Glider dive log

Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HD_B 0.0099684997 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 20

MISSION 4 HD_C 2.5700001e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 13 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 176 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3929 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2052 ALTIM_FREQUENCY 13

D_NO_BLEED 100 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1950 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 250 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.784981

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 12 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 607 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3934 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2915 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 5 VBD_TIMEOUT 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -35251.504 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 57 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 45 AH0_24V 91.800003 SEABIRD_T_G 0.0043062796

SPEED_FACTOR 1 PITCH_MAX 3331 AH0_10V 61.200001 SEABIRD_T_H 0.0006289829

RHO 1.023 C_PITCH 2450 PRESSURE_YINT -16.564281 SEABIRD_T_I 2.2033064e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.057111e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.442612

FERRY_MAX 12 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1821688

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015124022

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022414648

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 250

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 45 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.564281 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -8.75

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_GPS_CHARGE -35251.504

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

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 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 104 ROLL_MAX 3929 T_TURN_SAMPINT 5

C_PITCH 2450 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 12 T_WATCHDOG 10

C_ROLL_CLIMB 1950 INT_PRESSURE_YINT -1.784981 ROLL_MIN 176 UNCOM_BLEED 20

C_ROLL_DIVE 2052 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2915 MASS 52000 R_PORT_OVSHOOT 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.442612 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0015124022 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00022414648 VBD_MAX 3934

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043062796 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006289829 VBD_MIN 607

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2033064e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 13 PHONE_DEVICE 48 SEABIRD_T_J 2.057111e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 063332,6130.075,-247.933,51,1.0,51,-5.9 TGT_NAME BE

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.229,0.130

_SM_DEPTHo 1.10 KALMAN_X 47544.0,-2298.6,250.5,-26409.8,9052.6

_SM_ANGLEo -59.1 KALMAN_Y -8195.9,-506.3,589.4,930.3,-2943.4

GPS2 063951,6130.104,-247.629,11,1.6,11,-5.9 MHEAD_RNG_PITCHd_Wd 305.5,340683,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.027357 XPDR_PINGS 0

SM_CCo 19137,40.42,0.660,2,0,1894,250.21 ALTIM_TOP_PING 18.3,18.1

SM_GC 1.20,0.00,0.00,40.42,0.000,0.000,0.660,43,2062,1894,-11.07,0.28,250.21 _24V_AH 23.0,4.751

IRIDIUM_FIX 6108.28,-251.29,120597,010147 _10V_AH 10.1,2.542

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47434,916

HUMID 1713 CFSIZE 260165632,256401408

INTERNAL_PRESSURE 8.40096 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,22,2,0

TCM_TEMP 17.30 GPS 160208,120138,6130.704,-250.926,29,1.3,29,-6.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 158 97.77 SBE_CT 681 24 376.29

Roll_motor 196 72 328.98 SBE_O2 618 19 270.29

VBD_pump_during_apogee 295 1468 9963.17 WL_BB2F 537 105 1297.29

VBD_pump_during_surface 40 660 614.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 97.22 nil 0 0 0.00

Iridium_during_connect 39 160 144.54 nil 0 0 0.00

Iridium_during_xfer 179 223 921.57

Transponder_ping 8 420 84.53

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.73

TT8 1759 19 351.96

LPSleep 14415 2 318.86

TT8_Active 537 19 107.39

TT8_Sampling 2297 39 923.39

TT8_CF8 554 45 256.48

TT8_Kalman 33 81 27.55

Analog_circuits 1662 12 201.49

GPS_charging 0 0 0.00

Compass 2253 8 182.05

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 -1.39 -146.6 0.0 0.0 0 108 0.00 0.00 -81.32 0.000 2 0.000 0.000 43 2073 3491

111 -1.39 -146.6 4.4 -4.9 4 133 11.93 2.62 -0.50 0.000 4 0.159 0.071 2141 653 3516

259 -1.39 -146.6 29.1 -9.8 10 263 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2051 3517

574 -1.39 -146.6 64.3 -12.6 25 575 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2052 3518

884 -1.39 -146.6 97.8 -10.4 40 888 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 643 3519

933 -1.39 -146.6 104.0 -13.6 42 937 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2053 3519

1249 -1.39 -146.6 140.4 -10.1 57 1254 0.00 2.55 0.00 0.000 4 0.000 0.059 2141 647 3519

1313 -1.39 -146.6 146.5 -10.0 60 1317 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2052 3519

1640 -1.39 -146.6 178.4 -9.9 76 1644 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 648 3519

1724 -1.39 -146.6 187.0 -10.1 80 1728 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2057 3519

2051 -1.39 -146.6 218.2 -10.1 96 2055 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 643 3520

2123 -1.39 -146.6 226.1 -10.8 99 2127 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2052 3520

2444 -1.39 -146.6 259.4 -10.5 115 2448 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 648 3519

2493 -1.39 -146.6 265.1 -11.4 117 2497 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2060 3519

2815 -1.39 -146.6 301.3 -11.8 133 2819 0.00 2.58 0.00 0.000 4 0.000 0.061 2141 644 3520

2932 -1.39 -146.6 316.1 -12.2 138 2936 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2053 3520

3248 -1.39 -146.6 352.1 -11.1 153 3252 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 648 3520

3303 -1.39 -146.6 358.4 -11.1 155 3309 0.00 2.42 0.00 0.000 6 0.000 0.037 2141 2051 3520

3619 -1.39 -146.6 390.2 -9.8 171 3624 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 646 3520

3686 -1.39 -146.6 397.5 -10.9 174 3690 0.00 2.42 0.00 0.000 6 0.000 0.036 2141 2058 3520

4006 -1.39 -146.6 431.2 -10.9 190 4011 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 648 3520

4084 -1.39 -146.6 439.8 -10.6 193 4090 0.00 2.40 0.00 0.000 6 0.000 0.037 2141 2058 3520

4400 -1.39 -146.6 471.4 -9.7 209 4401 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2058 3520

4710 -1.39 -146.6 500.9 -9.7 224 4714 0.00 2.55 0.00 0.000 4 0.000 0.060 2141 647 3519

4755 -1.39 -146.6 505.5 -10.0 226 4759 0.00 2.40 0.00 0.000 6 0.000 0.037 2141 2054 3519

5075 -1.39 -146.6 535.6 -9.2 242 5080 0.00 2.55 0.00 0.000 4 0.000 0.061 2141 647 3519

5161 -1.39 -146.6 543.8 -9.7 246 5165 0.00 2.42 0.00 0.000 6 0.000 0.039 2141 2056 3519

5487 -1.39 -146.6 574.9 -9.8 262 5492 0.00 2.58 0.00 0.000 4 0.000 0.064 2141 643 3518

5587 -1.39 -146.6 585.4 -10.3 266 5591 0.00 2.42 0.00 0.000 6 0.000 0.041 2141 2050 3517

5904 -1.39 -146.6 615.1 -9.4 281 5908 0.00 2.58 0.00 0.000 4 0.000 0.064 2141 642 3516

5959 -1.39 -146.6 620.9 -10.5 283 5965 0.00 2.45 0.00 0.000 6 0.000 0.042 2141 2057 3516

6277 -1.39 -146.6 650.3 -9.1 299 6281 0.00 2.58 0.00 0.000 4 0.000 0.065 2141 648 3515

6362 -1.39 -146.6 658.8 -9.9 303 6366 0.00 2.45 0.00 0.000 6 0.000 0.044 2141 2053 3514

6688 -1.39 -146.6 689.3 -9.2 319 6692 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 648 3513

6810 -1.39 -146.6 701.5 -10.1 324 6816 0.00 2.45 0.00 0.000 6 0.000 0.045 2141 2053 3512

7126 -1.39 -146.6 731.0 -9.3 340 7130 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 648 3511

7216 -1.39 -146.6 739.8 -9.9 344 7221 0.00 2.47 0.00 0.000 6 0.000 0.045 2141 2059 3511

7537 -1.39 -146.6 769.7 -9.2 360 7542 0.00 2.60 0.00 0.000 4 0.000 0.067 2141 645 3510

7616 -1.39 -146.6 777.6 -10.0 363 7622 0.00 2.47 0.00 0.000 6 0.000 0.046 2141 2055 3509

7931 -1.39 -146.6 807.2 -9.6 379 7936 0.00 2.58 0.00 0.000 4 0.000 0.067 2141 649 3508

8010 -1.39 -146.6 815.2 -9.6 382 8016 0.00 2.47 0.00 0.000 6 0.000 0.047 2141 2056 3508

8326 -1.39 -146.6 844.7 -9.3 398 8330 0.00 2.60 0.00 0.000 4 0.000 0.068 2141 642 3506

8383 -1.39 -146.6 850.1 -9.4 400 8390 0.00 2.47 0.00 0.000 6 0.000 0.046 2141 2051 3506

8701 -1.39 -146.6 878.9 -8.9 416 8705 0.00 2.58 0.00 0.000 4 0.000 0.068 2141 649 3505

8767 -1.39 -146.6 885.5 -9.9 419 8772 0.00 2.47 0.00 0.000 6 0.000 0.046 2140 2059 3505

9089 -1.39 -146.6 915.3 -9.3 435 9093 0.00 2.60 0.00 0.000 4 0.000 0.069 2141 646 3505

9167 -1.39 -146.6 923.0 -9.5 438 9173 0.00 2.47 0.00 0.000 6 0.000 0.048 2141 2053 3504

9482 -1.39 -146.6 952.5 -9.3 454 9487 0.00 2.58 0.00 0.000 4 0.000 0.068 2141 650 3504

9555 -1.39 -146.6 959.8 -10.6 457 9559 0.00 2.47 0.00 0.000 6 0.000 0.047 2141 2056 3503

9871 -1.39 -146.6 988.5 -9.0 472 9875 0.00 2.60 0.00 0.000 4 0.000 0.069 2141 646 3503

9885 end dive: TARGET_DEPTH_EXCEEDED

state 9885 begin apogee

9893 -0.33 0.0 990.1 8.8 473 10028 1.17 0.00 127.90 1.468 6 0.101 0.000 2374 1951 2915

10028 end apogee: CONTROL_FINISHED_OK

state 10029 begin climb

10031 1.39 146.6 994.8 0.0 480 10168 1.77 2.67 128.62 1.414 4 0.062 0.065 2751 3357 2317

10344 1.39 146.6 969.4 11.0 494 10349 0.00 2.53 0.00 0.000 6 0.000 0.051 2751 1952 2317

10660 1.39 146.6 934.4 11.1 509 10664 0.00 2.60 0.00 0.000 4 0.000 0.061 2751 3361 2316

10721 1.39 146.6 927.2 12.0 512 10726 0.00 2.55 0.00 0.000 6 0.000 0.049 2751 1949 2316

11048 1.39 146.6 890.8 11.3 528 11052 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3354 2315

11103 1.39 146.6 884.4 12.0 530 11109 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1949 2315

11419 1.39 146.6 849.0 11.2 546 11423 0.00 2.58 0.00 0.000 4 0.000 0.061 2751 3355 2315

11473 1.39 146.6 842.2 12.0 548 11479 0.00 2.53 0.00 0.000 6 0.000 0.049 2751 1949 2315

11789 1.39 146.6 806.2 11.8 564 11793 0.00 2.58 0.00 0.000 4 0.000 0.061 2751 3358 2315

11877 1.39 146.6 795.3 12.4 568 11882 0.00 2.53 0.00 0.000 6 0.000 0.049 2751 1946 2314

12204 1.39 146.6 757.9 11.1 584 12205 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1946 2314

12514 1.39 146.6 724.5 10.6 599 12518 0.00 2.58 0.00 0.000 4 0.000 0.061 2751 3353 2314

12602 1.39 146.6 714.3 11.0 603 12606 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2314

12923 1.39 146.6 680.2 10.5 619 12924 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1950 2314

13233 1.39 146.6 648.7 10.1 634 13234 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1950 2314

13542 1.39 146.6 616.1 10.5 649 13546 0.00 2.58 0.00 0.000 4 0.000 0.060 2751 3362 2313

13717 1.39 146.6 597.2 10.2 657 13722 0.00 2.50 0.00 0.000 6 0.000 0.048 2751 1950 2313

14044 1.39 150.6 565.1 9.8 673 14054 0.00 2.55 4.43 0.900 4 0.000 0.058 2751 3354 2301

14098 1.39 150.6 559.5 10.1 675 14105 0.00 2.55 0.00 0.000 6 0.000 0.048 2751 1948 2301

14415 1.39 150.8 528.5 10.0 691 14416 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1948 2301

14724 1.41 163.2 499.0 9.4 706 14745 0.00 2.70 12.43 1.118 4 0.000 0.073 2751 549 2249

14829 1.41 163.2 487.8 10.0 710 14836 0.00 2.47 0.00 0.000 6 0.000 0.041 2751 1957 2249

15146 1.42 170.1 457.7 9.7 726 15160 0.00 2.58 7.68 1.008 4 0.000 0.058 2751 3342 2221

15235 1.42 170.1 448.3 11.4 730 15239 0.00 2.47 0.00 0.000 6 0.000 0.045 2751 1946 2221

15562 1.42 170.1 413.6 10.8 746 15566 0.00 2.60 0.00 0.000 4 0.000 0.070 2751 540 2221

15774 1.42 170.1 389.4 11.4 755 15781 0.00 2.47 0.00 0.000 6 0.000 0.039 2751 1947 2222

16090 1.42 170.1 355.7 10.6 771 16095 0.00 2.50 0.00 0.000 4 0.000 0.055 2751 3350 2222

16152 1.42 170.1 348.8 11.0 774 16157 0.00 2.45 0.00 0.000 6 0.000 0.042 2751 1948 2222

16479 1.43 184.5 316.0 9.3 790 16499 0.00 0.00 14.02 0.945 6 0.000 0.000 2751 1948 2162

16809 1.43 184.5 282.6 10.8 806 16813 0.00 2.50 0.00 0.000 4 0.000 0.051 2751 3352 2162

16886 1.43 184.5 273.1 10.7 809 16890 0.00 2.45 0.00 0.000 6 0.000 0.041 2751 1946 2162

17202 1.43 184.5 235.5 11.9 824 17203 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1946 2163

17511 1.43 184.5 198.6 11.2 839 17515 0.00 2.47 0.00 0.000 4 0.000 0.048 2751 3352 2164

17561 1.43 184.5 192.9 11.0 841 17565 0.00 2.42 0.00 0.000 6 0.000 0.039 2751 1950 2164

17882 1.43 184.5 155.6 11.3 857 17883 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2166

18192 1.43 184.5 119.7 11.7 872 18196 0.00 2.50 0.00 0.000 4 0.000 0.049 2751 3358 2167

18263 1.43 184.5 110.7 12.5 875 18268 0.00 2.45 0.00 0.000 6 0.000 0.038 2751 1949 2167

18580 1.43 184.5 70.8 13.5 890 18581 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1948 2167

18889 1.43 184.5 29.9 12.5 905 18890 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 1949 2169

19092 end climb: SURFACE_DEPTH_REACHED

state 19093 begin surface coast

19114 end surface coast: CONTROL_FINISHED_OK

state 19115 begin surface

ID	104	HD_B	0.0099684997	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	2.5700001e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	13	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	176	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3929	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2052	ALTIM_FREQUENCY	13
D_NO_BLEED	100	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1950	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	250	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.784981
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	12	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	607	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3934	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2915	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	5	VBD_TIMEOUT	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-35251.504	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	57	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	45	AH0_24V	91.800003	SEABIRD_T_G	0.0043062796
SPEED_FACTOR	1	PITCH_MAX	3331	AH0_10V	61.200001	SEABIRD_T_H	0.0006289829
RHO	1.023	C_PITCH	2450	PRESSURE_YINT	-16.564281	SEABIRD_T_I	2.2033064e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.057111e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.442612
FERRY_MAX	12	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1821688
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015124022
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022414648

GPS1	063332,6130.075,-247.933,51,1.0,51,-5.9	TGT_NAME	BE
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.229,0.130
_SM_DEPTHo	1.10	KALMAN_X	47544.0,-2298.6,250.5,-26409.8,9052.6
_SM_ANGLEo	-59.1	KALMAN_Y	-8195.9,-506.3,589.4,930.3,-2943.4
GPS2	063951,6130.104,-247.629,11,1.6,11,-5.9	MHEAD_RNG_PITCHd_Wd	305.5,340683,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.2,1.027357	XPDR_PINGS	0
SM_CCo	19137,40.42,0.660,2,0,1894,250.21	ALTIM_TOP_PING	18.3,18.1
SM_GC	1.20,0.00,0.00,40.42,0.000,0.000,0.660,43,2062,1894,-11.07,0.28,250.21	_24V_AH	23.0,4.751
IRIDIUM_FIX	6108.28,-251.29,120597,010147	_10V_AH	10.1,2.542
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47434,916
HUMID	1713	CFSIZE	260165632,256401408
INTERNAL_PRESSURE	8.40096	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,22,2,0
TCM_TEMP	17.30	GPS	160208,120138,6130.704,-250.926,29,1.3,29,-6.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	158	97.77	SBE_CT	681	24	376.29
Roll_motor	196	72	328.98	SBE_O2	618	19	270.29
VBD_pump_during_apogee	295	1468	9963.17	WL_BB2F	537	105	1297.29
VBD_pump_during_surface	40	660	614.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	97.22	nil	0	0	0.00
Iridium_during_connect	39	160	144.54	nil	0	0	0.00
Iridium_during_xfer	179	223	921.57
Transponder_ping	8	420	84.53
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.73
TT8	1759	19	351.96
LPSleep	14415	2	318.86
TT8_Active	537	19	107.39
TT8_Sampling	2297	39	923.39
TT8_CF8	554	45	256.48
TT8_Kalman	33	81	27.55
Analog_circuits	1662	12	201.49
GPS_charging	0	0	0.00
Compass	2253	8	182.05
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	-1.39	-146.6	0.0	0.0	0	108	0.00	0.00	-81.32	0.000	2	0.000	0.000	43	2073	3491
111	-1.39	-146.6	4.4	-4.9	4	133	11.93	2.62	-0.50	0.000	4	0.159	0.071	2141	653	3516
259	-1.39	-146.6	29.1	-9.8	10	263	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2051	3517
574	-1.39	-146.6	64.3	-12.6	25	575	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2052	3518
884	-1.39	-146.6	97.8	-10.4	40	888	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	643	3519
933	-1.39	-146.6	104.0	-13.6	42	937	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2053	3519
1249	-1.39	-146.6	140.4	-10.1	57	1254	0.00	2.55	0.00	0.000	4	0.000	0.059	2141	647	3519
1313	-1.39	-146.6	146.5	-10.0	60	1317	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2052	3519
1640	-1.39	-146.6	178.4	-9.9	76	1644	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	648	3519
1724	-1.39	-146.6	187.0	-10.1	80	1728	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2057	3519
2051	-1.39	-146.6	218.2	-10.1	96	2055	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	643	3520
2123	-1.39	-146.6	226.1	-10.8	99	2127	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2052	3520
2444	-1.39	-146.6	259.4	-10.5	115	2448	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	648	3519
2493	-1.39	-146.6	265.1	-11.4	117	2497	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2060	3519
2815	-1.39	-146.6	301.3	-11.8	133	2819	0.00	2.58	0.00	0.000	4	0.000	0.061	2141	644	3520
2932	-1.39	-146.6	316.1	-12.2	138	2936	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2053	3520
3248	-1.39	-146.6	352.1	-11.1	153	3252	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	648	3520
3303	-1.39	-146.6	358.4	-11.1	155	3309	0.00	2.42	0.00	0.000	6	0.000	0.037	2141	2051	3520
3619	-1.39	-146.6	390.2	-9.8	171	3624	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	646	3520
3686	-1.39	-146.6	397.5	-10.9	174	3690	0.00	2.42	0.00	0.000	6	0.000	0.036	2141	2058	3520
4006	-1.39	-146.6	431.2	-10.9	190	4011	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	648	3520
4084	-1.39	-146.6	439.8	-10.6	193	4090	0.00	2.40	0.00	0.000	6	0.000	0.037	2141	2058	3520
4400	-1.39	-146.6	471.4	-9.7	209	4401	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2058	3520
4710	-1.39	-146.6	500.9	-9.7	224	4714	0.00	2.55	0.00	0.000	4	0.000	0.060	2141	647	3519
4755	-1.39	-146.6	505.5	-10.0	226	4759	0.00	2.40	0.00	0.000	6	0.000	0.037	2141	2054	3519
5075	-1.39	-146.6	535.6	-9.2	242	5080	0.00	2.55	0.00	0.000	4	0.000	0.061	2141	647	3519
5161	-1.39	-146.6	543.8	-9.7	246	5165	0.00	2.42	0.00	0.000	6	0.000	0.039	2141	2056	3519
5487	-1.39	-146.6	574.9	-9.8	262	5492	0.00	2.58	0.00	0.000	4	0.000	0.064	2141	643	3518
5587	-1.39	-146.6	585.4	-10.3	266	5591	0.00	2.42	0.00	0.000	6	0.000	0.041	2141	2050	3517
5904	-1.39	-146.6	615.1	-9.4	281	5908	0.00	2.58	0.00	0.000	4	0.000	0.064	2141	642	3516
5959	-1.39	-146.6	620.9	-10.5	283	5965	0.00	2.45	0.00	0.000	6	0.000	0.042	2141	2057	3516
6277	-1.39	-146.6	650.3	-9.1	299	6281	0.00	2.58	0.00	0.000	4	0.000	0.065	2141	648	3515
6362	-1.39	-146.6	658.8	-9.9	303	6366	0.00	2.45	0.00	0.000	6	0.000	0.044	2141	2053	3514
6688	-1.39	-146.6	689.3	-9.2	319	6692	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	648	3513
6810	-1.39	-146.6	701.5	-10.1	324	6816	0.00	2.45	0.00	0.000	6	0.000	0.045	2141	2053	3512
7126	-1.39	-146.6	731.0	-9.3	340	7130	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	648	3511
7216	-1.39	-146.6	739.8	-9.9	344	7221	0.00	2.47	0.00	0.000	6	0.000	0.045	2141	2059	3511
7537	-1.39	-146.6	769.7	-9.2	360	7542	0.00	2.60	0.00	0.000	4	0.000	0.067	2141	645	3510
7616	-1.39	-146.6	777.6	-10.0	363	7622	0.00	2.47	0.00	0.000	6	0.000	0.046	2141	2055	3509
7931	-1.39	-146.6	807.2	-9.6	379	7936	0.00	2.58	0.00	0.000	4	0.000	0.067	2141	649	3508
8010	-1.39	-146.6	815.2	-9.6	382	8016	0.00	2.47	0.00	0.000	6	0.000	0.047	2141	2056	3508
8326	-1.39	-146.6	844.7	-9.3	398	8330	0.00	2.60	0.00	0.000	4	0.000	0.068	2141	642	3506
8383	-1.39	-146.6	850.1	-9.4	400	8390	0.00	2.47	0.00	0.000	6	0.000	0.046	2141	2051	3506
8701	-1.39	-146.6	878.9	-8.9	416	8705	0.00	2.58	0.00	0.000	4	0.000	0.068	2141	649	3505
8767	-1.39	-146.6	885.5	-9.9	419	8772	0.00	2.47	0.00	0.000	6	0.000	0.046	2140	2059	3505
9089	-1.39	-146.6	915.3	-9.3	435	9093	0.00	2.60	0.00	0.000	4	0.000	0.069	2141	646	3505
9167	-1.39	-146.6	923.0	-9.5	438	9173	0.00	2.47	0.00	0.000	6	0.000	0.048	2141	2053	3504
9482	-1.39	-146.6	952.5	-9.3	454	9487	0.00	2.58	0.00	0.000	4	0.000	0.068	2141	650	3504
9555	-1.39	-146.6	959.8	-10.6	457	9559	0.00	2.47	0.00	0.000	6	0.000	0.047	2141	2056	3503
9871	-1.39	-146.6	988.5	-9.0	472	9875	0.00	2.60	0.00	0.000	4	0.000	0.069	2141	646	3503
9885	end dive: TARGET_DEPTH_EXCEEDED
state	9885	begin apogee
9893	-0.33	0.0	990.1	8.8	473	10028	1.17	0.00	127.90	1.468	6	0.101	0.000	2374	1951	2915
10028	end apogee: CONTROL_FINISHED_OK
state	10029	begin climb
10031	1.39	146.6	994.8	0.0	480	10168	1.77	2.67	128.62	1.414	4	0.062	0.065	2751	3357	2317
10344	1.39	146.6	969.4	11.0	494	10349	0.00	2.53	0.00	0.000	6	0.000	0.051	2751	1952	2317
10660	1.39	146.6	934.4	11.1	509	10664	0.00	2.60	0.00	0.000	4	0.000	0.061	2751	3361	2316
10721	1.39	146.6	927.2	12.0	512	10726	0.00	2.55	0.00	0.000	6	0.000	0.049	2751	1949	2316
11048	1.39	146.6	890.8	11.3	528	11052	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3354	2315
11103	1.39	146.6	884.4	12.0	530	11109	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1949	2315
11419	1.39	146.6	849.0	11.2	546	11423	0.00	2.58	0.00	0.000	4	0.000	0.061	2751	3355	2315
11473	1.39	146.6	842.2	12.0	548	11479	0.00	2.53	0.00	0.000	6	0.000	0.049	2751	1949	2315
11789	1.39	146.6	806.2	11.8	564	11793	0.00	2.58	0.00	0.000	4	0.000	0.061	2751	3358	2315
11877	1.39	146.6	795.3	12.4	568	11882	0.00	2.53	0.00	0.000	6	0.000	0.049	2751	1946	2314
12204	1.39	146.6	757.9	11.1	584	12205	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1946	2314
12514	1.39	146.6	724.5	10.6	599	12518	0.00	2.58	0.00	0.000	4	0.000	0.061	2751	3353	2314
12602	1.39	146.6	714.3	11.0	603	12606	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2314
12923	1.39	146.6	680.2	10.5	619	12924	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1950	2314
13233	1.39	146.6	648.7	10.1	634	13234	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1950	2314
13542	1.39	146.6	616.1	10.5	649	13546	0.00	2.58	0.00	0.000	4	0.000	0.060	2751	3362	2313
13717	1.39	146.6	597.2	10.2	657	13722	0.00	2.50	0.00	0.000	6	0.000	0.048	2751	1950	2313
14044	1.39	150.6	565.1	9.8	673	14054	0.00	2.55	4.43	0.900	4	0.000	0.058	2751	3354	2301
14098	1.39	150.6	559.5	10.1	675	14105	0.00	2.55	0.00	0.000	6	0.000	0.048	2751	1948	2301
14415	1.39	150.8	528.5	10.0	691	14416	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1948	2301
14724	1.41	163.2	499.0	9.4	706	14745	0.00	2.70	12.43	1.118	4	0.000	0.073	2751	549	2249
14829	1.41	163.2	487.8	10.0	710	14836	0.00	2.47	0.00	0.000	6	0.000	0.041	2751	1957	2249
15146	1.42	170.1	457.7	9.7	726	15160	0.00	2.58	7.68	1.008	4	0.000	0.058	2751	3342	2221
15235	1.42	170.1	448.3	11.4	730	15239	0.00	2.47	0.00	0.000	6	0.000	0.045	2751	1946	2221
15562	1.42	170.1	413.6	10.8	746	15566	0.00	2.60	0.00	0.000	4	0.000	0.070	2751	540	2221
15774	1.42	170.1	389.4	11.4	755	15781	0.00	2.47	0.00	0.000	6	0.000	0.039	2751	1947	2222
16090	1.42	170.1	355.7	10.6	771	16095	0.00	2.50	0.00	0.000	4	0.000	0.055	2751	3350	2222
16152	1.42	170.1	348.8	11.0	774	16157	0.00	2.45	0.00	0.000	6	0.000	0.042	2751	1948	2222
16479	1.43	184.5	316.0	9.3	790	16499	0.00	0.00	14.02	0.945	6	0.000	0.000	2751	1948	2162
16809	1.43	184.5	282.6	10.8	806	16813	0.00	2.50	0.00	0.000	4	0.000	0.051	2751	3352	2162
16886	1.43	184.5	273.1	10.7	809	16890	0.00	2.45	0.00	0.000	6	0.000	0.041	2751	1946	2162
17202	1.43	184.5	235.5	11.9	824	17203	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1946	2163
17511	1.43	184.5	198.6	11.2	839	17515	0.00	2.47	0.00	0.000	4	0.000	0.048	2751	3352	2164
17561	1.43	184.5	192.9	11.0	841	17565	0.00	2.42	0.00	0.000	6	0.000	0.039	2751	1950	2164
17882	1.43	184.5	155.6	11.3	857	17883	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2166
18192	1.43	184.5	119.7	11.7	872	18196	0.00	2.50	0.00	0.000	4	0.000	0.049	2751	3358	2167
18263	1.43	184.5	110.7	12.5	875	18268	0.00	2.45	0.00	0.000	6	0.000	0.038	2751	1949	2167
18580	1.43	184.5	70.8	13.5	890	18581	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1948	2167
18889	1.43	184.5	29.9	12.5	905	18890	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	1949	2169
19092	end climb: SURFACE_DEPTH_REACHED
state	19093	begin surface coast
19114	end surface coast: CONTROL_FINISHED_OK
state	19115	begin surface