Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 213 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 213 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 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

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 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 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 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2080557 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 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 2.576e-06 RHO 1.023 T_GPS_CHARGE -2080557

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 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 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 12 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 213 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 21

Pre-dive calculations and measurements:

GPS1 164328,6422.831,-602.603,62,2.9,81,-8.6 TGT_NAME NSEC_S

_CALLS 1 TGT_LATLONG 6240.000,-605.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.012,-0.156

_SM_DEPTHo 1.57 KALMAN_X -86192.0,761.2,64.9,246351.5,-494.1

_SM_ANGLEo -56.7 KALMAN_Y 52149.3,1008.2,575.5,251015.9,-3109.4

GPS2 165023,6422.770,-602.625,18,2.8,37,-8.6 MHEAD_RNG_PITCHd_Wd 184.1,190341,-17.5,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.015977 XPDR_PINGS 123

SM_CCo 21778,270.23,0.746,1,0,509,566.15 _24V_AH 23.3,37.313

SM_GC 1.57,0.00,0.00,270.23,0.000,0.000,0.746,70,2402,509,-10.76,0.06,566.15 _10V_AH 10.1,18.822

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 53860,1053

TT8_MAMPS 0.02301 CFSIZE 260165632,246517760

HUMID 2045 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,1,0

TCM_TEMP 14.90 GPS 241207,230031,6421.141,-558.169,61,1.1,67,-8.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 180 110.56 SBE_CT 785 24 439.22

Roll_motor 145 92 315.44 SBE_O2 725 19 321.22

VBD_pump_during_apogee 231 1385 7466.16 WL_BB2F 569 105 1392.07

VBD_pump_during_surface 270 746 4698.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 78.21 nil 0 0 0.00

Iridium_during_connect 40 160 150.69 nil 0 0 0.00

Iridium_during_xfer 198 223 1029.03

Transponder_ping 39 420 384.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 38 50 19.47

TT8 1890 19 378.05

LPSleep 17154 2 379.44

TT8_Active 739 19 147.96

TT8_Sampling 2180 39 876.47

TT8_CF8 495 45 229.14

TT8_Kalman 33 81 27.57

Analog_circuits 1771 12 214.73

GPS_charging 0 0 0.00

Compass 2109 8 170.47

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.17 -66.8 0.0 0.0 0 125 0.00 0.00 -101.72 0.000 2 0.000 0.000 71 2406 2766

127 -1.24 -135.4 3.3 -1.9 5 170 11.90 2.67 -21.52 0.000 4 0.180 0.093 2135 3765 3370

422 -1.24 -135.4 43.8 -11.6 18 426 0.00 2.58 0.00 0.000 6 0.000 0.061 2135 2398 3371

751 -1.24 -135.4 82.3 -13.1 34 755 0.00 2.67 0.00 0.000 4 0.000 0.082 2136 3763 3371

800 -1.24 -135.4 90.0 -14.6 36 804 0.00 2.58 0.00 0.000 6 0.000 0.062 2135 2398 3371

1121 -1.24 -135.4 128.3 -10.1 52 1126 0.00 2.72 0.00 0.000 4 0.000 0.077 2135 978 3371

1205 -1.24 -135.4 137.2 -10.6 56 1209 0.00 2.67 0.00 0.000 6 0.000 0.062 2135 2407 3371

1531 -1.24 -135.4 174.5 -11.5 72 1535 0.00 2.72 0.00 0.000 4 0.000 0.075 2135 983 3371

1585 -1.24 -135.4 180.7 -11.2 74 1592 0.00 2.65 0.00 0.000 6 0.000 0.063 2135 2401 3371

1901 -1.24 -135.4 215.5 -11.4 90 1905 0.00 2.67 0.00 0.000 4 0.000 0.087 2135 3766 3371

1966 -1.24 -135.4 223.7 -12.4 93 1970 0.00 2.58 0.00 0.000 6 0.000 0.064 2135 2400 3372

2293 -1.24 -135.4 260.6 -11.3 109 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2400 3372

2602 -1.24 -135.4 295.3 -11.2 124 2607 0.00 2.72 0.00 0.000 4 0.000 0.079 2135 983 3371

2668 -1.24 -135.4 302.8 -11.0 127 2673 0.00 2.65 0.00 0.000 6 0.000 0.064 2135 2397 3372

2995 -1.24 -135.4 337.8 -10.5 143 2996 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2397 3372

3305 -1.24 -135.4 368.9 -10.0 158 3306 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2397 3372

3614 -1.24 -135.4 400.5 -10.8 173 3615 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2397 3371

3923 -1.24 -135.4 435.0 -11.0 188 3927 0.00 2.72 0.00 0.000 4 0.000 0.075 2135 979 3371

3972 -1.24 -135.4 440.6 -11.2 190 3976 0.00 2.65 0.00 0.000 6 0.000 0.062 2135 2404 3371

4287 -1.24 -135.4 474.7 -10.9 205 4288 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3372

4596 -1.24 -135.4 508.5 -11.0 220 4597 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2405 3371

4906 -1.24 -135.4 543.0 -11.0 235 4907 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3371

5217 -1.24 -135.4 577.2 -11.2 250 5221 0.00 2.72 0.00 0.000 4 0.000 0.075 2135 985 3371

5278 -1.24 -135.4 584.2 -11.2 253 5282 0.00 2.65 0.00 0.000 6 0.000 0.062 2135 2404 3371

5603 -1.24 -135.4 618.7 -10.2 269 5605 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3370

5912 -1.24 -135.4 649.9 -10.3 284 5913 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3370

6222 -1.24 -135.4 680.8 -10.0 299 6223 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3369

6531 -1.24 -135.4 711.2 -9.8 314 6532 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3369

6840 -1.24 -135.4 741.4 -9.9 329 6841 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3369

7150 -1.24 -135.4 770.9 -9.7 344 7151 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3368

7459 -1.24 -135.4 799.6 -9.0 359 7460 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3368

7768 -1.24 -135.4 827.2 -8.7 374 7770 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2404 3367

8078 -1.24 -135.4 853.7 -8.6 389 8082 0.00 2.70 0.00 0.000 4 0.000 0.074 2135 985 3367

8143 -1.24 -135.4 859.6 -9.0 392 8147 0.00 2.62 0.00 0.000 6 0.000 0.059 2135 2402 3366

8470 -1.24 -135.4 887.3 -8.4 408 8471 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2401 3366

8779 -1.24 -135.4 913.3 -8.4 423 8780 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2401 3365

9089 -1.24 -135.4 939.7 -8.5 438 9090 0.00 0.00 0.00 0.000 6 0.000 0.000 2135 2401 3365

9397 -1.24 -135.4 966.5 -9.0 453 9402 0.00 2.67 0.00 0.000 4 0.000 0.070 2135 985 3364

9447 -1.24 -135.4 971.1 -8.9 455 9452 0.00 2.60 0.00 0.000 6 0.000 0.056 2135 2400 3364

9678 end dive: TARGET_DEPTH_EXCEEDED

state 9678 begin apogee

9683 -0.31 0.0 991.4 8.8 466 9803 1.05 0.00 115.90 1.386 6 0.123 0.000 2337 2190 2817

9804 end apogee: CONTROL_FINISHED_OK

state 9804 begin climb

9806 1.24 135.4 994.4 0.0 472 9925 1.70 0.00 115.30 1.354 6 0.087 0.000 2680 2190 2265

10230 1.24 135.4 959.3 9.9 493 10231 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2189 2264

10539 1.24 135.4 929.0 9.7 508 10540 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2190 2263

10848 1.24 135.4 899.1 9.8 523 10849 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2190 2263

11157 1.24 135.4 869.4 9.5 538 11162 0.00 2.72 0.00 0.000 4 0.000 0.074 2680 3613 2263

11222 1.24 135.4 862.9 9.9 541 11227 0.00 2.62 0.00 0.000 6 0.000 0.054 2680 2200 2263

11550 1.24 135.4 832.9 9.2 557 11551 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2200 2262

11858 1.24 135.4 804.2 9.2 572 11863 0.00 2.72 0.00 0.000 4 0.000 0.075 2680 3615 2262

11902 1.24 135.4 799.9 10.4 574 11906 0.00 2.62 0.00 0.000 6 0.000 0.056 2680 2199 2263

12229 1.24 135.4 771.4 8.5 590 12230 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2199 2262

12538 1.24 135.4 744.0 9.0 605 12542 0.00 2.72 0.00 0.000 4 0.000 0.077 2681 3613 2262

12603 1.24 135.4 737.6 9.9 608 12608 0.00 2.65 0.00 0.000 6 0.000 0.058 2680 2194 2262

12931 1.24 135.4 709.3 8.6 624 12935 0.00 2.75 0.00 0.000 4 0.000 0.079 2680 3614 2262

12973 1.24 135.4 705.3 9.0 626 12978 0.00 2.65 0.00 0.000 6 0.000 0.059 2680 2198 2262

13300 1.24 135.4 677.0 8.7 642 13301 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2199 2262

13610 1.24 135.4 650.0 8.7 657 13614 0.00 2.72 0.00 0.000 4 0.000 0.080 2680 3608 2263

13653 1.24 135.4 646.0 8.9 659 13657 0.00 2.65 0.00 0.000 6 0.000 0.060 2680 2196 2262

13980 1.24 135.4 618.9 8.3 675 13981 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2196 2262

14289 1.24 135.4 592.6 8.4 690 14294 0.00 2.72 0.00 0.000 4 0.000 0.082 2680 3609 2262

14343 1.24 135.4 587.5 8.7 692 14350 0.00 2.65 0.00 0.000 6 0.000 0.061 2680 2193 2262

14659 1.24 135.4 561.3 8.4 708 14660 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2193 2262

14969 1.24 135.4 536.0 8.1 723 14973 0.00 2.75 0.00 0.000 4 0.000 0.083 2681 3615 2262

15023 1.24 135.4 531.0 8.9 725 15030 0.00 2.67 0.00 0.000 6 0.000 0.064 2680 2207 2262

15339 1.24 135.4 504.5 8.5 741 15344 0.00 2.72 0.00 0.000 4 0.000 0.084 2680 3608 2262

15378 1.24 135.4 500.9 9.0 743 15383 0.00 2.65 0.00 0.000 6 0.000 0.064 2680 2200 2262

15704 1.24 135.4 472.9 8.4 759 15709 0.00 2.75 0.00 0.000 4 0.000 0.084 2680 3613 2262

15782 1.24 135.4 466.1 8.5 762 15788 0.00 2.67 0.00 0.000 6 0.000 0.065 2680 2192 2262

16097 1.24 135.4 440.2 8.3 778 16102 0.00 2.78 0.00 0.000 4 0.000 0.085 2680 3614 2262

16141 1.24 135.4 436.2 8.5 780 16145 0.00 2.67 0.00 0.000 6 0.000 0.066 2680 2200 2262

16468 1.24 135.4 410.7 7.7 796 16473 0.00 2.75 0.00 0.000 4 0.000 0.086 2681 3609 2262

16530 1.24 135.4 405.5 9.8 799 16534 0.00 2.67 0.00 0.000 6 0.000 0.068 2681 2200 2262

16855 1.24 135.4 379.4 7.8 815 16859 0.00 2.75 0.00 0.000 4 0.000 0.087 2681 3607 2262

16898 1.24 135.4 375.8 9.1 817 16902 0.00 2.67 0.00 0.000 6 0.000 0.067 2680 2196 2262

17225 1.24 135.4 350.9 7.7 833 17226 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2196 2262

17534 1.24 135.4 328.0 7.1 848 17538 0.00 2.78 0.00 0.000 4 0.000 0.087 2681 3612 2262

17595 1.24 135.4 322.9 8.6 851 17600 0.00 2.67 0.00 0.000 6 0.000 0.071 2680 2203 2262

17921 1.24 135.4 296.6 8.0 867 17922 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2203 2262

18230 1.24 135.4 273.2 7.4 882 18234 0.00 2.75 0.00 0.000 4 0.000 0.086 2680 3611 2262

18278 1.24 135.4 269.2 7.9 884 18283 0.00 2.70 0.00 0.000 6 0.000 0.071 2680 2194 2262

18600 1.24 135.4 245.3 6.9 900 18601 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2194 2262

18909 1.24 135.4 224.5 6.8 915 18910 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2192 2262

19218 1.24 135.4 202.8 7.0 930 19219 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2194 2263

19527 1.24 135.4 179.3 7.7 945 19532 0.00 2.75 0.00 0.000 4 0.000 0.083 2680 3609 2263

19583 1.24 135.4 174.7 7.7 947 19589 0.00 2.67 0.00 0.000 6 0.000 0.067 2680 2196 2263

19898 1.24 135.4 150.7 7.4 963 19899 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2196 2263

20208 1.24 135.4 126.4 8.4 978 20209 0.00 0.00 0.00 0.000 6 0.000 0.000 2680 2196 2263

20517 1.24 135.4 100.0 8.5 993 20521 0.00 2.75 0.00 0.000 4 0.000 0.082 2680 3612 2264

20655 1.24 135.4 87.8 8.5 999 20660 0.00 2.65 0.00 0.000 6 0.000 0.064 2680 2202 2264

20979 1.24 135.4 62.3 8.6 1015 20980 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2202 2264

21286 1.24 135.4 36.3 8.5 1030 21287 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2202 2264

21595 1.24 135.4 12.8 7.3 1045 21599 0.00 2.72 0.00 0.000 4 0.000 0.081 2681 3612 2265

21679 1.24 135.4 6.2 7.6 1049 21684 0.00 2.65 0.00 0.000 6 0.000 0.063 2680 2195 2265

21736 end climb: SURFACE_DEPTH_REACHED

state 21736 begin surface coast

21758 end surface coast: CONTROL_FINISHED_OK

state 21758 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	213	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	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
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	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	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	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2080557	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	164328,6422.831,-602.603,62,2.9,81,-8.6	TGT_NAME	NSEC_S
_CALLS	1	TGT_LATLONG	6240.000,-605.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.012,-0.156
_SM_DEPTHo	1.57	KALMAN_X	-86192.0,761.2,64.9,246351.5,-494.1
_SM_ANGLEo	-56.7	KALMAN_Y	52149.3,1008.2,575.5,251015.9,-3109.4
GPS2	165023,6422.770,-602.625,18,2.8,37,-8.6	MHEAD_RNG_PITCHd_Wd	184.1,190341,-17.5,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	1.0,1.015977	XPDR_PINGS	123
SM_CCo	21778,270.23,0.746,1,0,509,566.15	_24V_AH	23.3,37.313
SM_GC	1.57,0.00,0.00,270.23,0.000,0.000,0.746,70,2402,509,-10.76,0.06,566.15	_10V_AH	10.1,18.822
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	53860,1053
TT8_MAMPS	0.02301	CFSIZE	260165632,246517760
HUMID	2045	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,1,0
TCM_TEMP	14.90	GPS	241207,230031,6421.141,-558.169,61,1.1,67,-8.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	180	110.56	SBE_CT	785	24	439.22
Roll_motor	145	92	315.44	SBE_O2	725	19	321.22
VBD_pump_during_apogee	231	1385	7466.16	WL_BB2F	569	105	1392.07
VBD_pump_during_surface	270	746	4698.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	78.21	nil	0	0	0.00
Iridium_during_connect	40	160	150.69	nil	0	0	0.00
Iridium_during_xfer	198	223	1029.03
Transponder_ping	39	420	384.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	38	50	19.47
TT8	1890	19	378.05
LPSleep	17154	2	379.44
TT8_Active	739	19	147.96
TT8_Sampling	2180	39	876.47
TT8_CF8	495	45	229.14
TT8_Kalman	33	81	27.57
Analog_circuits	1771	12	214.73
GPS_charging	0	0	0.00
Compass	2109	8	170.47
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.17	-66.8	0.0	0.0	0	125	0.00	0.00	-101.72	0.000	2	0.000	0.000	71	2406	2766
127	-1.24	-135.4	3.3	-1.9	5	170	11.90	2.67	-21.52	0.000	4	0.180	0.093	2135	3765	3370
422	-1.24	-135.4	43.8	-11.6	18	426	0.00	2.58	0.00	0.000	6	0.000	0.061	2135	2398	3371
751	-1.24	-135.4	82.3	-13.1	34	755	0.00	2.67	0.00	0.000	4	0.000	0.082	2136	3763	3371
800	-1.24	-135.4	90.0	-14.6	36	804	0.00	2.58	0.00	0.000	6	0.000	0.062	2135	2398	3371
1121	-1.24	-135.4	128.3	-10.1	52	1126	0.00	2.72	0.00	0.000	4	0.000	0.077	2135	978	3371
1205	-1.24	-135.4	137.2	-10.6	56	1209	0.00	2.67	0.00	0.000	6	0.000	0.062	2135	2407	3371
1531	-1.24	-135.4	174.5	-11.5	72	1535	0.00	2.72	0.00	0.000	4	0.000	0.075	2135	983	3371
1585	-1.24	-135.4	180.7	-11.2	74	1592	0.00	2.65	0.00	0.000	6	0.000	0.063	2135	2401	3371
1901	-1.24	-135.4	215.5	-11.4	90	1905	0.00	2.67	0.00	0.000	4	0.000	0.087	2135	3766	3371
1966	-1.24	-135.4	223.7	-12.4	93	1970	0.00	2.58	0.00	0.000	6	0.000	0.064	2135	2400	3372
2293	-1.24	-135.4	260.6	-11.3	109	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2400	3372
2602	-1.24	-135.4	295.3	-11.2	124	2607	0.00	2.72	0.00	0.000	4	0.000	0.079	2135	983	3371
2668	-1.24	-135.4	302.8	-11.0	127	2673	0.00	2.65	0.00	0.000	6	0.000	0.064	2135	2397	3372
2995	-1.24	-135.4	337.8	-10.5	143	2996	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2397	3372
3305	-1.24	-135.4	368.9	-10.0	158	3306	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2397	3372
3614	-1.24	-135.4	400.5	-10.8	173	3615	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2397	3371
3923	-1.24	-135.4	435.0	-11.0	188	3927	0.00	2.72	0.00	0.000	4	0.000	0.075	2135	979	3371
3972	-1.24	-135.4	440.6	-11.2	190	3976	0.00	2.65	0.00	0.000	6	0.000	0.062	2135	2404	3371
4287	-1.24	-135.4	474.7	-10.9	205	4288	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3372
4596	-1.24	-135.4	508.5	-11.0	220	4597	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2405	3371
4906	-1.24	-135.4	543.0	-11.0	235	4907	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3371
5217	-1.24	-135.4	577.2	-11.2	250	5221	0.00	2.72	0.00	0.000	4	0.000	0.075	2135	985	3371
5278	-1.24	-135.4	584.2	-11.2	253	5282	0.00	2.65	0.00	0.000	6	0.000	0.062	2135	2404	3371
5603	-1.24	-135.4	618.7	-10.2	269	5605	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3370
5912	-1.24	-135.4	649.9	-10.3	284	5913	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3370
6222	-1.24	-135.4	680.8	-10.0	299	6223	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3369
6531	-1.24	-135.4	711.2	-9.8	314	6532	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3369
6840	-1.24	-135.4	741.4	-9.9	329	6841	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3369
7150	-1.24	-135.4	770.9	-9.7	344	7151	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3368
7459	-1.24	-135.4	799.6	-9.0	359	7460	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3368
7768	-1.24	-135.4	827.2	-8.7	374	7770	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2404	3367
8078	-1.24	-135.4	853.7	-8.6	389	8082	0.00	2.70	0.00	0.000	4	0.000	0.074	2135	985	3367
8143	-1.24	-135.4	859.6	-9.0	392	8147	0.00	2.62	0.00	0.000	6	0.000	0.059	2135	2402	3366
8470	-1.24	-135.4	887.3	-8.4	408	8471	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2401	3366
8779	-1.24	-135.4	913.3	-8.4	423	8780	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2401	3365
9089	-1.24	-135.4	939.7	-8.5	438	9090	0.00	0.00	0.00	0.000	6	0.000	0.000	2135	2401	3365
9397	-1.24	-135.4	966.5	-9.0	453	9402	0.00	2.67	0.00	0.000	4	0.000	0.070	2135	985	3364
9447	-1.24	-135.4	971.1	-8.9	455	9452	0.00	2.60	0.00	0.000	6	0.000	0.056	2135	2400	3364
9678	end dive: TARGET_DEPTH_EXCEEDED
state	9678	begin apogee
9683	-0.31	0.0	991.4	8.8	466	9803	1.05	0.00	115.90	1.386	6	0.123	0.000	2337	2190	2817
9804	end apogee: CONTROL_FINISHED_OK
state	9804	begin climb
9806	1.24	135.4	994.4	0.0	472	9925	1.70	0.00	115.30	1.354	6	0.087	0.000	2680	2190	2265
10230	1.24	135.4	959.3	9.9	493	10231	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2189	2264
10539	1.24	135.4	929.0	9.7	508	10540	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2190	2263
10848	1.24	135.4	899.1	9.8	523	10849	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2190	2263
11157	1.24	135.4	869.4	9.5	538	11162	0.00	2.72	0.00	0.000	4	0.000	0.074	2680	3613	2263
11222	1.24	135.4	862.9	9.9	541	11227	0.00	2.62	0.00	0.000	6	0.000	0.054	2680	2200	2263
11550	1.24	135.4	832.9	9.2	557	11551	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2200	2262
11858	1.24	135.4	804.2	9.2	572	11863	0.00	2.72	0.00	0.000	4	0.000	0.075	2680	3615	2262
11902	1.24	135.4	799.9	10.4	574	11906	0.00	2.62	0.00	0.000	6	0.000	0.056	2680	2199	2263
12229	1.24	135.4	771.4	8.5	590	12230	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2199	2262
12538	1.24	135.4	744.0	9.0	605	12542	0.00	2.72	0.00	0.000	4	0.000	0.077	2681	3613	2262
12603	1.24	135.4	737.6	9.9	608	12608	0.00	2.65	0.00	0.000	6	0.000	0.058	2680	2194	2262
12931	1.24	135.4	709.3	8.6	624	12935	0.00	2.75	0.00	0.000	4	0.000	0.079	2680	3614	2262
12973	1.24	135.4	705.3	9.0	626	12978	0.00	2.65	0.00	0.000	6	0.000	0.059	2680	2198	2262
13300	1.24	135.4	677.0	8.7	642	13301	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2199	2262
13610	1.24	135.4	650.0	8.7	657	13614	0.00	2.72	0.00	0.000	4	0.000	0.080	2680	3608	2263
13653	1.24	135.4	646.0	8.9	659	13657	0.00	2.65	0.00	0.000	6	0.000	0.060	2680	2196	2262
13980	1.24	135.4	618.9	8.3	675	13981	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2196	2262
14289	1.24	135.4	592.6	8.4	690	14294	0.00	2.72	0.00	0.000	4	0.000	0.082	2680	3609	2262
14343	1.24	135.4	587.5	8.7	692	14350	0.00	2.65	0.00	0.000	6	0.000	0.061	2680	2193	2262
14659	1.24	135.4	561.3	8.4	708	14660	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2193	2262
14969	1.24	135.4	536.0	8.1	723	14973	0.00	2.75	0.00	0.000	4	0.000	0.083	2681	3615	2262
15023	1.24	135.4	531.0	8.9	725	15030	0.00	2.67	0.00	0.000	6	0.000	0.064	2680	2207	2262
15339	1.24	135.4	504.5	8.5	741	15344	0.00	2.72	0.00	0.000	4	0.000	0.084	2680	3608	2262
15378	1.24	135.4	500.9	9.0	743	15383	0.00	2.65	0.00	0.000	6	0.000	0.064	2680	2200	2262
15704	1.24	135.4	472.9	8.4	759	15709	0.00	2.75	0.00	0.000	4	0.000	0.084	2680	3613	2262
15782	1.24	135.4	466.1	8.5	762	15788	0.00	2.67	0.00	0.000	6	0.000	0.065	2680	2192	2262
16097	1.24	135.4	440.2	8.3	778	16102	0.00	2.78	0.00	0.000	4	0.000	0.085	2680	3614	2262
16141	1.24	135.4	436.2	8.5	780	16145	0.00	2.67	0.00	0.000	6	0.000	0.066	2680	2200	2262
16468	1.24	135.4	410.7	7.7	796	16473	0.00	2.75	0.00	0.000	4	0.000	0.086	2681	3609	2262
16530	1.24	135.4	405.5	9.8	799	16534	0.00	2.67	0.00	0.000	6	0.000	0.068	2681	2200	2262
16855	1.24	135.4	379.4	7.8	815	16859	0.00	2.75	0.00	0.000	4	0.000	0.087	2681	3607	2262
16898	1.24	135.4	375.8	9.1	817	16902	0.00	2.67	0.00	0.000	6	0.000	0.067	2680	2196	2262
17225	1.24	135.4	350.9	7.7	833	17226	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2196	2262
17534	1.24	135.4	328.0	7.1	848	17538	0.00	2.78	0.00	0.000	4	0.000	0.087	2681	3612	2262
17595	1.24	135.4	322.9	8.6	851	17600	0.00	2.67	0.00	0.000	6	0.000	0.071	2680	2203	2262
17921	1.24	135.4	296.6	8.0	867	17922	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2203	2262
18230	1.24	135.4	273.2	7.4	882	18234	0.00	2.75	0.00	0.000	4	0.000	0.086	2680	3611	2262
18278	1.24	135.4	269.2	7.9	884	18283	0.00	2.70	0.00	0.000	6	0.000	0.071	2680	2194	2262
18600	1.24	135.4	245.3	6.9	900	18601	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2194	2262
18909	1.24	135.4	224.5	6.8	915	18910	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2192	2262
19218	1.24	135.4	202.8	7.0	930	19219	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2194	2263
19527	1.24	135.4	179.3	7.7	945	19532	0.00	2.75	0.00	0.000	4	0.000	0.083	2680	3609	2263
19583	1.24	135.4	174.7	7.7	947	19589	0.00	2.67	0.00	0.000	6	0.000	0.067	2680	2196	2263
19898	1.24	135.4	150.7	7.4	963	19899	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2196	2263
20208	1.24	135.4	126.4	8.4	978	20209	0.00	0.00	0.00	0.000	6	0.000	0.000	2680	2196	2263
20517	1.24	135.4	100.0	8.5	993	20521	0.00	2.75	0.00	0.000	4	0.000	0.082	2680	3612	2264
20655	1.24	135.4	87.8	8.5	999	20660	0.00	2.65	0.00	0.000	6	0.000	0.064	2680	2202	2264
20979	1.24	135.4	62.3	8.6	1015	20980	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2202	2264
21286	1.24	135.4	36.3	8.5	1030	21287	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2202	2264
21595	1.24	135.4	12.8	7.3	1045	21599	0.00	2.72	0.00	0.000	4	0.000	0.081	2681	3612	2265
21679	1.24	135.4	6.2	7.6	1049	21684	0.00	2.65	0.00	0.000	6	0.000	0.063	2680	2195	2265
21736	end climb: SURFACE_DEPTH_REACHED
state	21736	begin surface coast
21758	end surface coast: CONTROL_FINISHED_OK
state	21758	begin surface