0.042 2692 2099 1605

14702 1.31 316.6 439.3 10.3 703 14706 0.00 2.55 0.00 0.000 4 0.000 0.059 2692 692 1606

14736 1.31 316.6 435.8 10.2 704 14740 0.00 2.50 0.00 0.000 6 0.000 0.041 2692 2106 1606

15051 1.31 316.6 400.8 12.9 719 15052 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2106 1606

15360 1.31 316.6 360.8 13.5 734 15365 0.00 2.62 0.00 0.000 4 0.000 0.075 2692 3515 1606

15382 1.31 316.6 357.6 14.3 735 15387 0.00 2.53 0.00 0.000 6 0.000 0.047 2692 2104 1606

15704 1.31 316.6 318.2 11.7 751 15709 0.00 2.58 0.00 0.000 4 0.000 0.063 2692 691 1607

15727 1.31 316.6 315.3 12.6 752 15731 0.00 2.50 0.00 0.000 6 0.000 0.045 2692 2098 1607

16047 1.31 316.6 277.8 11.4 768 16049 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2098 1607

16357 1.31 316.6 243.6 10.9 783 16358 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2098 1608

16666 1.31 316.6 210.1 10.7 798 16670 0.00 2.65 0.00 0.000 4 0.000 0.076 2692 3516 1608

16687 1.31 316.6 207.6 12.4 799 16691 0.00 2.55 0.00 0.000 6 0.000 0.048 2692 2095 1608

17008 1.31 316.6 176.4 8.9 815 17012 0.00 2.58 0.00 0.000 4 0.000 0.064 2692 685 1609

17041 1.31 316.6 173.4 8.0 816 17047 0.00 2.55 0.00 0.000 6 0.000 0.049 2692 2106 1609

17357 1.31 316.6 147.2 7.9 832 17358 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2106 1609

17668 1.31 316.6 119.5 8.9 847 17669 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2106 1609

17976 1.31 316.6 86.5 10.4 862 17977 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2106 1609

18285 1.31 316.6 52.7 12.1 877 18289 0.00 2.62 0.00 0.000 4 0.000 0.066 2692 688 1610

18328 1.31 316.6 46.5 14.7 879 18333 0.00 2.53 0.00 0.000 6 0.000 0.050 2692 2102 1610

18650 1.31 316.6 12.4 11.2 895 18654 0.00 2.65 0.00 0.000 4 0.000 0.074 2692 3516 1610

18690 1.31 316.6 9.5 6.2 897 18694 0.00 2.47 0.00 0.000 6 0.000 0.038 2692 2089 1610

18772 end climb: SURFACE_DEPTH_REACHED

state 18772 begin surface coast

18795 end surface coast: CONTROL_FINISHED_OK

state 18795 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	433	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	12	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	-70872.734	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	084925,6145.711,-912.451,62,1.9,79,-9.4	TGT_NAME	FB
_CALLS	1	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	11	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.020,-0.218
_SM_DEPTHo	-0.18	KALMAN_X	-132816.5,336.3,-67.9,-69746.9,3448.5
_SM_ANGLEo	-56.5	KALMAN_Y	-172894.2,-517.8,223.0,462266.0,3982.7
GPS2	085655,6145.786,-912.347,12,2.0,16,-9.4	MHEAD_RNG_PITCHd_Wd	176.5,49000,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	729

FINISH	-0.8,1.027336	XPDR_PINGS	2
SM_CCo	18880,0.00,0.000,0,0,1609,317.17	ALTIM_BOTTOM_PING	650.3,89.8
SM_GC	-0.17,11.68,0.00,0.00,0.033,0.000,0.000,49,2890,1609,-10.79,-0.28,317.17	_24V_AH	23.1,72.213
IRIDIUM_FIX	6121.73,-912.78,220497,030303	_10V_AH	10.1,33.565
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44261,902
HUMID	2077	CFSIZE	260165632,235155456
INTERNAL_PRESSURE	8.82846	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	17.20	GPS	270108,141325,6145.139,-911.702,42,0.9,42,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	154	93.14	SBE_CT	667	24	369.80
Roll_motor	173	117	469.38	SBE_O2	630	19	276.65
VBD_pump_during_apogee	399	1330	12278.41	WL_BB2F	538	105	1306.67
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.80	nil	0	0	0.00
Iridium_during_connect	51	160	189.07	nil	0	0	0.00
Iridium_during_xfer	224	223	1157.91
Transponder_ping	6	420	58.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.34
TT8	1680	19	336.13
LPSleep	14375	2	317.97
TT8_Active	518	19	103.67
TT8_Sampling	2061	39	828.59
TT8_CF8	704	45	325.75
TT8_Kalman	0	81	0.00
Analog_circuits	1587	12	192.46
GPS_charging	0	0	0.00
Compass	2028	8	163.94
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
24	-1.10	-146.6	0.0	0.0	0	87	0.00	0.00	-60.97	0.000	2	0.000	0.000	44	2900	3340
91	-1.10	-146.6	3.2	-8.4	3	113	11.93	1.77	-2.92	0.000	4	0.155	0.117	2164	3782	3501
326	-1.10	-146.6	31.3	-7.9	13	329	0.00	1.58	0.00	0.000	6	0.000	0.054	2164	2909	3503
648	-1.10	-146.6	53.8	-6.7	29	652	0.00	2.62	0.00	0.000	4	0.000	0.071	2164	1485	3503
680	-1.10	-146.6	56.1	-6.6	30	687	0.00	2.62	0.00	0.000	6	0.000	0.070	2164	2900	3502
998	-1.10	-146.6	81.8	-6.9	46	1001	0.00	1.70	0.00	0.000	4	0.000	0.093	2164	3789	3503
1037	-1.10	-146.6	85.0	-9.0	47	1043	0.00	1.60	0.00	0.000	6	0.000	0.051	2164	2905	3503
1353	-1.10	-146.6	106.3	-5.9	63	1358	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1481	3503
1409	-1.10	-146.6	109.9	-6.0	65	1415	0.00	2.65	0.00	0.000	6	0.000	0.070	2164	2903	3503
1727	-1.10	-146.6	125.4	-4.7	81	1728	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3503
2035	-1.10	-146.6	148.2	-8.6	96	2036	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2903	3503
2346	-1.10	-146.6	176.6	-8.5	111	2350	0.00	2.60	0.00	0.000	4	0.000	0.063	2164	1486	3503
2373	-1.10	-146.6	179.2	-8.3	112	2377	0.00	2.65	0.00	0.000	6	0.000	0.071	2164	2901	3503
2689	-1.10	-146.6	202.5	-6.8	127	2690	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2901	3503
2997	-1.10	-146.6	224.1	-7.4	142	3002	0.00	2.60	0.00	0.000	4	0.000	0.065	2164	1486	3504
3042	-1.10	-146.6	227.5	-7.4	144	3046	0.00	2.65	0.00	0.000	6	0.000	0.069	2164	2902	3504
3363	-1.10	-146.6	249.2	-6.9	160	3364	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2902	3504
3672	-1.10	-146.6	271.2	-6.4	175	3676	0.00	2.60	0.00	0.000	4	0.000	0.064	2164	1484	3504
3711	-1.10	-146.6	273.7	-6.7	177	3716	0.00	2.62	0.00	0.000	6	0.000	0.065	2164	2908	3503
4038	-1.10	-146.6	292.8	-6.0	193	4043	0.00	2.60	0.00	0.000	4	0.000	0.061	2164	1482	3504
4061	-1.10	-146.6	294.2	-5.5	194	4065	0.00	2.62	0.00	0.000	6	0.000	0.066	2164	2900	3504
4382	-1.10	-146.6	309.9	-4.2	210	4383	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2900	3504
4692	-1.10	-146.6	324.6	-4.5	225	4697	0.00	2.58	0.00	0.000	4	0.000	0.058	2164	1482	3504
4748	-1.10	-146.6	327.4	-4.4	227	4752	0.00	2.62	0.00	0.000	6	0.000	0.065	2164	2900	3504
5064	-1.10	-146.6	341.9	-4.7	242	5068	0.00	2.55	0.00	0.000	4	0.000	0.058	2164	1482	3504
5104	-1.10	-146.6	343.8	-5.0	243	5109	0.00	2.62	0.00	0.000	6	0.000	0.064	2164	2903	3504
5419	-1.10	-146.6	358.8	-4.9	259	5421	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2904	3504
5730	-1.10	-146.6	376.1	-5.8	274	5734	0.00	2.58	0.00	0.000	4	0.000	0.060	2164	1480	3504
5786	-1.10	-146.6	379.4	-6.0	276	5792	0.00	2.65	0.00	0.000	6	0.000	0.066	2164	2909	3504
6101	-1.10	-146.6	393.4	-2.9	292	6103	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2909	3504
6411	-1.10	-146.6	407.2	-6.5	307	6415	0.00	2.58	0.00	0.000	4	0.000	0.058	2164	1480	3503
6488	-1.10	-146.6	412.9	-7.3	310	6495	0.00	2.60	0.00	0.000	6	0.000	0.065	2164	2900	3503
6804	-1.10	-146.6	437.0	-7.9	326	6808	0.00	1.67	0.00	0.000	4	0.000	0.088	2164	3789	3504
6895	-1.10	-146.6	443.1	-6.9	330	6899	0.00	1.58	0.00	0.000	6	0.000	0.042	2164	2868	3504
7228	-1.10	-146.6	465.7	-6.4	346	7232	0.00	2.42	0.00	0.000	4	0.000	0.054	2164	1491	3504
7273	-1.10	-146.6	468.7	-6.7	348	7277	0.00	2.60	0.00	0.000	6	0.000	0.061	2164	2909	3504
7594	-1.10	-146.6	492.4	-7.4	364	7597	0.00	1.65	0.00	0.000	4	0.000	0.086	2164	3785	3504
7650	-1.10	-146.6	496.8	-7.7	366	7653	0.00	1.55	0.00	0.000	6	0.000	0.038	2164	2902	3504
7971	-1.10	-146.6	515.7	-5.4	382	7975	0.00	2.47	0.00	0.000	4	0.000	0.048	2164	1487	3504
8000	-1.10	-146.6	517.2	-5.6	383	8004	0.00	2.58	0.00	0.000	6	0.000	0.057	2164	2905	3503
8315	-1.10	-146.6	535.9	-4.5	398	8317	0.00	0.00	0.00	0.000	6	0.000	0.000	2164	2905	3504
8625	-1.10	-146.6	549.7	-5.0	413	8632	0.00	1.62	0.00	0.000	4	0.000	0.082	2164	3780	3503
8661	-1.10	-146.6	551.7	-5.9	414	8665	0.00	1.52	0.00	0.000	6	0.000	0.035	2164	2900	3504
8982	-1.10	-146.6	568.9	-6.5	430	8987	0.00	2.45	0.00	0.000	4	0.000	0.045	2164	1482	3504
9038	-1.10	-146.6	572.7	-7.6	432	9044	0.00	2.58	0.00	0.000	6	0.000	0.054	2164	2903	3504
9354	-1.10	-146.6	596.6	-8.0	448	9359	0.00	2.50	0.00	0.000	4	0.000	0.045	2164	1483	3504
9427	-1.10	-146.6	602.1	-7.9	451	9432	0.00	2.58	0.00	0.000	6	0.000	0.054	2164	2908	3503
9743	-1.10	-146.6	624.4	-7.2	466	9748	0.00	2.50	0.00	0.000	4	0.000	0.044	2164	1481	3503
9771	-1.10	-146.6	626.0	-5.5	467	9776	0.00	2.58	0.00	0.000	6	0.000	0.055	2164	2902	3503
10087	-1.10	-146.6	646.4	-8.6	482	10090	0.00	1.65	0.00	0.000	4	0.000	0.081	2164	3790	3503
10248	-1.10	-146.6	659.1	-8.3	489	10252	0.00	1.52	0.00	0.000	6	0.000	0.033	2164	2894	3503
10580	-1.10	-146.6	690.5	-10.8	505	10584	0.00	1.70	0.00	0.000	4	0.000	0.088	2164	3782	3503
10839	-1.10	-146.6	725.5	-5.5	516	10843	0.00	1.52	0.00	0.000	6	0.000	0.041	2164	2917	3503
11160	-1.10	-146.6	693.5	1.1	532	11164	0.00	1.67	0.00	0.000	4	0.000	0.093	2164	3783	3503
11246	-1.10	-146.6	699.0	-8.4	535	11252	0.00	1.58	0.00	0.000	6	0.000	0.046	2164	2902	3503
11559	end dive: TARGET_DEPTH_EXCEEDED
state	11560	begin apogee
11568	-0.42	0.0	729.7	8.1	551	11702	0.75	0.00	128.27	1.331	6	0.074	0.000	2322	2104	2901
11703	end apogee: CONTROL_FINISHED_OK
state	11703	begin climb
11706	1.10	146.6	737.5	0.0	558	11839	1.52	2.72	124.57	1.292	4	0.061	0.068	2647	3514	2303
11954	1.10	146.6	723.4	9.9	569	11960	0.00	2.55	0.00	0.000	6	0.000	0.042	2647	2092	2302
12270	1.25	266.8	707.8	2.7	585	12381	0.15	2.67	102.60	1.312	4	0.046	0.063	2692	697	1812
12539	1.31	316.6	691.3	4.6	597	12590	0.00	2.53	43.97	1.280	6	0.000	0.043	2692	2111	1610
12904	1.31	316.6	655.5	9.2	615	12908	0.00	2.65	0.00	0.000	4	0.000	0.075	2692	3511	1607
12970	1.31	316.6	648.8	8.4	618	12974	0.00	2.53	0.00	0.000	6	0.000	0.044	2692	2101	1607
13291	1.31	316.6	618.7	7.6	634	13292	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2097	1606
13600	1.31	316.6	584.3	13.1	649	13604	0.00	2.55	0.00	0.000	4	0.000	0.058	2692	697	1605
13689	1.31	316.6	572.6	11.7	653	13693	0.00	2.47	0.00	0.000	6	0.000	0.038	2692	2104	1605
14010	1.31	316.6	525.2	15.3	669	14015	0.00	2.58	0.00	0.000	4	0.000	0.055	2692	691	1605
14032	1.31	316.6	521.6	15.5	670	14037	0.00	2.47	0.00	0.000	6	0.000	0.038	2692	2103	1605
14353	1.31	316.6	479.0	13.0	686	14358	0.00	2.60	0.00	0.000	4	0.000	0.069	2692	3508	1605
14387	1.31	316.6	474.1	14.5	687	14393	0.00	2.50	0.00	0.000	6	0.000	0.042	2692	2099	1605
14702	1.31	316.6	439.3	10.3	703	14706	0.00	2.55	0.00	0.000	4	0.000	0.059	2692	692	1606
14736	1.31	316.6	435.8	10.2	704	14740	0.00	2.50	0.00	0.000	6	0.000	0.041	2692	2106	1606
15051	1.31	316.6	400.8	12.9	719	15052	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2106	1606
15360	1.31	316.6	360.8	13.5	734	15365	0.00	2.62	0.00	0.000	4	0.000	0.075	2692	3515	1606
15382	1.31	316.6	357.6	14.3	735	15387	0.00	2.53	0.00	0.000	6	0.000	0.047	2692	2104	1606
15704	1.31	316.6	318.2	11.7	751	15709	0.00	2.58	0.00	0.000	4	0.000	0.063	2692	691	1607
15727	1.31	316.6	315.3	12.6	752	15731	0.00	2.50	0.00	0.000	6	0.000	0.045	2692	2098	1607
16047	1.31	316.6	277.8	11.4	768	16049	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2098	1607
16357	1.31	316.6	243.6	10.9	783	16358	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2098	1608
16666	1.31	316.6	210.1	10.7	798	16670	0.00	2.65	0.00	0.000	4	0.000	0.076	2692	3516	1608
16687	1.31	316.6	207.6	12.4	799	16691	0.00	2.55	0.00	0.000	6	0.000	0.048	2692	2095	1608
17008	1.31	316.6	176.4	8.9	815	17012	0.00	2.58	0.00	0.000	4	0.000	0.064	2692	685	1609
17041	1.31	316.6	173.4	8.0	816	17047	0.00	2.55	0.00	0.000	6	0.000	0.049	2692	2106	1609
17357	1.31	316.6	147.2	7.9	832	17358	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2106	1609
17668	1.31	316.6	119.5	8.9	847	17669	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2106	1609
17976	1.31	316.6	86.5	10.4	862	17977	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2106	1609
18285	1.31	316.6	52.7	12.1	877	18289	0.00	2.62	0.00	0.000	4	0.000	0.066	2692	688	1610
18328	1.31	316.6	46.5	14.7	879	18333	0.00	2.53	0.00	0.000	6	0.000	0.050	2692	2102	1610
18650	1.31	316.6	12.4	11.2	895	18654	0.00	2.65	0.00	0.000	4	0.000	0.074	2692	3516	1610
18690	1.31	316.6	9.5	6.2	897	18694	0.00	2.47	0.00	0.000	6	0.000	0.038	2692	2089	1610
18772	end climb: SURFACE_DEPTH_REACHED
state	18772	begin surface coast
18795	end surface coast: CONTROL_FINISHED_OK
state	18795	begin surface