Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 360 * 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 360 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -84325.5 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 -84325.5

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 31 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 360 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 112937,6225.923,-1132.693,35,1.6,35,-11.0 TGT_NAME EE

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.236,0.032

_SM_DEPTHo 1.77 KALMAN_X 520140.0,-1126.6,-665.0,-679169.4,5350.2

_SM_ANGLEo -57.5 KALMAN_Y 71626.9,240.7,-42.9,25935.2,-1266.7

GPS2 113956,6225.917,-1132.371,13,1.7,13,-11.0 MHEAD_RNG_PITCHd_Wd 93.2,27811,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 811

Post-dive calculations and measurements:

FINISH 1.1,1.027431 XPDR_PINGS 2

SM_CCo 16954,60.90,0.804,8,0,1654,300.00 ALTIM_TOP_PING 19.3,999.0

SM_GC 1.61,0.00,0.00,60.90,0.000,0.000,0.804,30,1884,1654,-11.34,-0.45,300.00 _24V_AH 23.1,71.942

IRIDIUM_FIX 6158.08,-1131.33,230497,111128 _10V_AH 10.1,34.821

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41193,814

HUMID 2055 CFSIZE 260165632,236777472

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,8,0

TCM_TEMP 16.50 GPS 280108,162707,6224.371,-1123.560,31,1.0,31,-10.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 83.16 SBE_CT 601 24 333.21

Roll_motor 209 79 385.90 SBE_O2 549 19 241.20

VBD_pump_during_apogee 330 1353 10339.22 WL_BB2F 450 105 1093.61

VBD_pump_during_surface 60 803 1130.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 181.97 nil 0 0 0.00

Iridium_during_connect 69 160 258.27 nil 0 0 0.00

Iridium_during_xfer 281 223 1449.77

Transponder_ping 7 420 72.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.74

TT8 1582 19 316.48

LPSleep 12746 2 281.93

TT8_Active 610 19 121.99

TT8_Sampling 2019 39 811.86

TT8_CF8 771 45 356.66

TT8_Kalman 33 81 27.57

Analog_circuits 1656 12 200.82

GPS_charging 0 0 0.00

Compass 1971 8 159.29

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.23 -146.6 0.0 0.0 0 86 0.00 0.00 -60.85 0.000 2 0.000 0.000 34 1885 2687

90 -1.23 -146.6 3.0 -2.4 3 135 11.55 2.62 -26.73 0.000 4 0.138 0.080 2221 505 3477

153 -1.23 -146.6 11.1 -17.0 6 158 0.00 2.47 0.00 0.000 6 0.000 0.039 2221 1919 3478

481 -1.23 -146.6 57.6 -13.9 22 485 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 505 3478

738 -1.23 -146.6 97.8 -13.3 33 744 0.00 2.42 0.00 0.000 6 0.000 0.040 2221 1906 3478

1056 -1.23 -146.6 138.3 -11.5 49 1060 0.00 2.62 0.00 0.000 4 0.000 0.071 2221 505 3478

1119 -1.23 -146.6 146.5 -12.7 52 1123 0.00 2.42 0.00 0.000 6 0.000 0.040 2221 1896 3478

1445 -1.23 -146.6 183.2 -8.8 68 1450 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3299 3478

1494 -1.23 -146.6 188.0 -10.0 70 1499 0.00 2.50 0.00 0.000 6 0.000 0.043 2221 1907 3478

1810 -1.23 -146.6 220.5 -10.5 85 1814 0.00 2.50 0.00 0.000 4 0.000 0.048 2221 3295 3478

1827 -1.23 -146.6 222.4 -10.6 86 1831 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1892 3478

2153 -1.23 -146.6 254.3 -10.0 102 2157 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3296 3478

2203 -1.23 -146.6 259.5 -10.2 104 2207 0.00 2.50 0.00 0.000 6 0.000 0.044 2221 1899 3478

2519 -1.23 -146.6 292.2 -10.2 119 2523 0.00 2.50 0.00 0.000 4 0.000 0.047 2221 3296 3478

2545 -1.23 -146.6 295.0 -10.1 120 2550 0.00 2.50 0.00 0.000 6 0.000 0.043 2221 1897 3478

2868 -1.23 -146.6 326.6 -11.4 136 2869 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1897 3478

3177 -1.23 -146.6 358.4 -10.1 151 3181 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3298 3478

3216 -1.23 -146.6 362.5 -10.3 153 3220 0.00 2.53 0.00 0.000 6 0.000 0.044 2221 1895 3478

3542 -1.23 -146.6 393.3 -9.8 169 3546 0.00 2.53 0.00 0.000 4 0.000 0.049 2221 3295 3478

3591 -1.23 -146.6 398.2 -9.4 171 3595 0.00 2.50 0.00 0.000 6 0.000 0.044 2221 1893 3478

3913 -1.23 -146.6 427.7 -8.8 187 3917 0.00 2.60 0.00 0.000 4 0.000 0.071 2221 497 3478

3929 -1.23 -146.6 429.1 -8.5 188 3934 0.00 2.45 0.00 0.000 6 0.000 0.041 2221 1898 3477

4256 -1.23 -146.6 459.0 -9.9 204 4260 0.00 2.50 0.00 0.000 4 0.000 0.051 2221 3295 3477

4311 -1.23 -146.6 464.8 -10.7 206 4315 0.00 2.53 0.00 0.000 6 0.000 0.047 2221 1897 3478

4627 -1.23 -146.6 497.0 -10.8 221 4631 0.00 2.53 0.00 0.000 4 0.000 0.050 2221 3296 3477

4670 -1.23 -146.6 502.0 -11.3 223 4675 0.00 2.50 0.00 0.000 6 0.000 0.046 2221 1901 3477

4992 -1.23 -146.6 535.9 -10.1 239 4996 0.00 2.62 0.00 0.000 4 0.000 0.073 2221 494 3477

5013 -1.23 -146.6 538.1 -10.0 240 5018 0.00 2.47 0.00 0.000 6 0.000 0.042 2221 1901 3477

5335 -1.23 -146.6 567.5 -8.5 256 5339 0.00 2.53 0.00 0.000 4 0.000 0.054 2221 3302 3476

5362 -1.23 -146.6 569.9 -8.5 257 5366 0.00 2.55 0.00 0.000 6 0.000 0.048 2221 1895 3477

5683 -1.23 -146.6 595.5 -7.5 273 5687 0.00 2.58 0.00 0.000 4 0.000 0.053 2221 3307 3476

5738 -1.23 -146.6 599.8 -7.7 275 5748 0.00 2.53 0.00 0.000 6 0.000 0.048 2221 1900 3477

6055 -1.23 -146.6 626.2 -8.5 291 6059 0.00 2.55 0.00 0.000 4 0.000 0.054 2221 3298 3476

6076 -1.23 -146.6 628.2 -8.4 292 6080 0.00 2.50 0.00 0.000 6 0.000 0.048 2221 1900 3476

6398 -1.23 -146.6 657.3 -9.5 308 6402 0.00 2.55 0.00 0.000 4 0.000 0.054 2221 3298 3476

6505 -1.23 -146.6 668.1 -10.9 313 6509 0.00 2.55 0.00 0.000 6 0.000 0.050 2221 1896 3476

6830 -1.23 -146.6 702.7 -10.2 329 6835 0.00 2.58 0.00 0.000 4 0.000 0.056 2221 3302 3476

6898 -1.23 -146.6 709.2 -9.5 332 6902 0.00 2.55 0.00 0.000 6 0.000 0.052 2221 1900 3476

7218 -1.23 -146.6 737.1 -8.6 348 7220 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1900 3476

7528 -1.23 -146.6 762.2 -8.5 363 7532 0.00 2.58 0.00 0.000 4 0.000 0.058 2221 3300 3476

7561 -1.23 -146.6 765.2 -9.2 364 7567 0.00 2.55 0.00 0.000 6 0.000 0.053 2221 1901 3476

7876 -1.23 -146.6 793.7 -9.6 380 7880 0.00 2.58 0.00 0.000 4 0.000 0.060 2221 3298 3475

7960 -1.23 -146.6 801.5 -9.6 384 7964 0.00 2.58 0.00 0.000 6 0.000 0.057 2221 1899 3475

8077 end dive: TARGET_DEPTH_EXCEEDED

state 8077 begin apogee

8084 -0.36 0.0 812.2 8.7 390 8214 0.93 0.00 126.38 1.354 6 0.084 0.000 2417 2097 2878

8215 end apogee: CONTROL_FINISHED_OK

state 8215 begin climb

8218 1.23 146.6 816.5 0.0 396 8350 1.55 2.67 123.95 1.325 4 0.054 0.065 2760 3496 2280

8419 1.23 146.6 809.7 8.1 405 8425 0.00 2.58 0.00 0.000 6 0.000 0.053 2760 2099 2280

8735 1.27 176.6 787.5 6.9 421 8767 0.00 2.70 26.27 1.336 4 0.000 0.063 2760 3497 2156

8841 1.27 176.6 779.3 8.2 426 8846 0.00 2.60 0.00 0.000 6 0.000 0.054 2760 2095 2156

9168 1.27 183.1 755.2 7.8 442 9181 0.00 2.67 6.40 1.276 4 0.000 0.062 2760 3498 2131

9261 1.27 183.1 747.5 8.5 446 9265 0.00 2.58 0.00 0.000 6 0.000 0.054 2760 2099 2130

9582 1.27 183.1 722.7 8.0 462 9586 0.00 2.62 0.00 0.000 4 0.000 0.061 2760 3502 2129

9682 1.29 193.2 714.3 7.6 466 9696 0.00 2.58 9.38 1.316 6 0.000 0.054 2760 2100 2090

10019 1.30 206.8 689.5 7.5 483 10037 0.00 0.00 12.70 1.305 6 0.000 0.000 2760 2100 2034

10347 1.34 235.8 666.1 6.9 499 10379 0.12 2.67 25.55 1.279 4 0.054 0.057 2797 3504 1916

10491 1.34 235.8 652.5 10.5 505 10497 0.00 2.58 0.00 0.000 6 0.000 0.050 2797 2100 1916

10807 1.34 235.8 619.1 11.0 521 10811 0.00 2.60 0.00 0.000 4 0.000 0.055 2796 3501 1915

10891 1.34 235.8 609.5 11.7 525 10895 0.00 2.55 0.00 0.000 6 0.000 0.048 2797 2098 1915

11218 1.34 235.8 573.8 10.6 541 11222 0.00 2.58 0.00 0.000 4 0.000 0.054 2797 3498 1914

11308 1.34 235.8 564.6 9.5 545 11312 0.00 2.55 0.00 0.000 6 0.000 0.046 2797 2094 1915

11628 1.34 235.8 532.1 10.7 561 11633 0.00 2.58 0.00 0.000 4 0.000 0.054 2796 3502 1915

11684 1.34 235.8 525.7 11.4 563 11690 0.00 2.55 0.00 0.000 6 0.000 0.047 2797 2097 1915

11999 1.34 235.8 489.6 11.4 579 12004 0.00 2.58 0.00 0.000 4 0.000 0.053 2797 3502 1915

12049 1.34 235.8 483.6 11.4 581 12054 0.00 2.53 0.00 0.000 6 0.000 0.046 2797 2098 1916

12365 1.34 235.8 448.9 11.2 596 12369 0.00 2.55 0.00 0.000 4 0.000 0.052 2797 3503 1916

12437 1.34 235.8 440.7 11.0 599 12442 0.00 2.50 0.00 0.000 6 0.000 0.044 2797 2099 1916

12753 1.34 235.8 408.7 10.2 614 12757 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3505 1916

12870 1.34 235.8 395.5 11.5 619 12875 0.00 2.53 0.00 0.000 6 0.000 0.044 2797 2098 1916

13185 1.34 235.8 363.8 9.5 634 13190 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3500 1916

13253 1.34 235.8 356.8 10.4 637 13257 0.00 2.53 0.00 0.000 6 0.000 0.044 2797 2092 1916

13573 1.34 235.8 326.7 9.2 653 13577 0.00 2.55 0.00 0.000 4 0.000 0.052 2797 3501 1917

13635 1.34 235.8 320.8 9.2 656 13640 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2092 1917

13961 1.34 235.8 290.3 9.7 672 13966 0.00 2.58 0.00 0.000 4 0.000 0.051 2797 3506 1917

14039 1.34 235.8 282.2 9.5 675 14046 0.00 2.53 0.00 0.000 6 0.000 0.042 2797 2094 1917

14355 1.34 235.8 251.8 9.4 691 14359 0.00 2.55 0.00 0.000 4 0.000 0.051 2797 3499 1918

14450 1.34 235.8 242.5 9.3 695 14455 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2100 1918

14766 1.34 235.8 213.9 8.9 710 14770 0.00 2.55 0.00 0.000 4 0.000 0.050 2797 3504 1918

14844 1.34 235.8 206.4 9.8 713 14850 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2099 1918

15159 1.34 235.8 178.6 8.3 729 15163 0.00 2.53 0.00 0.000 4 0.000 0.050 2796 3499 1919

15236 1.34 235.8 170.4 10.8 732 15242 0.00 2.47 0.00 0.000 6 0.000 0.041 2797 2098 1919

15553 1.34 235.8 139.0 10.1 748 15557 0.00 2.55 0.00 0.000 4 0.000 0.050 2797 3505 1919

15630 1.34 235.8 131.0 10.1 751 15637 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2106 1919

15946 1.34 235.8 103.1 8.1 767 15950 0.00 2.53 0.00 0.000 4 0.000 0.049 2797 3502 1919

16001 1.34 235.8 97.6 9.7 769 16007 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2094 1919

16317 1.34 235.8 67.7 9.5 785 16321 0.00 2.55 0.00 0.000 4 0.000 0.050 2797 3500 1919

16401 1.34 235.8 59.2 10.0 789 16406 0.00 2.50 0.00 0.000 6 0.000 0.040 2797 2094 1920

16728 1.34 235.8 22.2 11.5 805 16733 0.00 2.55 0.00 0.000 4 0.000 0.049 2797 3502 1920

16800 1.34 235.8 13.4 12.3 808 16805 0.00 2.50 0.00 0.000 6 0.000 0.041 2797 2100 1920

16908 end climb: SURFACE_DEPTH_REACHED

state 16908 begin surface coast

16931 end surface coast: CONTROL_FINISHED_OK

state 16931 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	360	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-84325.5	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	112937,6225.923,-1132.693,35,1.6,35,-11.0	TGT_NAME	EE
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.236,0.032
_SM_DEPTHo	1.77	KALMAN_X	520140.0,-1126.6,-665.0,-679169.4,5350.2
_SM_ANGLEo	-57.5	KALMAN_Y	71626.9,240.7,-42.9,25935.2,-1266.7
GPS2	113956,6225.917,-1132.371,13,1.7,13,-11.0	MHEAD_RNG_PITCHd_Wd	93.2,27811,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	811

FINISH	1.1,1.027431	XPDR_PINGS	2
SM_CCo	16954,60.90,0.804,8,0,1654,300.00	ALTIM_TOP_PING	19.3,999.0
SM_GC	1.61,0.00,0.00,60.90,0.000,0.000,0.804,30,1884,1654,-11.34,-0.45,300.00	_24V_AH	23.1,71.942
IRIDIUM_FIX	6158.08,-1131.33,230497,111128	_10V_AH	10.1,34.821
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41193,814
HUMID	2055	CFSIZE	260165632,236777472
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,8,0
TCM_TEMP	16.50	GPS	280108,162707,6224.371,-1123.560,31,1.0,31,-10.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	83.16	SBE_CT	601	24	333.21
Roll_motor	209	79	385.90	SBE_O2	549	19	241.20
VBD_pump_during_apogee	330	1353	10339.22	WL_BB2F	450	105	1093.61
VBD_pump_during_surface	60	803	1130.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	181.97	nil	0	0	0.00
Iridium_during_connect	69	160	258.27	nil	0	0	0.00
Iridium_during_xfer	281	223	1449.77
Transponder_ping	7	420	72.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.74
TT8	1582	19	316.48
LPSleep	12746	2	281.93
TT8_Active	610	19	121.99
TT8_Sampling	2019	39	811.86
TT8_CF8	771	45	356.66
TT8_Kalman	33	81	27.57
Analog_circuits	1656	12	200.82
GPS_charging	0	0	0.00
Compass	1971	8	159.29
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.23	-146.6	0.0	0.0	0	86	0.00	0.00	-60.85	0.000	2	0.000	0.000	34	1885	2687
90	-1.23	-146.6	3.0	-2.4	3	135	11.55	2.62	-26.73	0.000	4	0.138	0.080	2221	505	3477
153	-1.23	-146.6	11.1	-17.0	6	158	0.00	2.47	0.00	0.000	6	0.000	0.039	2221	1919	3478
481	-1.23	-146.6	57.6	-13.9	22	485	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	505	3478
738	-1.23	-146.6	97.8	-13.3	33	744	0.00	2.42	0.00	0.000	6	0.000	0.040	2221	1906	3478
1056	-1.23	-146.6	138.3	-11.5	49	1060	0.00	2.62	0.00	0.000	4	0.000	0.071	2221	505	3478
1119	-1.23	-146.6	146.5	-12.7	52	1123	0.00	2.42	0.00	0.000	6	0.000	0.040	2221	1896	3478
1445	-1.23	-146.6	183.2	-8.8	68	1450	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3299	3478
1494	-1.23	-146.6	188.0	-10.0	70	1499	0.00	2.50	0.00	0.000	6	0.000	0.043	2221	1907	3478
1810	-1.23	-146.6	220.5	-10.5	85	1814	0.00	2.50	0.00	0.000	4	0.000	0.048	2221	3295	3478
1827	-1.23	-146.6	222.4	-10.6	86	1831	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1892	3478
2153	-1.23	-146.6	254.3	-10.0	102	2157	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3296	3478
2203	-1.23	-146.6	259.5	-10.2	104	2207	0.00	2.50	0.00	0.000	6	0.000	0.044	2221	1899	3478
2519	-1.23	-146.6	292.2	-10.2	119	2523	0.00	2.50	0.00	0.000	4	0.000	0.047	2221	3296	3478
2545	-1.23	-146.6	295.0	-10.1	120	2550	0.00	2.50	0.00	0.000	6	0.000	0.043	2221	1897	3478
2868	-1.23	-146.6	326.6	-11.4	136	2869	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1897	3478
3177	-1.23	-146.6	358.4	-10.1	151	3181	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3298	3478
3216	-1.23	-146.6	362.5	-10.3	153	3220	0.00	2.53	0.00	0.000	6	0.000	0.044	2221	1895	3478
3542	-1.23	-146.6	393.3	-9.8	169	3546	0.00	2.53	0.00	0.000	4	0.000	0.049	2221	3295	3478
3591	-1.23	-146.6	398.2	-9.4	171	3595	0.00	2.50	0.00	0.000	6	0.000	0.044	2221	1893	3478
3913	-1.23	-146.6	427.7	-8.8	187	3917	0.00	2.60	0.00	0.000	4	0.000	0.071	2221	497	3478
3929	-1.23	-146.6	429.1	-8.5	188	3934	0.00	2.45	0.00	0.000	6	0.000	0.041	2221	1898	3477
4256	-1.23	-146.6	459.0	-9.9	204	4260	0.00	2.50	0.00	0.000	4	0.000	0.051	2221	3295	3477
4311	-1.23	-146.6	464.8	-10.7	206	4315	0.00	2.53	0.00	0.000	6	0.000	0.047	2221	1897	3478
4627	-1.23	-146.6	497.0	-10.8	221	4631	0.00	2.53	0.00	0.000	4	0.000	0.050	2221	3296	3477
4670	-1.23	-146.6	502.0	-11.3	223	4675	0.00	2.50	0.00	0.000	6	0.000	0.046	2221	1901	3477
4992	-1.23	-146.6	535.9	-10.1	239	4996	0.00	2.62	0.00	0.000	4	0.000	0.073	2221	494	3477
5013	-1.23	-146.6	538.1	-10.0	240	5018	0.00	2.47	0.00	0.000	6	0.000	0.042	2221	1901	3477
5335	-1.23	-146.6	567.5	-8.5	256	5339	0.00	2.53	0.00	0.000	4	0.000	0.054	2221	3302	3476
5362	-1.23	-146.6	569.9	-8.5	257	5366	0.00	2.55	0.00	0.000	6	0.000	0.048	2221	1895	3477
5683	-1.23	-146.6	595.5	-7.5	273	5687	0.00	2.58	0.00	0.000	4	0.000	0.053	2221	3307	3476
5738	-1.23	-146.6	599.8	-7.7	275	5748	0.00	2.53	0.00	0.000	6	0.000	0.048	2221	1900	3477
6055	-1.23	-146.6	626.2	-8.5	291	6059	0.00	2.55	0.00	0.000	4	0.000	0.054	2221	3298	3476
6076	-1.23	-146.6	628.2	-8.4	292	6080	0.00	2.50	0.00	0.000	6	0.000	0.048	2221	1900	3476
6398	-1.23	-146.6	657.3	-9.5	308	6402	0.00	2.55	0.00	0.000	4	0.000	0.054	2221	3298	3476
6505	-1.23	-146.6	668.1	-10.9	313	6509	0.00	2.55	0.00	0.000	6	0.000	0.050	2221	1896	3476
6830	-1.23	-146.6	702.7	-10.2	329	6835	0.00	2.58	0.00	0.000	4	0.000	0.056	2221	3302	3476
6898	-1.23	-146.6	709.2	-9.5	332	6902	0.00	2.55	0.00	0.000	6	0.000	0.052	2221	1900	3476
7218	-1.23	-146.6	737.1	-8.6	348	7220	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1900	3476
7528	-1.23	-146.6	762.2	-8.5	363	7532	0.00	2.58	0.00	0.000	4	0.000	0.058	2221	3300	3476
7561	-1.23	-146.6	765.2	-9.2	364	7567	0.00	2.55	0.00	0.000	6	0.000	0.053	2221	1901	3476
7876	-1.23	-146.6	793.7	-9.6	380	7880	0.00	2.58	0.00	0.000	4	0.000	0.060	2221	3298	3475
7960	-1.23	-146.6	801.5	-9.6	384	7964	0.00	2.58	0.00	0.000	6	0.000	0.057	2221	1899	3475
8077	end dive: TARGET_DEPTH_EXCEEDED
state	8077	begin apogee
8084	-0.36	0.0	812.2	8.7	390	8214	0.93	0.00	126.38	1.354	6	0.084	0.000	2417	2097	2878
8215	end apogee: CONTROL_FINISHED_OK
state	8215	begin climb
8218	1.23	146.6	816.5	0.0	396	8350	1.55	2.67	123.95	1.325	4	0.054	0.065	2760	3496	2280
8419	1.23	146.6	809.7	8.1	405	8425	0.00	2.58	0.00	0.000	6	0.000	0.053	2760	2099	2280
8735	1.27	176.6	787.5	6.9	421	8767	0.00	2.70	26.27	1.336	4	0.000	0.063	2760	3497	2156
8841	1.27	176.6	779.3	8.2	426	8846	0.00	2.60	0.00	0.000	6	0.000	0.054	2760	2095	2156
9168	1.27	183.1	755.2	7.8	442	9181	0.00	2.67	6.40	1.276	4	0.000	0.062	2760	3498	2131
9261	1.27	183.1	747.5	8.5	446	9265	0.00	2.58	0.00	0.000	6	0.000	0.054	2760	2099	2130
9582	1.27	183.1	722.7	8.0	462	9586	0.00	2.62	0.00	0.000	4	0.000	0.061	2760	3502	2129
9682	1.29	193.2	714.3	7.6	466	9696	0.00	2.58	9.38	1.316	6	0.000	0.054	2760	2100	2090
10019	1.30	206.8	689.5	7.5	483	10037	0.00	0.00	12.70	1.305	6	0.000	0.000	2760	2100	2034
10347	1.34	235.8	666.1	6.9	499	10379	0.12	2.67	25.55	1.279	4	0.054	0.057	2797	3504	1916
10491	1.34	235.8	652.5	10.5	505	10497	0.00	2.58	0.00	0.000	6	0.000	0.050	2797	2100	1916
10807	1.34	235.8	619.1	11.0	521	10811	0.00	2.60	0.00	0.000	4	0.000	0.055	2796	3501	1915
10891	1.34	235.8	609.5	11.7	525	10895	0.00	2.55	0.00	0.000	6	0.000	0.048	2797	2098	1915
11218	1.34	235.8	573.8	10.6	541	11222	0.00	2.58	0.00	0.000	4	0.000	0.054	2797	3498	1914
11308	1.34	235.8	564.6	9.5	545	11312	0.00	2.55	0.00	0.000	6	0.000	0.046	2797	2094	1915
11628	1.34	235.8	532.1	10.7	561	11633	0.00	2.58	0.00	0.000	4	0.000	0.054	2796	3502	1915
11684	1.34	235.8	525.7	11.4	563	11690	0.00	2.55	0.00	0.000	6	0.000	0.047	2797	2097	1915
11999	1.34	235.8	489.6	11.4	579	12004	0.00	2.58	0.00	0.000	4	0.000	0.053	2797	3502	1915
12049	1.34	235.8	483.6	11.4	581	12054	0.00	2.53	0.00	0.000	6	0.000	0.046	2797	2098	1916
12365	1.34	235.8	448.9	11.2	596	12369	0.00	2.55	0.00	0.000	4	0.000	0.052	2797	3503	1916
12437	1.34	235.8	440.7	11.0	599	12442	0.00	2.50	0.00	0.000	6	0.000	0.044	2797	2099	1916
12753	1.34	235.8	408.7	10.2	614	12757	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3505	1916
12870	1.34	235.8	395.5	11.5	619	12875	0.00	2.53	0.00	0.000	6	0.000	0.044	2797	2098	1916
13185	1.34	235.8	363.8	9.5	634	13190	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3500	1916
13253	1.34	235.8	356.8	10.4	637	13257	0.00	2.53	0.00	0.000	6	0.000	0.044	2797	2092	1916
13573	1.34	235.8	326.7	9.2	653	13577	0.00	2.55	0.00	0.000	4	0.000	0.052	2797	3501	1917
13635	1.34	235.8	320.8	9.2	656	13640	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2092	1917
13961	1.34	235.8	290.3	9.7	672	13966	0.00	2.58	0.00	0.000	4	0.000	0.051	2797	3506	1917
14039	1.34	235.8	282.2	9.5	675	14046	0.00	2.53	0.00	0.000	6	0.000	0.042	2797	2094	1917
14355	1.34	235.8	251.8	9.4	691	14359	0.00	2.55	0.00	0.000	4	0.000	0.051	2797	3499	1918
14450	1.34	235.8	242.5	9.3	695	14455	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2100	1918
14766	1.34	235.8	213.9	8.9	710	14770	0.00	2.55	0.00	0.000	4	0.000	0.050	2797	3504	1918
14844	1.34	235.8	206.4	9.8	713	14850	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2099	1918
15159	1.34	235.8	178.6	8.3	729	15163	0.00	2.53	0.00	0.000	4	0.000	0.050	2796	3499	1919
15236	1.34	235.8	170.4	10.8	732	15242	0.00	2.47	0.00	0.000	6	0.000	0.041	2797	2098	1919
15553	1.34	235.8	139.0	10.1	748	15557	0.00	2.55	0.00	0.000	4	0.000	0.050	2797	3505	1919
15630	1.34	235.8	131.0	10.1	751	15637	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2106	1919
15946	1.34	235.8	103.1	8.1	767	15950	0.00	2.53	0.00	0.000	4	0.000	0.049	2797	3502	1919
16001	1.34	235.8	97.6	9.7	769	16007	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2094	1919
16317	1.34	235.8	67.7	9.5	785	16321	0.00	2.55	0.00	0.000	4	0.000	0.050	2797	3500	1919
16401	1.34	235.8	59.2	10.0	789	16406	0.00	2.50	0.00	0.000	6	0.000	0.040	2797	2094	1920
16728	1.34	235.8	22.2	11.5	805	16733	0.00	2.55	0.00	0.000	4	0.000	0.049	2797	3502	1920
16800	1.34	235.8	13.4	12.3	808	16805	0.00	2.50	0.00	0.000	6	0.000	0.041	2797	2100	1920
16908	end climb: SURFACE_DEPTH_REACHED
state	16908	begin surface coast
16931	end surface coast: CONTROL_FINISHED_OK
state	16931	begin surface