Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 71 * 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 71 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 1775 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 21 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 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -63476.488 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 -63476.488

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1775 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 21 USE_BATHY -3

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 71 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 010837,6141.991,-901.387,33,1.1,33,-9.3 TGT_NAME FB

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,-0.132

_SM_DEPTHo -0.09 KALMAN_X -99635.5,-728.7,-270.7,76870.4,4556.8

_SM_ANGLEo -55.8 KALMAN_Y 105736.8,-1297.2,-1386.4,-88398.9,4016.4

GPS2 011608,6141.897,-901.362,9,2.0,9,-9.3 MHEAD_RNG_PITCHd_Wd 242.0,40572,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 789

Post-dive calculations and measurements:

FINISH -0.7,1.027261 XPDR_PINGS 2

SM_CCo 18561,0.00,0.000,0,0,1463,352.50 ALTIM_BOTTOM_PING 726.1,98.2

SM_GC 0.06,11.52,0.00,0.00,0.021,0.000,0.000,29,2897,1463,-10.79,-0.08,352.50 _24V_AH 23.3,17.442

IRIDIUM_FIX 6117.23,-906.13,231107,050514 _10V_AH 10.1,6.781

TT8_MAMPS 0.028379 DATA_FILE_SIZE 44327,894

HUMID 2076 CFSIZE 260165632,254795776

INTERNAL_PRESSURE 8.83823 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,57,0,0

TCM_TEMP 16.60 GPS 231107,062738,6139.214,-906.700,33,1.3,33,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 99.17 SBE_CT 641 24 358.89

Roll_motor 210 105 519.14 SBE_O2 624 19 276.37

VBD_pump_during_apogee 423 1372 13553.85 WL_BB2F 521 105 1276.40

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 79 103 189.80 nil 0 0 0.00

Iridium_during_connect 54 160 202.19 nil 0 0 0.00

Iridium_during_xfer 172 223 896.10

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 9 50 5.03

TT8 1702 19 340.43

LPSleep 14087 2 311.60

TT8_Active 575 19 115.13

TT8_Sampling 2189 39 879.96

TT8_CF8 473 45 218.97

TT8_Kalman 33 81 27.59

Analog_circuits 1699 12 205.93

GPS_charging 0 0 0.00

Compass 2149 8 173.69

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.10 -146.6 0.0 0.0 0 82 0.00 0.00 -62.08 0.000 2 0.000 0.000 43 2889 3470

84 -1.10 -146.6 4.2 -10.5 3 106 12.12 1.75 -0.50 0.000 4 0.163 0.106 2167 3786 3502

173 -1.10 -146.6 19.0 -6.5 7 177 0.00 1.55 0.00 0.000 6 0.000 0.039 2167 2905 3502

505 -1.10 -146.6 45.6 -6.8 23 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3502

814 -1.10 -146.6 65.5 -7.1 38 818 0.00 2.58 0.00 0.000 4 0.000 0.064 2167 1489 3502

845 -1.10 -146.6 67.7 -6.5 39 852 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2893 3502

1162 -1.10 -146.6 90.9 -7.3 55 1167 0.00 2.60 0.00 0.000 4 0.000 0.067 2167 1489 3502

1190 -1.10 -146.6 92.9 -7.0 56 1194 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2901 3502

1505 -1.10 -146.6 116.6 -7.5 71 1506 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3503

1814 -1.10 -146.6 137.7 -6.4 86 1818 0.00 2.62 0.00 0.000 4 0.000 0.067 2167 1483 3503

1874 -1.10 -146.6 141.4 -6.1 89 1879 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2904 3502

2200 -1.10 -146.6 159.9 -5.6 105 2201 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2904 3503

2509 -1.10 -146.6 176.4 -5.2 120 2513 0.00 2.60 0.00 0.000 4 0.000 0.068 2167 1489 3503

2552 -1.10 -146.6 178.8 -5.2 122 2556 0.00 2.62 0.00 0.000 6 0.000 0.069 2167 2900 3503

2879 -1.10 -146.6 194.5 -4.6 138 2883 0.00 2.62 0.00 0.000 4 0.000 0.071 2167 1487 3503

2917 -1.10 -146.6 196.4 -5.4 140 2921 0.00 2.62 0.00 0.000 6 0.000 0.070 2167 2901 3503

3243 -1.10 -146.6 213.8 -5.5 156 3244 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2901 3503

3552 -1.10 -146.6 230.4 -5.3 171 3556 0.00 2.62 0.00 0.000 4 0.000 0.072 2167 1489 3502

3600 -1.10 -146.6 233.4 -5.8 173 3605 0.00 2.62 0.00 0.000 6 0.000 0.070 2167 2901 3503

3921 -1.10 -146.6 252.5 -5.8 189 3926 0.00 2.62 0.00 0.000 4 0.000 0.072 2167 1489 3503

3955 -1.10 -146.6 254.7 -6.4 190 3961 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2901 3502

4270 -1.10 -146.6 275.1 -6.8 206 4274 0.00 2.62 0.00 0.000 4 0.000 0.069 2167 1483 3503

4318 -1.10 -146.6 278.4 -7.2 208 4323 0.00 2.65 0.00 0.000 6 0.000 0.070 2167 2894 3503

4640 -1.10 -146.6 301.2 -7.6 224 4644 0.00 2.60 0.00 0.000 4 0.000 0.073 2167 1489 3503

4679 -1.10 -146.6 304.4 -7.8 226 4684 0.00 2.65 0.00 0.000 6 0.000 0.073 2167 2901 3503

5004 -1.10 -146.6 330.0 -8.1 242 5005 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2902 3503

5313 -1.10 -146.6 356.5 -8.4 257 5317 0.00 2.60 0.00 0.000 4 0.000 0.069 2167 1483 3503

5356 -1.10 -146.6 360.2 -8.2 259 5361 0.00 2.65 0.00 0.000 6 0.000 0.068 2167 2900 3503

5683 -1.10 -146.6 388.3 -8.8 275 5688 0.00 2.60 0.00 0.000 4 0.000 0.071 2167 1485 3503

5709 -1.10 -146.6 390.9 -9.0 276 5714 0.00 2.65 0.00 0.000 6 0.000 0.069 2167 2899 3503

6031 -1.10 -146.6 418.1 -8.2 292 6035 0.00 2.55 0.00 0.000 4 0.000 0.065 2167 1489 3503

6080 -1.10 -146.6 422.1 -8.0 294 6084 0.00 2.60 0.00 0.000 6 0.000 0.067 2167 2899 3503

6406 -1.10 -146.6 446.9 -7.5 310 6411 0.00 2.60 0.00 0.000 4 0.000 0.069 2167 1484 3503

6446 -1.10 -146.6 450.1 -8.2 312 6450 0.00 2.60 0.00 0.000 6 0.000 0.068 2167 2900 3502

6772 -1.10 -146.6 476.7 -8.5 328 6776 0.00 2.60 0.00 0.000 4 0.000 0.065 2167 1484 3502

6803 -1.10 -146.6 479.6 -8.5 329 6810 0.00 2.62 0.00 0.000 6 0.000 0.067 2167 2891 3503

7119 -1.10 -146.6 505.7 -8.1 345 7123 0.00 2.58 0.00 0.000 4 0.000 0.067 2167 1482 3503

7145 -1.10 -146.6 507.9 -8.2 346 7149 0.00 2.60 0.00 0.000 6 0.000 0.064 2167 2900 3503

7466 -1.10 -146.6 532.4 -7.5 362 7470 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 1484 3503

7514 -1.10 -146.6 536.2 -7.7 364 7519 0.00 2.62 0.00 0.000 6 0.000 0.064 2167 2898 3503

7835 -1.10 -146.6 558.1 -6.7 380 7840 0.00 2.58 0.00 0.000 4 0.000 0.066 2167 1481 3503

7867 -1.10 -146.6 560.4 -6.6 381 7874 0.00 2.62 0.00 0.000 6 0.000 0.065 2167 2898 3503

8183 -1.10 -146.6 581.5 -7.1 397 8187 0.00 1.67 0.00 0.000 4 0.000 0.084 2167 3780 3503

8237 -1.10 -146.6 586.1 -8.1 399 8242 0.00 1.52 0.00 0.000 6 0.000 0.036 2167 2894 3503

8558 -1.10 -146.6 612.5 -8.2 415 8562 0.00 1.67 0.00 0.000 4 0.000 0.085 2167 3783 3503

8686 -1.10 -146.6 622.6 -7.5 420 8693 0.00 1.50 0.00 0.000 6 0.000 0.035 2167 2902 3503

9002 -1.10 -146.6 639.3 -5.0 436 9006 0.00 2.53 0.00 0.000 4 0.000 0.061 2167 1496 3503

9085 -1.10 -146.6 644.2 -6.0 440 9089 0.00 2.58 0.00 0.000 6 0.000 0.067 2167 2898 3503

9411 -1.10 -146.6 670.9 -9.4 456 9415 0.00 2.58 0.00 0.000 4 0.000 0.065 2167 1493 3503

9465 -1.10 -146.6 676.2 -9.4 458 9472 0.00 2.62 0.00 0.000 6 0.000 0.068 2167 2899 3503

9780 -1.10 -146.6 709.3 -10.4 474 9784 0.00 1.67 0.00 0.000 4 0.000 0.088 2167 3783 3503

9896 -1.10 -146.6 722.0 -10.8 479 9901 0.00 1.52 0.00 0.000 6 0.000 0.038 2167 2905 3503

10223 -1.10 -146.6 751.3 -5.9 495 10228 0.00 2.58 0.00 0.000 4 0.000 0.068 2167 1491 3503

10267 -1.10 -146.6 752.8 -3.3 497 10271 0.00 2.62 0.00 0.000 6 0.000 0.071 2167 2906 3503

10594 -1.10 -146.6 752.4 -1.2 513 10598 0.00 2.62 0.00 0.000 4 0.000 0.068 2167 1483 3502

10627 -1.10 -146.6 753.6 -4.1 514 10633 0.00 2.65 0.00 0.000 6 0.000 0.073 2167 2900 3502

10941 -1.10 -146.6 771.4 -4.4 530 10942 0.00 0.00 0.00 0.000 6 0.000 0.000 2167 2900 3502

11251 -1.10 -146.6 783.0 -5.7 545 11255 0.00 2.65 0.00 0.000 4 0.000 0.076 2167 1490 3500

11334 -1.10 -146.6 788.3 -6.4 549 11338 0.00 2.65 0.00 0.000 6 0.000 0.078 2167 2899 3499

11348 end dive: TARGET_DEPTH_EXCEEDED

state 11348 begin apogee

11354 -0.42 0.0 789.2 6.6 550 11484 0.73 0.00 126.35 1.365 6 0.071 0.000 2319 1778 2901

11484 end apogee: CONTROL_FINISHED_OK

state 11485 begin climb

11486 1.10 146.6 791.2 0.0 556 11614 1.55 0.00 123.40 1.345 6 0.056 0.000 2649 1778 2303

11916 1.10 146.6 770.6 10.3 577 11917 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 1778 2301

12226 1.18 207.4 752.5 4.3 592 12287 0.00 2.88 51.17 1.373 4 0.000 0.099 2649 3184 2055

12422 1.36 353.5 743.2 2.0 601 12553 0.25 2.65 122.78 1.365 6 0.034 0.069 2713 1776 1459

12874 1.36 353.5 703.5 11.2 623 12878 0.00 2.67 0.00 0.000 4 0.000 0.074 2713 3188 1458

13002 1.36 353.5 688.2 12.2 629 13006 0.00 2.58 0.00 0.000 6 0.000 0.053 2713 1765 1458

13333 1.36 353.5 644.6 13.2 645 13338 0.00 2.65 0.00 0.000 4 0.000 0.069 2713 3188 1458

13432 1.36 353.5 629.5 15.5 649 13440 0.00 2.58 0.00 0.000 6 0.000 0.050 2713 1774 1457

13748 1.36 353.5 590.9 10.8 665 13752 0.00 2.62 0.00 0.000 4 0.000 0.070 2713 3187 1458

13847 1.36 353.5 578.2 12.9 669 13854 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1778 1458

14163 1.36 353.5 541.0 12.7 685 14167 0.00 2.62 0.00 0.000 4 0.000 0.069 2713 3188 1458

14250 1.36 353.5 529.1 13.6 689 14255 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1776 1458

14577 1.36 353.5 491.7 11.1 705 14582 0.00 2.62 0.00 0.000 4 0.000 0.067 2713 3192 1458

14671 1.36 353.5 480.9 10.9 709 14676 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1777 1458

14992 1.36 353.5 436.9 14.4 725 14996 0.00 2.60 0.00 0.000 4 0.000 0.067 2713 3188 1459

15104 1.36 353.5 421.3 12.9 730 15108 0.00 2.55 0.00 0.000 6 0.000 0.049 2713 1768 1459

15424 1.36 353.5 376.9 12.7 746 15428 0.00 2.65 0.00 0.000 4 0.000 0.067 2713 3192 1459

15517 1.36 353.5 364.0 13.5 750 15521 0.00 2.55 0.00 0.000 6 0.000 0.048 2713 1776 1460

15839 1.36 353.5 320.8 14.0 766 15843 0.00 2.62 0.00 0.000 4 0.000 0.070 2713 3188 1460

15909 1.36 353.5 310.6 13.3 769 15914 0.00 2.55 0.00 0.000 6 0.000 0.049 2713 1777 1460

16230 1.36 353.5 270.0 12.1 785 16235 0.00 2.62 0.00 0.000 4 0.000 0.071 2713 3186 1460

16318 1.36 353.5 259.6 12.0 789 16323 0.00 2.55 0.00 0.000 6 0.000 0.053 2713 1778 1461

16645 1.36 353.5 222.0 8.4 805 16649 0.00 2.62 0.00 0.000 4 0.000 0.073 2713 3188 1462

16762 1.36 353.5 207.4 14.9 810 16766 0.00 2.55 0.00 0.000 6 0.000 0.054 2713 1769 1462

17083 1.36 353.5 167.1 13.8 826 17087 0.00 2.67 0.00 0.000 4 0.000 0.073 2713 3189 1462

17188 1.36 353.5 151.1 11.5 831 17193 0.00 2.55 0.00 0.000 6 0.000 0.054 2713 1770 1462

17514 1.36 353.5 114.9 10.0 847 17519 0.00 2.67 0.00 0.000 4 0.000 0.074 2713 3188 1463

17576 1.36 353.5 107.8 12.8 850 17580 0.00 2.55 0.00 0.000 6 0.000 0.057 2713 1776 1463

17901 1.36 353.5 69.6 12.0 866 17905 0.00 2.67 0.00 0.000 4 0.000 0.075 2713 3188 1463

17972 1.36 353.5 60.7 11.7 869 17976 0.00 2.58 0.00 0.000 6 0.000 0.058 2713 1776 1463

18293 1.36 353.5 21.0 12.6 885 18297 0.00 2.67 0.00 0.000 4 0.000 0.076 2713 3191 1463

18386 1.36 353.5 9.2 12.4 889 18391 0.00 2.55 0.00 0.000 6 0.000 0.051 2713 1780 1463

18459 end climb: SURFACE_DEPTH_REACHED

state 18459 begin surface coast

18481 end surface coast: CONTROL_FINISHED_OK

state 18481 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	71	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	1775	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	21	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	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-63476.488	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	010837,6141.991,-901.387,33,1.1,33,-9.3	TGT_NAME	FB
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,-0.132
_SM_DEPTHo	-0.09	KALMAN_X	-99635.5,-728.7,-270.7,76870.4,4556.8
_SM_ANGLEo	-55.8	KALMAN_Y	105736.8,-1297.2,-1386.4,-88398.9,4016.4
GPS2	011608,6141.897,-901.362,9,2.0,9,-9.3	MHEAD_RNG_PITCHd_Wd	242.0,40572,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	789

FINISH	-0.7,1.027261	XPDR_PINGS	2
SM_CCo	18561,0.00,0.000,0,0,1463,352.50	ALTIM_BOTTOM_PING	726.1,98.2
SM_GC	0.06,11.52,0.00,0.00,0.021,0.000,0.000,29,2897,1463,-10.79,-0.08,352.50	_24V_AH	23.3,17.442
IRIDIUM_FIX	6117.23,-906.13,231107,050514	_10V_AH	10.1,6.781
TT8_MAMPS	0.028379	DATA_FILE_SIZE	44327,894
HUMID	2076	CFSIZE	260165632,254795776
INTERNAL_PRESSURE	8.83823	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,57,0,0
TCM_TEMP	16.60	GPS	231107,062738,6139.214,-906.700,33,1.3,33,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	99.17	SBE_CT	641	24	358.89
Roll_motor	210	105	519.14	SBE_O2	624	19	276.37
VBD_pump_during_apogee	423	1372	13553.85	WL_BB2F	521	105	1276.40
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	79	103	189.80	nil	0	0	0.00
Iridium_during_connect	54	160	202.19	nil	0	0	0.00
Iridium_during_xfer	172	223	896.10
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	9	50	5.03
TT8	1702	19	340.43
LPSleep	14087	2	311.60
TT8_Active	575	19	115.13
TT8_Sampling	2189	39	879.96
TT8_CF8	473	45	218.97
TT8_Kalman	33	81	27.59
Analog_circuits	1699	12	205.93
GPS_charging	0	0	0.00
Compass	2149	8	173.69
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.10	-146.6	0.0	0.0	0	82	0.00	0.00	-62.08	0.000	2	0.000	0.000	43	2889	3470
84	-1.10	-146.6	4.2	-10.5	3	106	12.12	1.75	-0.50	0.000	4	0.163	0.106	2167	3786	3502
173	-1.10	-146.6	19.0	-6.5	7	177	0.00	1.55	0.00	0.000	6	0.000	0.039	2167	2905	3502
505	-1.10	-146.6	45.6	-6.8	23	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3502
814	-1.10	-146.6	65.5	-7.1	38	818	0.00	2.58	0.00	0.000	4	0.000	0.064	2167	1489	3502
845	-1.10	-146.6	67.7	-6.5	39	852	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2893	3502
1162	-1.10	-146.6	90.9	-7.3	55	1167	0.00	2.60	0.00	0.000	4	0.000	0.067	2167	1489	3502
1190	-1.10	-146.6	92.9	-7.0	56	1194	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2901	3502
1505	-1.10	-146.6	116.6	-7.5	71	1506	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3503
1814	-1.10	-146.6	137.7	-6.4	86	1818	0.00	2.62	0.00	0.000	4	0.000	0.067	2167	1483	3503
1874	-1.10	-146.6	141.4	-6.1	89	1879	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2904	3502
2200	-1.10	-146.6	159.9	-5.6	105	2201	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2904	3503
2509	-1.10	-146.6	176.4	-5.2	120	2513	0.00	2.60	0.00	0.000	4	0.000	0.068	2167	1489	3503
2552	-1.10	-146.6	178.8	-5.2	122	2556	0.00	2.62	0.00	0.000	6	0.000	0.069	2167	2900	3503
2879	-1.10	-146.6	194.5	-4.6	138	2883	0.00	2.62	0.00	0.000	4	0.000	0.071	2167	1487	3503
2917	-1.10	-146.6	196.4	-5.4	140	2921	0.00	2.62	0.00	0.000	6	0.000	0.070	2167	2901	3503
3243	-1.10	-146.6	213.8	-5.5	156	3244	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2901	3503
3552	-1.10	-146.6	230.4	-5.3	171	3556	0.00	2.62	0.00	0.000	4	0.000	0.072	2167	1489	3502
3600	-1.10	-146.6	233.4	-5.8	173	3605	0.00	2.62	0.00	0.000	6	0.000	0.070	2167	2901	3503
3921	-1.10	-146.6	252.5	-5.8	189	3926	0.00	2.62	0.00	0.000	4	0.000	0.072	2167	1489	3503
3955	-1.10	-146.6	254.7	-6.4	190	3961	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2901	3502
4270	-1.10	-146.6	275.1	-6.8	206	4274	0.00	2.62	0.00	0.000	4	0.000	0.069	2167	1483	3503
4318	-1.10	-146.6	278.4	-7.2	208	4323	0.00	2.65	0.00	0.000	6	0.000	0.070	2167	2894	3503
4640	-1.10	-146.6	301.2	-7.6	224	4644	0.00	2.60	0.00	0.000	4	0.000	0.073	2167	1489	3503
4679	-1.10	-146.6	304.4	-7.8	226	4684	0.00	2.65	0.00	0.000	6	0.000	0.073	2167	2901	3503
5004	-1.10	-146.6	330.0	-8.1	242	5005	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2902	3503
5313	-1.10	-146.6	356.5	-8.4	257	5317	0.00	2.60	0.00	0.000	4	0.000	0.069	2167	1483	3503
5356	-1.10	-146.6	360.2	-8.2	259	5361	0.00	2.65	0.00	0.000	6	0.000	0.068	2167	2900	3503
5683	-1.10	-146.6	388.3	-8.8	275	5688	0.00	2.60	0.00	0.000	4	0.000	0.071	2167	1485	3503
5709	-1.10	-146.6	390.9	-9.0	276	5714	0.00	2.65	0.00	0.000	6	0.000	0.069	2167	2899	3503
6031	-1.10	-146.6	418.1	-8.2	292	6035	0.00	2.55	0.00	0.000	4	0.000	0.065	2167	1489	3503
6080	-1.10	-146.6	422.1	-8.0	294	6084	0.00	2.60	0.00	0.000	6	0.000	0.067	2167	2899	3503
6406	-1.10	-146.6	446.9	-7.5	310	6411	0.00	2.60	0.00	0.000	4	0.000	0.069	2167	1484	3503
6446	-1.10	-146.6	450.1	-8.2	312	6450	0.00	2.60	0.00	0.000	6	0.000	0.068	2167	2900	3502
6772	-1.10	-146.6	476.7	-8.5	328	6776	0.00	2.60	0.00	0.000	4	0.000	0.065	2167	1484	3502
6803	-1.10	-146.6	479.6	-8.5	329	6810	0.00	2.62	0.00	0.000	6	0.000	0.067	2167	2891	3503
7119	-1.10	-146.6	505.7	-8.1	345	7123	0.00	2.58	0.00	0.000	4	0.000	0.067	2167	1482	3503
7145	-1.10	-146.6	507.9	-8.2	346	7149	0.00	2.60	0.00	0.000	6	0.000	0.064	2167	2900	3503
7466	-1.10	-146.6	532.4	-7.5	362	7470	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	1484	3503
7514	-1.10	-146.6	536.2	-7.7	364	7519	0.00	2.62	0.00	0.000	6	0.000	0.064	2167	2898	3503
7835	-1.10	-146.6	558.1	-6.7	380	7840	0.00	2.58	0.00	0.000	4	0.000	0.066	2167	1481	3503
7867	-1.10	-146.6	560.4	-6.6	381	7874	0.00	2.62	0.00	0.000	6	0.000	0.065	2167	2898	3503
8183	-1.10	-146.6	581.5	-7.1	397	8187	0.00	1.67	0.00	0.000	4	0.000	0.084	2167	3780	3503
8237	-1.10	-146.6	586.1	-8.1	399	8242	0.00	1.52	0.00	0.000	6	0.000	0.036	2167	2894	3503
8558	-1.10	-146.6	612.5	-8.2	415	8562	0.00	1.67	0.00	0.000	4	0.000	0.085	2167	3783	3503
8686	-1.10	-146.6	622.6	-7.5	420	8693	0.00	1.50	0.00	0.000	6	0.000	0.035	2167	2902	3503
9002	-1.10	-146.6	639.3	-5.0	436	9006	0.00	2.53	0.00	0.000	4	0.000	0.061	2167	1496	3503
9085	-1.10	-146.6	644.2	-6.0	440	9089	0.00	2.58	0.00	0.000	6	0.000	0.067	2167	2898	3503
9411	-1.10	-146.6	670.9	-9.4	456	9415	0.00	2.58	0.00	0.000	4	0.000	0.065	2167	1493	3503
9465	-1.10	-146.6	676.2	-9.4	458	9472	0.00	2.62	0.00	0.000	6	0.000	0.068	2167	2899	3503
9780	-1.10	-146.6	709.3	-10.4	474	9784	0.00	1.67	0.00	0.000	4	0.000	0.088	2167	3783	3503
9896	-1.10	-146.6	722.0	-10.8	479	9901	0.00	1.52	0.00	0.000	6	0.000	0.038	2167	2905	3503
10223	-1.10	-146.6	751.3	-5.9	495	10228	0.00	2.58	0.00	0.000	4	0.000	0.068	2167	1491	3503
10267	-1.10	-146.6	752.8	-3.3	497	10271	0.00	2.62	0.00	0.000	6	0.000	0.071	2167	2906	3503
10594	-1.10	-146.6	752.4	-1.2	513	10598	0.00	2.62	0.00	0.000	4	0.000	0.068	2167	1483	3502
10627	-1.10	-146.6	753.6	-4.1	514	10633	0.00	2.65	0.00	0.000	6	0.000	0.073	2167	2900	3502
10941	-1.10	-146.6	771.4	-4.4	530	10942	0.00	0.00	0.00	0.000	6	0.000	0.000	2167	2900	3502
11251	-1.10	-146.6	783.0	-5.7	545	11255	0.00	2.65	0.00	0.000	4	0.000	0.076	2167	1490	3500
11334	-1.10	-146.6	788.3	-6.4	549	11338	0.00	2.65	0.00	0.000	6	0.000	0.078	2167	2899	3499
11348	end dive: TARGET_DEPTH_EXCEEDED
state	11348	begin apogee
11354	-0.42	0.0	789.2	6.6	550	11484	0.73	0.00	126.35	1.365	6	0.071	0.000	2319	1778	2901
11484	end apogee: CONTROL_FINISHED_OK
state	11485	begin climb
11486	1.10	146.6	791.2	0.0	556	11614	1.55	0.00	123.40	1.345	6	0.056	0.000	2649	1778	2303
11916	1.10	146.6	770.6	10.3	577	11917	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	1778	2301
12226	1.18	207.4	752.5	4.3	592	12287	0.00	2.88	51.17	1.373	4	0.000	0.099	2649	3184	2055
12422	1.36	353.5	743.2	2.0	601	12553	0.25	2.65	122.78	1.365	6	0.034	0.069	2713	1776	1459
12874	1.36	353.5	703.5	11.2	623	12878	0.00	2.67	0.00	0.000	4	0.000	0.074	2713	3188	1458
13002	1.36	353.5	688.2	12.2	629	13006	0.00	2.58	0.00	0.000	6	0.000	0.053	2713	1765	1458
13333	1.36	353.5	644.6	13.2	645	13338	0.00	2.65	0.00	0.000	4	0.000	0.069	2713	3188	1458
13432	1.36	353.5	629.5	15.5	649	13440	0.00	2.58	0.00	0.000	6	0.000	0.050	2713	1774	1457
13748	1.36	353.5	590.9	10.8	665	13752	0.00	2.62	0.00	0.000	4	0.000	0.070	2713	3187	1458
13847	1.36	353.5	578.2	12.9	669	13854	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1778	1458
14163	1.36	353.5	541.0	12.7	685	14167	0.00	2.62	0.00	0.000	4	0.000	0.069	2713	3188	1458
14250	1.36	353.5	529.1	13.6	689	14255	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1776	1458
14577	1.36	353.5	491.7	11.1	705	14582	0.00	2.62	0.00	0.000	4	0.000	0.067	2713	3192	1458
14671	1.36	353.5	480.9	10.9	709	14676	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1777	1458
14992	1.36	353.5	436.9	14.4	725	14996	0.00	2.60	0.00	0.000	4	0.000	0.067	2713	3188	1459
15104	1.36	353.5	421.3	12.9	730	15108	0.00	2.55	0.00	0.000	6	0.000	0.049	2713	1768	1459
15424	1.36	353.5	376.9	12.7	746	15428	0.00	2.65	0.00	0.000	4	0.000	0.067	2713	3192	1459
15517	1.36	353.5	364.0	13.5	750	15521	0.00	2.55	0.00	0.000	6	0.000	0.048	2713	1776	1460
15839	1.36	353.5	320.8	14.0	766	15843	0.00	2.62	0.00	0.000	4	0.000	0.070	2713	3188	1460
15909	1.36	353.5	310.6	13.3	769	15914	0.00	2.55	0.00	0.000	6	0.000	0.049	2713	1777	1460
16230	1.36	353.5	270.0	12.1	785	16235	0.00	2.62	0.00	0.000	4	0.000	0.071	2713	3186	1460
16318	1.36	353.5	259.6	12.0	789	16323	0.00	2.55	0.00	0.000	6	0.000	0.053	2713	1778	1461
16645	1.36	353.5	222.0	8.4	805	16649	0.00	2.62	0.00	0.000	4	0.000	0.073	2713	3188	1462
16762	1.36	353.5	207.4	14.9	810	16766	0.00	2.55	0.00	0.000	6	0.000	0.054	2713	1769	1462
17083	1.36	353.5	167.1	13.8	826	17087	0.00	2.67	0.00	0.000	4	0.000	0.073	2713	3189	1462
17188	1.36	353.5	151.1	11.5	831	17193	0.00	2.55	0.00	0.000	6	0.000	0.054	2713	1770	1462
17514	1.36	353.5	114.9	10.0	847	17519	0.00	2.67	0.00	0.000	4	0.000	0.074	2713	3188	1463
17576	1.36	353.5	107.8	12.8	850	17580	0.00	2.55	0.00	0.000	6	0.000	0.057	2713	1776	1463
17901	1.36	353.5	69.6	12.0	866	17905	0.00	2.67	0.00	0.000	4	0.000	0.075	2713	3188	1463
17972	1.36	353.5	60.7	11.7	869	17976	0.00	2.58	0.00	0.000	6	0.000	0.058	2713	1776	1463
18293	1.36	353.5	21.0	12.6	885	18297	0.00	2.67	0.00	0.000	4	0.000	0.076	2713	3191	1463
18386	1.36	353.5	9.2	12.4	889	18391	0.00	2.55	0.00	0.000	6	0.000	0.051	2713	1780	1463
18459	end climb: SURFACE_DEPTH_REACHED
state	18459	begin surface coast
18481	end surface coast: CONTROL_FINISHED_OK
state	18481	begin surface