Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 359 * 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 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 359 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -2 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 -84309.539 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 20 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 -84309.539

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 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 359 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 064055,6228.229,-1136.918,24,1.1,41,-11.0 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.155,-0.180

_SM_DEPTHo 1.71 KALMAN_X 520014.2,-1837.5,-652.7,-682352.8,4642.8

_SM_ANGLEo -53.5 KALMAN_Y 74583.1,-1180.4,-837.6,29409.1,2150.5

GPS2 064711,6228.189,-1136.912,10,2.8,29,-11.0 MHEAD_RNG_PITCHd_Wd 150.2,32200,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 791

Post-dive calculations and measurements:

FINISH 1.0,1.005859 XPDR_PINGS 1

SM_CCo 16773,0.00,0.000,0,0,1497,338.76 ALTIM_TOP_PING 19.7,999.0

SM_GC 1.75,12.15,0.00,0.00,0.032,0.000,0.000,35,1886,1497,-11.26,-0.40,338.76 _24V_AH 23.1,71.779

IRIDIUM_FIX 6207.28,-1144.20,230497,020200 _10V_AH 10.1,34.737

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41099,798

HUMID 2056 CFSIZE 260165632,236843008

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

TCM_TEMP 15.60 GPS 280108,112937,6225.923,-1132.693,35,1.6,35,-11.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 139 85.13 SBE_CT 593 24 329.24

Roll_motor 200 81 375.94 SBE_O2 540 19 237.17

VBD_pump_during_apogee 414 1318 12615.18 WL_BB2F 469 105 1139.37

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 36 103 87.40 nil 0 0 0.00

Iridium_during_connect 32 160 119.21 nil 0 0 0.00

Iridium_during_xfer 171 223 882.69

Transponder_ping 7 420 67.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.13

TT8 1550 19 310.11

LPSleep 12504 2 276.58

TT8_Active 558 19 111.61

TT8_Sampling 2022 39 812.91

TT8_CF8 563 45 260.47

TT8_Kalman 33 81 27.57

Analog_circuits 1597 12 193.59

GPS_charging 0 0 0.00

Compass 1955 8 158.00

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.23 -146.6 0.0 0.0 0 88 0.00 0.00 -61.28 0.000 2 0.000 0.000 34 1891 2859

92 -1.23 -146.6 3.2 -3.0 3 134 11.57 2.58 -21.73 0.000 4 0.140 0.063 2221 3292 3477

387 -1.23 -146.6 31.7 -7.8 16 391 0.00 2.50 0.00 0.000 6 0.000 0.042 2221 1898 3477

708 -1.23 -146.6 66.0 -11.7 32 712 0.00 2.53 0.00 0.000 4 0.000 0.045 2222 3302 3477

757 -1.23 -146.6 72.5 -12.6 34 761 0.00 2.53 0.00 0.000 6 0.000 0.042 2221 1893 3477

1073 -1.23 -146.6 114.1 -11.1 49 1077 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3298 3477

1100 -1.23 -146.6 116.9 -10.8 50 1104 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1900 3477

1416 -1.23 -146.6 149.3 -10.8 65 1417 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3477

1724 -1.23 -146.6 180.5 -9.2 80 1729 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3301 3477

1769 -1.23 -146.6 185.0 -10.1 82 1773 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1894 3477

2090 -1.23 -146.6 215.8 -9.2 98 2094 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3304 3477

2117 -1.23 -146.6 218.6 -9.7 99 2121 0.00 2.53 0.00 0.000 6 0.000 0.043 2221 1894 3477

2432 -1.23 -146.6 249.4 -10.0 114 2437 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3298 3477

2460 -1.23 -146.6 252.1 -10.3 115 2465 0.00 2.50 0.00 0.000 6 0.000 0.044 2221 1900 3477

2775 -1.23 -146.6 282.6 -9.7 130 2777 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1901 3477

3085 -1.23 -146.6 312.2 -9.6 145 3089 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3299 3477

3129 -1.23 -146.6 316.6 -10.2 147 3133 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1895 3477

3449 -1.23 -146.6 347.6 -9.7 163 3453 0.00 2.55 0.00 0.000 4 0.000 0.048 2222 3304 3477

3488 -1.23 -146.6 351.5 -10.4 165 3492 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1896 3476

3815 -1.23 -146.6 384.5 -10.0 181 3816 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

4124 -1.23 -146.6 414.7 -9.5 196 4125 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

4433 -1.23 -146.6 442.7 -9.0 211 4437 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3297 3477

4495 -1.23 -146.6 448.3 -9.2 214 4499 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1894 3477

4821 -1.23 -146.6 480.7 -10.2 230 4825 0.00 2.55 0.00 0.000 4 0.000 0.050 2222 3300 3477

4883 -1.23 -146.6 486.6 -9.0 233 4887 0.00 2.53 0.00 0.000 6 0.000 0.048 2222 1894 3477

5209 -1.23 -146.6 520.0 -10.3 249 5213 0.00 2.55 0.00 0.000 4 0.000 0.051 2221 3297 3476

5248 -1.23 -146.6 524.0 -10.2 251 5252 0.00 2.53 0.00 0.000 6 0.000 0.047 2221 1898 3476

5574 -1.23 -146.6 556.2 -9.9 267 5579 0.00 2.62 0.00 0.000 4 0.000 0.073 2222 492 3477

5596 -1.23 -146.6 559.0 -11.8 268 5600 0.00 2.45 0.00 0.000 6 0.000 0.042 2222 1899 3476

5917 -1.23 -146.6 591.5 -9.4 284 5921 0.00 2.53 0.00 0.000 4 0.000 0.055 2222 3293 3476

5967 -1.23 -146.6 596.4 -10.3 286 5972 0.00 2.50 0.00 0.000 6 0.000 0.048 2222 1901 3476

6284 -1.23 -146.6 625.9 -9.8 301 6288 0.00 2.55 0.00 0.000 4 0.000 0.054 2222 3298 3476

6323 -1.23 -146.6 630.3 -11.0 303 6327 0.00 2.53 0.00 0.000 6 0.000 0.048 2222 1902 3476

6649 -1.23 -146.6 665.3 -10.4 319 6654 0.00 2.65 0.00 0.000 4 0.000 0.076 2222 489 3476

6676 -1.23 -146.6 668.3 -11.6 320 6681 0.00 2.47 0.00 0.000 6 0.000 0.045 2221 1896 3476

6992 -1.23 -146.6 698.7 -9.3 335 6996 0.00 2.55 0.00 0.000 4 0.000 0.058 2221 3299 3476

7070 -1.23 -146.6 705.4 -7.9 338 7076 0.00 2.55 0.00 0.000 6 0.000 0.051 2222 1896 3476

7385 -1.23 -146.6 734.0 -9.4 354 7390 0.00 2.60 0.00 0.000 4 0.000 0.058 2222 3308 3476

7502 -1.23 -146.6 745.7 -10.0 359 7507 0.00 2.58 0.00 0.000 6 0.000 0.054 2221 1902 3476

7818 -1.23 -146.6 774.3 -8.3 374 7823 0.00 2.67 0.00 0.000 4 0.000 0.081 2222 494 3476

7846 -1.23 -146.6 777.0 -9.7 375 7850 0.00 2.50 0.00 0.000 6 0.000 0.051 2222 1899 3476

8014 end dive: TARGET_DEPTH_EXCEEDED

state 8014 begin apogee

8021 -0.36 0.0 791.7 8.5 383 8151 0.93 0.00 126.72 1.318 6 0.081 0.000 2417 2103 2878

8152 end apogee: CONTROL_FINISHED_OK

state 8152 begin climb

8155 1.23 146.6 796.0 0.0 389 8290 1.55 2.78 125.38 1.282 4 0.054 0.077 2761 687 2280

8321 1.26 174.6 791.7 6.9 397 8351 0.00 2.58 24.50 1.276 6 0.000 0.051 2761 2094 2166

8668 1.26 174.6 764.2 8.0 414 8672 0.00 2.65 0.00 0.000 4 0.000 0.065 2761 3505 2166

8925 1.26 174.6 741.0 9.6 425 8931 0.00 2.60 0.00 0.000 6 0.000 0.055 2761 2101 2164

9241 1.27 183.9 716.1 7.6 441 9255 0.00 2.67 8.62 1.307 4 0.000 0.062 2761 3497 2128

9379 1.27 183.9 703.8 9.0 447 9383 0.00 2.58 0.00 0.000 6 0.000 0.053 2761 2093 2127

9700 1.30 203.6 679.0 7.2 463 9724 0.00 2.72 17.38 1.302 4 0.000 0.059 2761 3505 2047

9826 1.31 213.2 669.0 7.6 468 9841 0.00 2.60 9.30 1.268 6 0.000 0.051 2761 2094 2008

10163 1.32 219.9 643.0 7.7 485 10177 0.00 2.67 6.68 1.244 4 0.000 0.057 2761 3508 1981

10194 1.33 231.1 640.4 7.6 486 10211 0.10 2.60 10.57 1.243 6 0.060 0.048 2789 2096 1936

10534 1.33 231.1 610.3 9.4 503 10538 0.00 2.60 0.00 0.000 4 0.000 0.055 2790 3504 1936

10596 1.33 231.1 604.7 8.4 506 10600 0.00 2.55 0.00 0.000 6 0.000 0.048 2790 2098 1935

10922 1.33 231.1 577.4 8.9 522 10926 0.00 2.58 0.00 0.000 4 0.000 0.054 2790 3505 1936

10994 1.33 231.1 570.3 9.4 525 10998 0.00 2.55 0.00 0.000 6 0.000 0.047 2790 2100 1936

11309 1.33 231.1 541.2 8.3 540 11313 0.00 2.58 0.00 0.000 4 0.000 0.053 2790 3508 1935

11410 1.33 231.1 532.6 8.8 544 11416 0.00 2.55 0.00 0.000 6 0.000 0.046 2790 2099 1936

11726 1.33 231.1 506.2 9.0 560 11730 0.00 2.58 0.00 0.000 4 0.000 0.053 2790 3505 1936

11810 1.33 231.1 496.8 11.2 564 11814 0.00 2.53 0.00 0.000 6 0.000 0.046 2790 2101 1936

12136 1.33 231.1 460.0 11.5 580 12140 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3506 1936

12180 1.33 231.1 454.5 12.6 582 12184 0.00 2.55 0.00 0.000 6 0.000 0.045 2789 2095 1936

12500 1.33 231.1 417.1 11.0 598 12504 0.00 2.58 0.00 0.000 4 0.000 0.052 2790 3505 1936

12584 1.33 231.1 407.7 11.6 602 12589 0.00 2.53 0.00 0.000 6 0.000 0.044 2790 2096 1936

12911 1.33 231.1 374.9 9.8 618 12915 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3505 1937

12973 1.33 231.1 368.8 10.0 621 12977 0.00 2.53 0.00 0.000 6 0.000 0.044 2790 2094 1937

13299 1.33 231.1 338.0 9.3 637 13303 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3505 1938

13371 1.33 231.1 330.3 10.1 640 13375 0.00 2.53 0.00 0.000 6 0.000 0.042 2790 2094 1938

13686 1.33 231.1 297.2 10.7 655 13691 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3509 1938

13742 1.33 231.1 290.9 11.2 657 13748 0.00 2.53 0.00 0.000 6 0.000 0.041 2790 2095 1938

14057 1.33 231.1 257.8 10.6 673 14061 0.00 2.58 0.00 0.000 4 0.000 0.051 2789 3507 1938

14129 1.33 231.1 249.7 11.1 676 14134 0.00 2.53 0.00 0.000 6 0.000 0.041 2790 2098 1938

14446 1.33 231.1 214.5 11.4 691 14450 0.00 2.58 0.00 0.000 4 0.000 0.051 2790 3510 1939

14507 1.33 231.1 207.6 10.8 694 14511 0.00 2.53 0.00 0.000 6 0.000 0.041 2790 2093 1939

14833 1.33 231.1 173.2 11.3 710 14837 0.00 2.58 0.00 0.000 4 0.000 0.050 2790 3508 1939

14882 1.33 231.1 167.1 11.1 712 14887 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2095 1939

15198 1.33 231.1 132.9 9.9 727 15202 0.00 2.58 0.00 0.000 4 0.000 0.050 2790 3511 1940

15275 1.33 231.1 122.8 12.7 730 15282 0.00 2.53 0.00 0.000 6 0.000 0.041 2790 2093 1940

15592 1.37 257.7 94.1 7.0 746 15621 0.00 2.65 22.70 0.892 4 0.000 0.049 2790 3505 1827

15680 1.37 257.7 88.4 9.1 750 15684 0.00 2.53 0.00 0.000 6 0.000 0.039 2790 2097 1827

16007 1.37 257.7 53.8 9.1 766 16011 0.00 2.58 0.00 0.000 4 0.000 0.049 2790 3509 1826

16101 1.37 257.7 45.2 8.9 770 16105 0.00 2.50 0.00 0.000 6 0.000 0.040 2790 2095 1826

16418 1.37 257.7 22.2 8.2 785 16422 0.00 2.55 0.00 0.000 4 0.000 0.048 2790 3507 1827

16503 1.46 338.2 14.5 4.9 789 16573 0.10 2.50 62.35 0.802 6 0.064 0.040 2822 2099 1499

16666 end climb: SURFACE_DEPTH_REACHED

state 16666 begin surface coast

16690 end surface coast: CONTROL_FINISHED_OK

state 16690 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	359	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-2	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	-84309.539	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	064055,6228.229,-1136.918,24,1.1,41,-11.0	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.155,-0.180
_SM_DEPTHo	1.71	KALMAN_X	520014.2,-1837.5,-652.7,-682352.8,4642.8
_SM_ANGLEo	-53.5	KALMAN_Y	74583.1,-1180.4,-837.6,29409.1,2150.5
GPS2	064711,6228.189,-1136.912,10,2.8,29,-11.0	MHEAD_RNG_PITCHd_Wd	150.2,32200,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	791

FINISH	1.0,1.005859	XPDR_PINGS	1
SM_CCo	16773,0.00,0.000,0,0,1497,338.76	ALTIM_TOP_PING	19.7,999.0
SM_GC	1.75,12.15,0.00,0.00,0.032,0.000,0.000,35,1886,1497,-11.26,-0.40,338.76	_24V_AH	23.1,71.779
IRIDIUM_FIX	6207.28,-1144.20,230497,020200	_10V_AH	10.1,34.737
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41099,798
HUMID	2056	CFSIZE	260165632,236843008
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
TCM_TEMP	15.60	GPS	280108,112937,6225.923,-1132.693,35,1.6,35,-11.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	139	85.13	SBE_CT	593	24	329.24
Roll_motor	200	81	375.94	SBE_O2	540	19	237.17
VBD_pump_during_apogee	414	1318	12615.18	WL_BB2F	469	105	1139.37
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	36	103	87.40	nil	0	0	0.00
Iridium_during_connect	32	160	119.21	nil	0	0	0.00
Iridium_during_xfer	171	223	882.69
Transponder_ping	7	420	67.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.13
TT8	1550	19	310.11
LPSleep	12504	2	276.58
TT8_Active	558	19	111.61
TT8_Sampling	2022	39	812.91
TT8_CF8	563	45	260.47
TT8_Kalman	33	81	27.57
Analog_circuits	1597	12	193.59
GPS_charging	0	0	0.00
Compass	1955	8	158.00
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.23	-146.6	0.0	0.0	0	88	0.00	0.00	-61.28	0.000	2	0.000	0.000	34	1891	2859
92	-1.23	-146.6	3.2	-3.0	3	134	11.57	2.58	-21.73	0.000	4	0.140	0.063	2221	3292	3477
387	-1.23	-146.6	31.7	-7.8	16	391	0.00	2.50	0.00	0.000	6	0.000	0.042	2221	1898	3477
708	-1.23	-146.6	66.0	-11.7	32	712	0.00	2.53	0.00	0.000	4	0.000	0.045	2222	3302	3477
757	-1.23	-146.6	72.5	-12.6	34	761	0.00	2.53	0.00	0.000	6	0.000	0.042	2221	1893	3477
1073	-1.23	-146.6	114.1	-11.1	49	1077	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3298	3477
1100	-1.23	-146.6	116.9	-10.8	50	1104	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1900	3477
1416	-1.23	-146.6	149.3	-10.8	65	1417	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3477
1724	-1.23	-146.6	180.5	-9.2	80	1729	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3301	3477
1769	-1.23	-146.6	185.0	-10.1	82	1773	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1894	3477
2090	-1.23	-146.6	215.8	-9.2	98	2094	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3304	3477
2117	-1.23	-146.6	218.6	-9.7	99	2121	0.00	2.53	0.00	0.000	6	0.000	0.043	2221	1894	3477
2432	-1.23	-146.6	249.4	-10.0	114	2437	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3298	3477
2460	-1.23	-146.6	252.1	-10.3	115	2465	0.00	2.50	0.00	0.000	6	0.000	0.044	2221	1900	3477
2775	-1.23	-146.6	282.6	-9.7	130	2777	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1901	3477
3085	-1.23	-146.6	312.2	-9.6	145	3089	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3299	3477
3129	-1.23	-146.6	316.6	-10.2	147	3133	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1895	3477
3449	-1.23	-146.6	347.6	-9.7	163	3453	0.00	2.55	0.00	0.000	4	0.000	0.048	2222	3304	3477
3488	-1.23	-146.6	351.5	-10.4	165	3492	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1896	3476
3815	-1.23	-146.6	384.5	-10.0	181	3816	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
4124	-1.23	-146.6	414.7	-9.5	196	4125	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
4433	-1.23	-146.6	442.7	-9.0	211	4437	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3297	3477
4495	-1.23	-146.6	448.3	-9.2	214	4499	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1894	3477
4821	-1.23	-146.6	480.7	-10.2	230	4825	0.00	2.55	0.00	0.000	4	0.000	0.050	2222	3300	3477
4883	-1.23	-146.6	486.6	-9.0	233	4887	0.00	2.53	0.00	0.000	6	0.000	0.048	2222	1894	3477
5209	-1.23	-146.6	520.0	-10.3	249	5213	0.00	2.55	0.00	0.000	4	0.000	0.051	2221	3297	3476
5248	-1.23	-146.6	524.0	-10.2	251	5252	0.00	2.53	0.00	0.000	6	0.000	0.047	2221	1898	3476
5574	-1.23	-146.6	556.2	-9.9	267	5579	0.00	2.62	0.00	0.000	4	0.000	0.073	2222	492	3477
5596	-1.23	-146.6	559.0	-11.8	268	5600	0.00	2.45	0.00	0.000	6	0.000	0.042	2222	1899	3476
5917	-1.23	-146.6	591.5	-9.4	284	5921	0.00	2.53	0.00	0.000	4	0.000	0.055	2222	3293	3476
5967	-1.23	-146.6	596.4	-10.3	286	5972	0.00	2.50	0.00	0.000	6	0.000	0.048	2222	1901	3476
6284	-1.23	-146.6	625.9	-9.8	301	6288	0.00	2.55	0.00	0.000	4	0.000	0.054	2222	3298	3476
6323	-1.23	-146.6	630.3	-11.0	303	6327	0.00	2.53	0.00	0.000	6	0.000	0.048	2222	1902	3476
6649	-1.23	-146.6	665.3	-10.4	319	6654	0.00	2.65	0.00	0.000	4	0.000	0.076	2222	489	3476
6676	-1.23	-146.6	668.3	-11.6	320	6681	0.00	2.47	0.00	0.000	6	0.000	0.045	2221	1896	3476
6992	-1.23	-146.6	698.7	-9.3	335	6996	0.00	2.55	0.00	0.000	4	0.000	0.058	2221	3299	3476
7070	-1.23	-146.6	705.4	-7.9	338	7076	0.00	2.55	0.00	0.000	6	0.000	0.051	2222	1896	3476
7385	-1.23	-146.6	734.0	-9.4	354	7390	0.00	2.60	0.00	0.000	4	0.000	0.058	2222	3308	3476
7502	-1.23	-146.6	745.7	-10.0	359	7507	0.00	2.58	0.00	0.000	6	0.000	0.054	2221	1902	3476
7818	-1.23	-146.6	774.3	-8.3	374	7823	0.00	2.67	0.00	0.000	4	0.000	0.081	2222	494	3476
7846	-1.23	-146.6	777.0	-9.7	375	7850	0.00	2.50	0.00	0.000	6	0.000	0.051	2222	1899	3476
8014	end dive: TARGET_DEPTH_EXCEEDED
state	8014	begin apogee
8021	-0.36	0.0	791.7	8.5	383	8151	0.93	0.00	126.72	1.318	6	0.081	0.000	2417	2103	2878
8152	end apogee: CONTROL_FINISHED_OK
state	8152	begin climb
8155	1.23	146.6	796.0	0.0	389	8290	1.55	2.78	125.38	1.282	4	0.054	0.077	2761	687	2280
8321	1.26	174.6	791.7	6.9	397	8351	0.00	2.58	24.50	1.276	6	0.000	0.051	2761	2094	2166
8668	1.26	174.6	764.2	8.0	414	8672	0.00	2.65	0.00	0.000	4	0.000	0.065	2761	3505	2166
8925	1.26	174.6	741.0	9.6	425	8931	0.00	2.60	0.00	0.000	6	0.000	0.055	2761	2101	2164
9241	1.27	183.9	716.1	7.6	441	9255	0.00	2.67	8.62	1.307	4	0.000	0.062	2761	3497	2128
9379	1.27	183.9	703.8	9.0	447	9383	0.00	2.58	0.00	0.000	6	0.000	0.053	2761	2093	2127
9700	1.30	203.6	679.0	7.2	463	9724	0.00	2.72	17.38	1.302	4	0.000	0.059	2761	3505	2047
9826	1.31	213.2	669.0	7.6	468	9841	0.00	2.60	9.30	1.268	6	0.000	0.051	2761	2094	2008
10163	1.32	219.9	643.0	7.7	485	10177	0.00	2.67	6.68	1.244	4	0.000	0.057	2761	3508	1981
10194	1.33	231.1	640.4	7.6	486	10211	0.10	2.60	10.57	1.243	6	0.060	0.048	2789	2096	1936
10534	1.33	231.1	610.3	9.4	503	10538	0.00	2.60	0.00	0.000	4	0.000	0.055	2790	3504	1936
10596	1.33	231.1	604.7	8.4	506	10600	0.00	2.55	0.00	0.000	6	0.000	0.048	2790	2098	1935
10922	1.33	231.1	577.4	8.9	522	10926	0.00	2.58	0.00	0.000	4	0.000	0.054	2790	3505	1936
10994	1.33	231.1	570.3	9.4	525	10998	0.00	2.55	0.00	0.000	6	0.000	0.047	2790	2100	1936
11309	1.33	231.1	541.2	8.3	540	11313	0.00	2.58	0.00	0.000	4	0.000	0.053	2790	3508	1935
11410	1.33	231.1	532.6	8.8	544	11416	0.00	2.55	0.00	0.000	6	0.000	0.046	2790	2099	1936
11726	1.33	231.1	506.2	9.0	560	11730	0.00	2.58	0.00	0.000	4	0.000	0.053	2790	3505	1936
11810	1.33	231.1	496.8	11.2	564	11814	0.00	2.53	0.00	0.000	6	0.000	0.046	2790	2101	1936
12136	1.33	231.1	460.0	11.5	580	12140	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3506	1936
12180	1.33	231.1	454.5	12.6	582	12184	0.00	2.55	0.00	0.000	6	0.000	0.045	2789	2095	1936
12500	1.33	231.1	417.1	11.0	598	12504	0.00	2.58	0.00	0.000	4	0.000	0.052	2790	3505	1936
12584	1.33	231.1	407.7	11.6	602	12589	0.00	2.53	0.00	0.000	6	0.000	0.044	2790	2096	1936
12911	1.33	231.1	374.9	9.8	618	12915	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3505	1937
12973	1.33	231.1	368.8	10.0	621	12977	0.00	2.53	0.00	0.000	6	0.000	0.044	2790	2094	1937
13299	1.33	231.1	338.0	9.3	637	13303	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3505	1938
13371	1.33	231.1	330.3	10.1	640	13375	0.00	2.53	0.00	0.000	6	0.000	0.042	2790	2094	1938
13686	1.33	231.1	297.2	10.7	655	13691	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3509	1938
13742	1.33	231.1	290.9	11.2	657	13748	0.00	2.53	0.00	0.000	6	0.000	0.041	2790	2095	1938
14057	1.33	231.1	257.8	10.6	673	14061	0.00	2.58	0.00	0.000	4	0.000	0.051	2789	3507	1938
14129	1.33	231.1	249.7	11.1	676	14134	0.00	2.53	0.00	0.000	6	0.000	0.041	2790	2098	1938
14446	1.33	231.1	214.5	11.4	691	14450	0.00	2.58	0.00	0.000	4	0.000	0.051	2790	3510	1939
14507	1.33	231.1	207.6	10.8	694	14511	0.00	2.53	0.00	0.000	6	0.000	0.041	2790	2093	1939
14833	1.33	231.1	173.2	11.3	710	14837	0.00	2.58	0.00	0.000	4	0.000	0.050	2790	3508	1939
14882	1.33	231.1	167.1	11.1	712	14887	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2095	1939
15198	1.33	231.1	132.9	9.9	727	15202	0.00	2.58	0.00	0.000	4	0.000	0.050	2790	3511	1940
15275	1.33	231.1	122.8	12.7	730	15282	0.00	2.53	0.00	0.000	6	0.000	0.041	2790	2093	1940
15592	1.37	257.7	94.1	7.0	746	15621	0.00	2.65	22.70	0.892	4	0.000	0.049	2790	3505	1827
15680	1.37	257.7	88.4	9.1	750	15684	0.00	2.53	0.00	0.000	6	0.000	0.039	2790	2097	1827
16007	1.37	257.7	53.8	9.1	766	16011	0.00	2.58	0.00	0.000	4	0.000	0.049	2790	3509	1826
16101	1.37	257.7	45.2	8.9	770	16105	0.00	2.50	0.00	0.000	6	0.000	0.040	2790	2095	1826
16418	1.37	257.7	22.2	8.2	785	16422	0.00	2.55	0.00	0.000	4	0.000	0.048	2790	3507	1827
16503	1.46	338.2	14.5	4.9	789	16573	0.10	2.50	62.35	0.802	6	0.064	0.040	2822	2099	1499
16666	end climb: SURFACE_DEPTH_REACHED
state	16666	begin surface coast
16690	end surface coast: CONTROL_FINISHED_OK
state	16690	begin surface