Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 292 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 292 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 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

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 24 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 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -82124.398 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

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 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043130573

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00062837353

RHO 1.023 C_PITCH 2495 PRESSURE_YINT -8.5065012 SEABIRD_T_I 2.3180288e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.4140363e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.364641

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1788509

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011747589

HD_A 0.0034169999 PITCH_TIMEOUT 19 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021488362

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 14 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.5065012 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 48 RAFOS_HIT_WINDOW 3600 T_DIVE 412.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -82124.398

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

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 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 26 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 292 PHONE_DEVICE 48 SEABIRD_T_J 2.4140363e-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 24

Pre-dive calculations and measurements:

GPS1 212402,6341.937,-1319.326,66,0.9,66,-12.5 TGT_NAME JE

_CALLS 3 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.021,-0.237

_SM_DEPTHo 2.67 KALMAN_X 351290.8,1801.8,481.2,-608854.4,-88.4

_SM_ANGLEo -62.0 KALMAN_Y 41176.2,-1071.7,-537.3,199044.6,6981.8

GPS2 213739,6341.960,-1319.349,9,1.3,9,-12.5 MHEAD_RNG_PITCHd_Wd 197.6,13379,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 871

Post-dive calculations and measurements:

FINISH 1.7,1.024812 XPDR_PINGS 3

SM_CCo 17796,31.38,0.810,4,0,1654,300.00 _24V_AH 23.1,61.729

SM_GC 2.13,0.00,0.00,31.38,0.000,0.000,0.810,32,1539,1654,-11.33,-0.68,300.00 _10V_AH 10.1,29.996

IRIDIUM_FIX 6317.84,-1248.04,170108,010156 DATA_FILE_SIZE 44298,855

TT8_MAMPS 0.026845 CFSIZE 260165632,240316416

HUMID 2064 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,4,0

INTERNAL_PRESSURE 9.2191 GPS 170108,023938,6341.984,-1310.595,166,0.8,166,-12.4

TCM_TEMP 16.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 135 81.30 SBE_CT 632 24 350.90

Roll_motor 179 75 312.41 SBE_O2 577 19 253.42

VBD_pump_during_apogee 356 1355 11169.62 WL_BB2F 474 105 1151.71

VBD_pump_during_surface 31 809 587.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 116 103 277.79 nil 0 0 0.00

Iridium_during_connect 128 160 473.38 nil 0 0 0.00

Iridium_during_xfer 326 223 1681.46

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.70

TT8 1630 19 326.04

LPSleep 13514 2 298.92

TT8_Active 568 19 113.77

TT8_Sampling 2110 39 848.30

TT8_CF8 855 45 395.58

TT8_Kalman 33 81 27.57

Analog_circuits 1625 12 197.06

GPS_charging 0 0 0.00

Compass 2066 8 166.96

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 -1.23 -146.6 0.0 0.0 0 68 0.00 0.00 -42.12 0.000 2 0.000 0.000 28 1883 2472

71 -1.23 -146.6 3.7 -6.6 2 133 11.55 2.67 -40.42 0.000 4 0.136 0.064 2227 3304 3477

385 -1.23 -146.6 37.4 -8.8 16 389 0.00 2.55 0.00 0.000 6 0.000 0.045 2227 1902 3477

706 -1.23 -146.6 75.9 -10.4 32 711 0.00 2.58 0.00 0.000 4 0.000 0.050 2227 3311 3477

941 -1.23 -146.6 103.9 -10.0 42 948 0.00 2.55 0.00 0.000 6 0.000 0.045 2227 1898 3477

1259 -1.23 -146.6 138.0 -10.6 58 1260 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1898 3477

1566 -1.23 -146.6 171.7 -9.8 73 1570 0.00 2.58 0.00 0.000 4 0.000 0.049 2227 3311 3477

1615 -1.23 -146.6 176.5 -9.9 75 1619 0.00 2.55 0.00 0.000 6 0.000 0.044 2227 1898 3477

1930 -1.23 -146.6 208.5 -9.8 90 1935 0.00 2.55 0.00 0.000 4 0.000 0.050 2227 3309 3477

1963 -1.23 -146.6 211.8 -10.0 91 1969 0.00 2.55 0.00 0.000 6 0.000 0.045 2227 1896 3477

2279 -1.23 -146.6 242.9 -9.8 107 2283 0.00 2.58 0.00 0.000 4 0.000 0.050 2227 3312 3477

2317 -1.23 -146.6 246.8 -10.1 109 2322 0.00 2.55 0.00 0.000 6 0.000 0.046 2227 1899 3477

2644 -1.23 -146.6 278.8 -10.5 125 2645 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1899 3477

2953 -1.23 -146.6 311.2 -10.3 140 2958 0.00 2.55 0.00 0.000 4 0.000 0.051 2227 3307 3477

3015 -1.23 -146.6 317.5 -9.6 143 3019 0.00 2.55 0.00 0.000 6 0.000 0.047 2227 1898 3477

3341 -1.23 -146.6 349.3 -9.6 159 3345 0.00 2.58 0.00 0.000 4 0.000 0.051 2227 3311 3477

3390 -1.23 -146.6 354.2 -10.0 161 3395 0.00 2.55 0.00 0.000 6 0.000 0.048 2227 1900 3477

3706 -1.23 -146.6 385.1 -10.0 176 3707 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1900 3477

4015 -1.23 -146.6 414.6 -9.6 191 4019 0.00 2.55 0.00 0.000 4 0.000 0.051 2227 3307 3477

4047 -1.23 -146.6 417.8 -9.9 192 4053 0.00 2.55 0.00 0.000 6 0.000 0.048 2227 1897 3477

4362 -1.23 -146.6 448.6 -10.0 208 4364 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1895 3477

4672 -1.23 -146.6 479.3 -10.0 223 4676 0.00 2.58 0.00 0.000 4 0.000 0.052 2227 3305 3477

4704 -1.23 -146.6 482.6 -9.9 224 4710 0.00 2.55 0.00 0.000 6 0.000 0.047 2227 1898 3477

5019 -1.23 -146.6 517.3 -12.1 240 5020 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1898 3477

5328 -1.23 -146.6 553.4 -12.7 255 5333 0.00 2.58 0.00 0.000 4 0.000 0.053 2227 3306 3477

5489 -1.23 -146.6 575.2 -13.5 262 5493 0.00 2.55 0.00 0.000 6 0.000 0.048 2226 1901 3477

5809 -1.23 -146.6 616.7 -12.2 278 5810 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1902 3477

6119 -1.23 -146.6 652.8 -11.3 293 6123 0.00 2.60 0.00 0.000 4 0.000 0.058 2227 3307 3477

6235 -1.23 -146.6 665.4 -10.3 298 6239 0.00 2.55 0.00 0.000 6 0.000 0.051 2227 1898 3476

6556 -1.23 -146.6 691.5 -6.8 314 6561 0.00 2.62 0.00 0.000 4 0.000 0.074 2227 495 3477

6597 -1.23 -146.6 694.6 -8.5 316 6601 0.00 2.53 0.00 0.000 6 0.000 0.050 2227 1907 3477

6922 -1.23 -146.6 719.6 -8.3 332 6927 0.00 2.67 0.00 0.000 4 0.000 0.075 2227 492 3477

6965 -1.23 -146.6 724.0 -10.0 334 6969 0.00 2.50 0.00 0.000 6 0.000 0.051 2227 1900 3477

7293 -1.23 -146.6 753.0 -8.2 350 7294 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1901 3476

7603 -1.23 -146.6 775.2 -7.0 365 7607 0.00 2.60 0.00 0.000 4 0.000 0.063 2227 3305 3476

7680 -1.23 -146.6 781.8 -7.8 368 7686 0.00 2.60 0.00 0.000 6 0.000 0.058 2227 1897 3475

7995 -1.23 -146.6 810.2 -10.2 384 7996 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 1896 3475

8305 -1.23 -146.6 825.3 -0.1 399 8309 0.00 2.62 0.00 0.000 4 0.000 0.067 2227 3301 3475

8544 end dive: NO_VERTICAL_VELOCITY

state 8544 begin apogee

8552 -0.36 0.0 825.3 0.0 410 8681 0.88 0.00 126.32 1.355 6 0.064 0.000 2421 2096 2878

8682 end apogee: CONTROL_FINISHED_OK

state 8682 begin climb

8684 1.23 146.6 825.0 0.0 416 8814 1.55 0.00 124.90 1.312 6 0.060 0.000 2760 2096 2280

9117 1.28 189.7 801.3 6.4 437 9159 0.00 2.75 37.08 1.305 4 0.000 0.065 2761 3497 2104

9339 1.28 189.7 784.9 8.3 447 9344 0.00 2.60 0.00 0.000 6 0.000 0.055 2760 2096 2104

9665 1.28 189.7 755.1 9.8 463 9669 0.00 2.65 0.00 0.000 4 0.000 0.062 2760 3505 2103

9771 1.28 189.7 744.3 10.1 468 9776 0.00 2.60 0.00 0.000 6 0.000 0.054 2761 2093 2103

10098 1.28 189.7 711.4 10.4 484 10102 0.00 2.62 0.00 0.000 4 0.000 0.062 2760 3499 2102

10159 1.28 189.7 704.9 10.4 487 10163 0.00 2.58 0.00 0.000 6 0.000 0.053 2761 2094 2102

10485 1.28 189.7 675.0 8.7 503 10489 0.00 2.65 0.00 0.000 4 0.000 0.075 2761 691 2102

10495 1.28 193.5 674.1 7.9 503 10504 0.00 2.53 4.47 1.231 6 0.000 0.050 2761 2099 2087

10831 1.28 193.5 647.0 8.2 520 10833 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2099 2087

11141 1.30 204.0 623.0 7.6 535 11155 0.00 2.62 9.32 1.266 4 0.000 0.060 2761 3500 2046

11190 1.33 227.9 619.0 7.1 537 11217 0.10 2.58 20.85 1.239 6 0.061 0.050 2790 2094 1948

11534 1.35 246.1 591.9 7.3 554 11556 0.00 2.67 16.30 1.224 4 0.000 0.057 2790 3498 1873

11708 1.35 246.1 576.7 8.8 561 11714 0.00 2.58 0.00 0.000 6 0.000 0.049 2790 2095 1873

12023 1.35 246.1 548.6 8.8 577 12025 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2095 1873

12333 1.35 246.1 520.4 9.0 592 12337 0.00 2.60 0.00 0.000 4 0.000 0.056 2790 3505 1873

12404 1.35 246.1 513.6 8.7 595 12409 0.00 2.55 0.00 0.000 6 0.000 0.047 2790 2095 1873

12726 1.35 246.1 485.3 8.8 611 12730 0.00 2.60 0.00 0.000 4 0.000 0.054 2789 3504 1873

12798 1.35 246.1 478.5 9.4 614 12802 0.00 2.53 0.00 0.000 6 0.000 0.047 2790 2102 1873

13113 1.35 246.1 449.1 9.7 629 13117 0.00 2.55 0.00 0.000 4 0.000 0.054 2790 3500 1873

13145 1.35 246.1 445.8 9.6 630 13152 0.00 2.53 0.00 0.000 6 0.000 0.046 2790 2093 1874

13461 1.35 246.1 417.2 8.8 646 13465 0.00 2.58 0.00 0.000 4 0.000 0.054 2790 3500 1874

13516 1.35 246.1 412.0 10.3 648 13522 0.00 2.53 0.00 0.000 6 0.000 0.046 2790 2097 1874

13831 1.35 246.1 385.3 8.2 664 13835 0.00 2.58 0.00 0.000 4 0.000 0.053 2790 3500 1874

13871 1.35 246.1 381.8 8.6 666 13875 0.00 2.53 0.00 0.000 6 0.000 0.047 2790 2101 1874

14196 1.35 246.1 354.4 8.7 682 14201 0.00 2.58 0.00 0.000 4 0.000 0.053 2790 3502 1874

14281 1.35 246.1 346.3 9.8 686 14286 0.00 2.53 0.00 0.000 6 0.000 0.045 2790 2096 1874

14608 1.35 246.1 315.0 9.7 702 14612 0.00 2.58 0.00 0.000 4 0.000 0.054 2790 3500 1874

14674 1.35 246.1 307.5 10.8 705 14678 0.00 2.50 0.00 0.000 6 0.000 0.044 2790 2099 1874

14995 1.35 246.1 274.2 10.5 721 14999 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3504 1875

15049 1.35 246.1 268.0 11.1 723 15056 0.00 2.53 0.00 0.000 6 0.000 0.044 2790 2093 1875

15365 1.35 246.1 236.5 9.7 739 15369 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3501 1875

15408 1.35 246.1 232.0 10.7 741 15413 0.00 2.50 0.00 0.000 6 0.000 0.043 2790 2097 1875

15729 1.35 246.1 203.2 8.7 757 15733 0.00 2.55 0.00 0.000 4 0.000 0.053 2790 3504 1876

15800 1.35 246.1 196.6 9.4 760 15804 0.00 2.50 0.00 0.000 6 0.000 0.044 2790 2099 1876

16122 1.35 246.1 168.1 9.4 776 16126 0.00 2.55 0.00 0.000 4 0.000 0.051 2790 3506 1876

16165 1.35 246.1 163.7 9.9 778 16170 0.00 2.50 0.00 0.000 6 0.000 0.043 2790 2093 1876

16493 1.35 246.1 134.2 10.1 794 16497 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3503 1876

16542 1.35 246.1 129.3 9.3 796 16546 0.00 2.50 0.00 0.000 6 0.000 0.043 2790 2091 1876

16862 1.35 246.1 97.3 11.2 812 16867 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3501 1877

17019 1.35 246.1 80.4 11.4 819 17023 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2094 1876

17348 1.37 266.6 51.5 7.2 835 17371 0.00 2.62 17.52 0.869 4 0.000 0.050 2790 3502 1791

17501 1.37 266.6 36.4 13.3 841 17507 0.00 2.53 0.00 0.000 6 0.000 0.043 2790 2102 1791

17752 end climb: SURFACE_DEPTH_REACHED

state 17752 begin surface coast

17774 end surface coast: CONTROL_FINISHED_OK

state 17774 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	292	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	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
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	24	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	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-82124.398	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
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	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043130573
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00062837353
RHO	1.023	C_PITCH	2495	PRESSURE_YINT	-8.5065012	SEABIRD_T_I	2.3180288e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.4140363e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.364641
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1788509
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011747589
HD_A	0.0034169999	PITCH_TIMEOUT	19	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021488362

GPS1	212402,6341.937,-1319.326,66,0.9,66,-12.5	TGT_NAME	JE
_CALLS	3	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.021,-0.237
_SM_DEPTHo	2.67	KALMAN_X	351290.8,1801.8,481.2,-608854.4,-88.4
_SM_ANGLEo	-62.0	KALMAN_Y	41176.2,-1071.7,-537.3,199044.6,6981.8
GPS2	213739,6341.960,-1319.349,9,1.3,9,-12.5	MHEAD_RNG_PITCHd_Wd	197.6,13379,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	871

FINISH	1.7,1.024812	XPDR_PINGS	3
SM_CCo	17796,31.38,0.810,4,0,1654,300.00	_24V_AH	23.1,61.729
SM_GC	2.13,0.00,0.00,31.38,0.000,0.000,0.810,32,1539,1654,-11.33,-0.68,300.00	_10V_AH	10.1,29.996
IRIDIUM_FIX	6317.84,-1248.04,170108,010156	DATA_FILE_SIZE	44298,855
TT8_MAMPS	0.026845	CFSIZE	260165632,240316416
HUMID	2064	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,4,0
INTERNAL_PRESSURE	9.2191	GPS	170108,023938,6341.984,-1310.595,166,0.8,166,-12.4
TCM_TEMP	16.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	135	81.30	SBE_CT	632	24	350.90
Roll_motor	179	75	312.41	SBE_O2	577	19	253.42
VBD_pump_during_apogee	356	1355	11169.62	WL_BB2F	474	105	1151.71
VBD_pump_during_surface	31	809	587.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	116	103	277.79	nil	0	0	0.00
Iridium_during_connect	128	160	473.38	nil	0	0	0.00
Iridium_during_xfer	326	223	1681.46
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.70
TT8	1630	19	326.04
LPSleep	13514	2	298.92
TT8_Active	568	19	113.77
TT8_Sampling	2110	39	848.30
TT8_CF8	855	45	395.58
TT8_Kalman	33	81	27.57
Analog_circuits	1625	12	197.06
GPS_charging	0	0	0.00
Compass	2066	8	166.96
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	-1.23	-146.6	0.0	0.0	0	68	0.00	0.00	-42.12	0.000	2	0.000	0.000	28	1883	2472
71	-1.23	-146.6	3.7	-6.6	2	133	11.55	2.67	-40.42	0.000	4	0.136	0.064	2227	3304	3477
385	-1.23	-146.6	37.4	-8.8	16	389	0.00	2.55	0.00	0.000	6	0.000	0.045	2227	1902	3477
706	-1.23	-146.6	75.9	-10.4	32	711	0.00	2.58	0.00	0.000	4	0.000	0.050	2227	3311	3477
941	-1.23	-146.6	103.9	-10.0	42	948	0.00	2.55	0.00	0.000	6	0.000	0.045	2227	1898	3477
1259	-1.23	-146.6	138.0	-10.6	58	1260	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1898	3477
1566	-1.23	-146.6	171.7	-9.8	73	1570	0.00	2.58	0.00	0.000	4	0.000	0.049	2227	3311	3477
1615	-1.23	-146.6	176.5	-9.9	75	1619	0.00	2.55	0.00	0.000	6	0.000	0.044	2227	1898	3477
1930	-1.23	-146.6	208.5	-9.8	90	1935	0.00	2.55	0.00	0.000	4	0.000	0.050	2227	3309	3477
1963	-1.23	-146.6	211.8	-10.0	91	1969	0.00	2.55	0.00	0.000	6	0.000	0.045	2227	1896	3477
2279	-1.23	-146.6	242.9	-9.8	107	2283	0.00	2.58	0.00	0.000	4	0.000	0.050	2227	3312	3477
2317	-1.23	-146.6	246.8	-10.1	109	2322	0.00	2.55	0.00	0.000	6	0.000	0.046	2227	1899	3477
2644	-1.23	-146.6	278.8	-10.5	125	2645	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1899	3477
2953	-1.23	-146.6	311.2	-10.3	140	2958	0.00	2.55	0.00	0.000	4	0.000	0.051	2227	3307	3477
3015	-1.23	-146.6	317.5	-9.6	143	3019	0.00	2.55	0.00	0.000	6	0.000	0.047	2227	1898	3477
3341	-1.23	-146.6	349.3	-9.6	159	3345	0.00	2.58	0.00	0.000	4	0.000	0.051	2227	3311	3477
3390	-1.23	-146.6	354.2	-10.0	161	3395	0.00	2.55	0.00	0.000	6	0.000	0.048	2227	1900	3477
3706	-1.23	-146.6	385.1	-10.0	176	3707	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1900	3477
4015	-1.23	-146.6	414.6	-9.6	191	4019	0.00	2.55	0.00	0.000	4	0.000	0.051	2227	3307	3477
4047	-1.23	-146.6	417.8	-9.9	192	4053	0.00	2.55	0.00	0.000	6	0.000	0.048	2227	1897	3477
4362	-1.23	-146.6	448.6	-10.0	208	4364	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1895	3477
4672	-1.23	-146.6	479.3	-10.0	223	4676	0.00	2.58	0.00	0.000	4	0.000	0.052	2227	3305	3477
4704	-1.23	-146.6	482.6	-9.9	224	4710	0.00	2.55	0.00	0.000	6	0.000	0.047	2227	1898	3477
5019	-1.23	-146.6	517.3	-12.1	240	5020	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1898	3477
5328	-1.23	-146.6	553.4	-12.7	255	5333	0.00	2.58	0.00	0.000	4	0.000	0.053	2227	3306	3477
5489	-1.23	-146.6	575.2	-13.5	262	5493	0.00	2.55	0.00	0.000	6	0.000	0.048	2226	1901	3477
5809	-1.23	-146.6	616.7	-12.2	278	5810	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1902	3477
6119	-1.23	-146.6	652.8	-11.3	293	6123	0.00	2.60	0.00	0.000	4	0.000	0.058	2227	3307	3477
6235	-1.23	-146.6	665.4	-10.3	298	6239	0.00	2.55	0.00	0.000	6	0.000	0.051	2227	1898	3476
6556	-1.23	-146.6	691.5	-6.8	314	6561	0.00	2.62	0.00	0.000	4	0.000	0.074	2227	495	3477
6597	-1.23	-146.6	694.6	-8.5	316	6601	0.00	2.53	0.00	0.000	6	0.000	0.050	2227	1907	3477
6922	-1.23	-146.6	719.6	-8.3	332	6927	0.00	2.67	0.00	0.000	4	0.000	0.075	2227	492	3477
6965	-1.23	-146.6	724.0	-10.0	334	6969	0.00	2.50	0.00	0.000	6	0.000	0.051	2227	1900	3477
7293	-1.23	-146.6	753.0	-8.2	350	7294	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1901	3476
7603	-1.23	-146.6	775.2	-7.0	365	7607	0.00	2.60	0.00	0.000	4	0.000	0.063	2227	3305	3476
7680	-1.23	-146.6	781.8	-7.8	368	7686	0.00	2.60	0.00	0.000	6	0.000	0.058	2227	1897	3475
7995	-1.23	-146.6	810.2	-10.2	384	7996	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	1896	3475
8305	-1.23	-146.6	825.3	-0.1	399	8309	0.00	2.62	0.00	0.000	4	0.000	0.067	2227	3301	3475
8544	end dive: NO_VERTICAL_VELOCITY
state	8544	begin apogee
8552	-0.36	0.0	825.3	0.0	410	8681	0.88	0.00	126.32	1.355	6	0.064	0.000	2421	2096	2878
8682	end apogee: CONTROL_FINISHED_OK
state	8682	begin climb
8684	1.23	146.6	825.0	0.0	416	8814	1.55	0.00	124.90	1.312	6	0.060	0.000	2760	2096	2280
9117	1.28	189.7	801.3	6.4	437	9159	0.00	2.75	37.08	1.305	4	0.000	0.065	2761	3497	2104
9339	1.28	189.7	784.9	8.3	447	9344	0.00	2.60	0.00	0.000	6	0.000	0.055	2760	2096	2104
9665	1.28	189.7	755.1	9.8	463	9669	0.00	2.65	0.00	0.000	4	0.000	0.062	2760	3505	2103
9771	1.28	189.7	744.3	10.1	468	9776	0.00	2.60	0.00	0.000	6	0.000	0.054	2761	2093	2103
10098	1.28	189.7	711.4	10.4	484	10102	0.00	2.62	0.00	0.000	4	0.000	0.062	2760	3499	2102
10159	1.28	189.7	704.9	10.4	487	10163	0.00	2.58	0.00	0.000	6	0.000	0.053	2761	2094	2102
10485	1.28	189.7	675.0	8.7	503	10489	0.00	2.65	0.00	0.000	4	0.000	0.075	2761	691	2102
10495	1.28	193.5	674.1	7.9	503	10504	0.00	2.53	4.47	1.231	6	0.000	0.050	2761	2099	2087
10831	1.28	193.5	647.0	8.2	520	10833	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2099	2087
11141	1.30	204.0	623.0	7.6	535	11155	0.00	2.62	9.32	1.266	4	0.000	0.060	2761	3500	2046
11190	1.33	227.9	619.0	7.1	537	11217	0.10	2.58	20.85	1.239	6	0.061	0.050	2790	2094	1948
11534	1.35	246.1	591.9	7.3	554	11556	0.00	2.67	16.30	1.224	4	0.000	0.057	2790	3498	1873
11708	1.35	246.1	576.7	8.8	561	11714	0.00	2.58	0.00	0.000	6	0.000	0.049	2790	2095	1873
12023	1.35	246.1	548.6	8.8	577	12025	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2095	1873
12333	1.35	246.1	520.4	9.0	592	12337	0.00	2.60	0.00	0.000	4	0.000	0.056	2790	3505	1873
12404	1.35	246.1	513.6	8.7	595	12409	0.00	2.55	0.00	0.000	6	0.000	0.047	2790	2095	1873
12726	1.35	246.1	485.3	8.8	611	12730	0.00	2.60	0.00	0.000	4	0.000	0.054	2789	3504	1873
12798	1.35	246.1	478.5	9.4	614	12802	0.00	2.53	0.00	0.000	6	0.000	0.047	2790	2102	1873
13113	1.35	246.1	449.1	9.7	629	13117	0.00	2.55	0.00	0.000	4	0.000	0.054	2790	3500	1873
13145	1.35	246.1	445.8	9.6	630	13152	0.00	2.53	0.00	0.000	6	0.000	0.046	2790	2093	1874
13461	1.35	246.1	417.2	8.8	646	13465	0.00	2.58	0.00	0.000	4	0.000	0.054	2790	3500	1874
13516	1.35	246.1	412.0	10.3	648	13522	0.00	2.53	0.00	0.000	6	0.000	0.046	2790	2097	1874
13831	1.35	246.1	385.3	8.2	664	13835	0.00	2.58	0.00	0.000	4	0.000	0.053	2790	3500	1874
13871	1.35	246.1	381.8	8.6	666	13875	0.00	2.53	0.00	0.000	6	0.000	0.047	2790	2101	1874
14196	1.35	246.1	354.4	8.7	682	14201	0.00	2.58	0.00	0.000	4	0.000	0.053	2790	3502	1874
14281	1.35	246.1	346.3	9.8	686	14286	0.00	2.53	0.00	0.000	6	0.000	0.045	2790	2096	1874
14608	1.35	246.1	315.0	9.7	702	14612	0.00	2.58	0.00	0.000	4	0.000	0.054	2790	3500	1874
14674	1.35	246.1	307.5	10.8	705	14678	0.00	2.50	0.00	0.000	6	0.000	0.044	2790	2099	1874
14995	1.35	246.1	274.2	10.5	721	14999	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3504	1875
15049	1.35	246.1	268.0	11.1	723	15056	0.00	2.53	0.00	0.000	6	0.000	0.044	2790	2093	1875
15365	1.35	246.1	236.5	9.7	739	15369	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3501	1875
15408	1.35	246.1	232.0	10.7	741	15413	0.00	2.50	0.00	0.000	6	0.000	0.043	2790	2097	1875
15729	1.35	246.1	203.2	8.7	757	15733	0.00	2.55	0.00	0.000	4	0.000	0.053	2790	3504	1876
15800	1.35	246.1	196.6	9.4	760	15804	0.00	2.50	0.00	0.000	6	0.000	0.044	2790	2099	1876
16122	1.35	246.1	168.1	9.4	776	16126	0.00	2.55	0.00	0.000	4	0.000	0.051	2790	3506	1876
16165	1.35	246.1	163.7	9.9	778	16170	0.00	2.50	0.00	0.000	6	0.000	0.043	2790	2093	1876
16493	1.35	246.1	134.2	10.1	794	16497	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3503	1876
16542	1.35	246.1	129.3	9.3	796	16546	0.00	2.50	0.00	0.000	6	0.000	0.043	2790	2091	1876
16862	1.35	246.1	97.3	11.2	812	16867	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3501	1877
17019	1.35	246.1	80.4	11.4	819	17023	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2094	1876
17348	1.37	266.6	51.5	7.2	835	17371	0.00	2.62	17.52	0.869	4	0.000	0.050	2790	3502	1791
17501	1.37	266.6	36.4	13.3	841	17507	0.00	2.53	0.00	0.000	6	0.000	0.043	2790	2102	1791
17752	end climb: SURFACE_DEPTH_REACHED
state	17752	begin surface coast
17774	end surface coast: CONTROL_FINISHED_OK
state	17774	begin surface