Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 361 * 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 361 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -84338.43 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 -84338.43

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 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 361 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 162707,6224.371,-1123.560,31,1.0,31,-10.9 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.126,0.202

_SM_DEPTHo 1.80 KALMAN_X 520389.3,635.1,408.2,-674318.8,682.3

_SM_ANGLEo -55.5 KALMAN_Y 67824.7,664.1,-326.8,26673.4,-3990.3

GPS2 163321,6224.339,-1123.365,10,1.7,10,-10.9 MHEAD_RNG_PITCHd_Wd 42.8,20074,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 829

Post-dive calculations and measurements:

FINISH 1.0,1.003011 XPDR_PINGS 1

SM_CCo 17920,63.30,0.796,8,0,1654,300.00 ALTIM_TOP_PING 19.8,999.0

SM_GC 1.69,0.00,0.00,63.30,0.000,0.000,0.796,30,1888,1654,-11.34,-0.34,300.00 _24V_AH 23.1,72.095

IRIDIUM_FIX 6202.67,-1136.81,230497,111118 _10V_AH 10.1,34.905

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44204,858

HUMID 2041 CFSIZE 260165632,236724224

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,8,0

TCM_TEMP 15.20 GPS 280108,213658,6224.280,-1116.755,29,2.6,48,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 135 81.85 SBE_CT 633 24 351.12

Roll_motor 148 77 266.14 SBE_O2 579 19 254.56

VBD_pump_during_apogee 331 1365 10453.11 WL_BB2F 476 105 1155.78

VBD_pump_during_surface 63 796 1164.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 95.49 nil 0 0 0.00

Iridium_during_connect 43 160 161.88 nil 0 0 0.00

Iridium_during_xfer 167 223 861.26

Transponder_ping 7 420 72.77

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.22

TT8 1617 19 323.49

LPSleep 13625 2 301.38

TT8_Active 582 19 116.50

TT8_Sampling 2052 39 824.95

TT8_CF8 574 45 265.55

TT8_Kalman 33 81 27.57

Analog_circuits 1596 12 193.45

GPS_charging 0 0 0.00

Compass 2010 8 162.44

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 -61.17 0.000 2 0.000 0.000 29 1883 2866

90 -1.23 -146.6 3.3 -3.2 3 132 11.55 2.62 -20.25 0.000 4 0.136 0.077 2222 501 3477

385 -1.23 -146.6 36.7 -10.0 16 389 0.00 2.45 0.00 0.000 6 0.000 0.041 2223 1906 3477

706 -1.23 -146.6 71.8 -12.3 32 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1910 3477

1017 -1.23 -146.6 112.7 -11.5 47 1018 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1910 3477

1324 -1.23 -146.6 153.7 -11.8 62 1328 0.00 2.50 0.00 0.000 4 0.000 0.048 2223 3296 3477

1351 -1.23 -146.6 157.3 -12.9 63 1356 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1898 3477

1673 -1.23 -146.6 188.6 -10.6 79 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

1982 -1.23 -146.6 219.5 -9.7 94 1986 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3303 3477

2031 -1.23 -146.6 224.5 -9.9 96 2035 0.00 2.50 0.00 0.000 6 0.000 0.044 2223 1901 3477

2352 -1.23 -146.6 257.1 -10.3 112 2354 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3477

2661 -1.23 -146.6 288.1 -10.0 127 2666 0.00 2.50 0.00 0.000 4 0.000 0.048 2223 3298 3477

2723 -1.23 -146.6 294.6 -10.4 130 2728 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1895 3477

3051 -1.23 -146.6 329.0 -10.5 146 3055 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3298 3477

3083 -1.23 -146.6 332.6 -11.3 147 3089 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1895 3477

3399 -1.23 -146.6 368.3 -11.5 163 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1895 3477

3708 -1.23 -146.6 404.0 -11.4 178 3713 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3302 3477

3748 -1.23 -146.6 408.5 -11.3 180 3752 0.00 2.53 0.00 0.000 6 0.000 0.046 2222 1900 3477

4075 -1.23 -146.6 442.3 -9.8 196 4076 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1900 3477

4383 -1.23 -146.6 471.6 -9.5 211 4388 0.00 2.53 0.00 0.000 4 0.000 0.050 2223 3298 3477

4439 -1.23 -146.6 477.1 -10.3 213 4445 0.00 2.53 0.00 0.000 6 0.000 0.047 2223 1898 3477

4755 -1.23 -146.6 506.4 -9.4 229 4759 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3304 3477

4798 -1.23 -146.6 510.6 -9.0 231 4803 0.00 2.55 0.00 0.000 6 0.000 0.047 2223 1894 3477

5119 -1.23 -146.6 540.8 -9.4 247 5120 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1894 3476

5429 -1.23 -146.6 570.7 -9.9 262 5433 0.00 2.55 0.00 0.000 4 0.000 0.052 2223 3298 3477

5495 -1.23 -146.6 577.2 -9.3 265 5499 0.00 2.53 0.00 0.000 6 0.000 0.048 2223 1898 3477

5817 -1.23 -146.6 610.6 -10.8 281 5818 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3476

6126 -1.23 -146.6 644.4 -10.9 296 6131 0.00 2.58 0.00 0.000 4 0.000 0.056 2223 3300 3476

6195 -1.23 -146.6 651.6 -10.5 299 6199 0.00 2.53 0.00 0.000 6 0.000 0.050 2223 1902 3476

6515 -1.23 -146.6 680.8 -8.8 315 6516 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1902 3476

6825 -1.23 -146.6 707.8 -8.8 330 6829 0.00 2.55 0.00 0.000 4 0.000 0.055 2223 3296 3476

6887 -1.23 -146.6 713.8 -10.2 333 6891 0.00 2.55 0.00 0.000 6 0.000 0.050 2223 1894 3476

7213 -1.23 -146.6 744.2 -8.8 349 7214 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1893 3476

7523 -1.23 -146.6 770.0 -7.8 364 7527 0.00 2.58 0.00 0.000 4 0.000 0.059 2223 3296 3476

7663 -1.23 -146.6 780.9 -7.5 370 7667 0.00 2.55 0.00 0.000 6 0.000 0.054 2223 1903 3476

7978 -1.23 -146.6 804.7 -8.1 385 7979 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1903 3475

8264 end dive: TARGET_DEPTH_EXCEEDED

state 8264 begin apogee

8271 -0.36 0.0 829.4 8.3 399 8401 0.93 0.00 126.93 1.365 6 0.084 0.000 2418 2099 2878

8402 end apogee: CONTROL_FINISHED_OK

state 8402 begin climb

8404 1.23 146.6 832.8 0.0 405 8540 1.55 2.75 125.60 1.322 4 0.053 0.067 2763 3497 2279

8798 1.23 146.6 811.4 10.6 423 8802 0.00 2.60 0.00 0.000 6 0.000 0.056 2762 2095 2278

9124 1.23 146.6 791.1 8.9 439 9128 0.00 2.65 0.00 0.000 4 0.000 0.065 2763 3505 2277

9382 1.24 155.3 765.0 7.7 450 9396 0.00 2.60 7.82 1.319 6 0.000 0.058 2763 2100 2245

9719 1.26 169.1 741.5 7.5 467 9740 0.00 2.70 12.90 1.339 4 0.000 0.063 2763 3495 2188

9931 1.26 169.1 723.9 8.9 476 9935 0.00 2.55 0.00 0.000 6 0.000 0.053 2763 2099 2188

10247 1.30 204.0 702.3 6.7 491 10279 0.00 0.00 30.33 1.322 6 0.000 0.000 2763 2099 2046

10576 1.30 204.0 675.7 8.4 507 10580 0.00 2.60 0.00 0.000 4 0.000 0.059 2763 3504 2046

10642 1.30 204.0 669.6 9.0 510 10647 0.00 2.60 0.00 0.000 6 0.000 0.051 2763 2090 2046

10963 1.30 208.4 644.5 7.8 526 10974 0.00 2.65 5.28 1.236 4 0.000 0.057 2763 3499 2027

11036 1.32 221.5 638.7 7.5 529 11055 0.00 2.58 12.12 1.265 6 0.000 0.048 2763 2094 1975

11377 1.32 221.5 609.6 9.3 546 11382 0.00 2.60 0.00 0.000 4 0.000 0.056 2763 3506 1974

11433 1.32 221.5 604.1 9.8 548 11439 0.00 2.55 0.00 0.000 6 0.000 0.048 2763 2099 1975

11749 1.32 221.5 576.1 8.7 564 11750 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2099 1975

12057 1.32 221.5 548.9 8.6 579 12059 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2099 1975

12367 1.32 221.5 523.2 8.3 594 12371 0.00 2.55 0.00 0.000 4 0.000 0.054 2763 3500 1975

12468 1.32 221.5 514.1 8.3 598 12474 0.00 2.53 0.00 0.000 6 0.000 0.044 2763 2098 1975

12784 1.32 221.5 486.5 8.7 614 12785 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2098 1975

13093 1.32 221.5 459.4 8.8 629 13097 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3501 1975

13177 1.32 221.5 451.4 9.7 633 13181 0.00 2.53 0.00 0.000 6 0.000 0.044 2763 2098 1976

13504 1.32 221.5 421.8 8.8 649 13505 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2097 1977

13813 1.32 221.5 394.1 8.7 664 13817 0.00 2.55 0.00 0.000 4 0.000 0.051 2763 3500 1977

13913 1.32 221.5 385.0 9.3 668 13919 0.00 2.53 0.00 0.000 6 0.000 0.043 2763 2092 1978

14228 1.32 221.5 356.9 9.0 684 14229 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2091 1978

14538 1.32 221.5 328.9 9.4 699 14542 0.00 2.58 0.00 0.000 4 0.000 0.052 2763 3507 1978

14610 1.32 221.5 321.8 9.9 702 14614 0.00 2.53 0.00 0.000 6 0.000 0.041 2763 2093 1978

14925 1.33 232.0 295.1 7.6 717 14938 0.10 0.00 10.48 1.035 6 0.061 0.000 2794 2093 1931

15234 1.33 232.0 265.0 10.0 732 15238 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3501 1932

15350 1.33 232.0 252.2 11.7 737 15355 0.00 2.53 0.00 0.000 6 0.000 0.041 2794 2090 1932

15666 1.33 232.0 219.2 10.2 752 15670 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3504 1932

15751 1.33 232.0 210.2 10.4 756 15755 0.00 2.53 0.00 0.000 6 0.000 0.041 2794 2088 1932

16077 1.33 232.0 179.6 9.7 772 16081 0.00 2.58 0.00 0.000 4 0.000 0.050 2794 3506 1932

16184 1.33 232.0 168.6 10.6 777 16188 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2103 1932

16510 1.33 232.0 135.6 9.3 793 16514 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3508 1932

16582 1.33 232.0 127.7 9.9 796 16587 0.00 2.53 0.00 0.000 6 0.000 0.040 2794 2088 1932

16899 1.33 232.0 93.5 11.2 811 16903 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3502 1932

16985 1.33 232.0 84.1 10.1 815 16989 0.00 2.50 0.00 0.000 6 0.000 0.040 2794 2097 1933

17311 1.33 232.0 56.1 9.3 831 17315 0.00 2.55 0.00 0.000 4 0.000 0.048 2794 3505 1933

17361 1.33 232.0 50.9 10.6 833 17365 0.00 2.50 0.00 0.000 6 0.000 0.039 2794 2097 1933

17677 1.33 232.0 19.8 10.3 848 17681 0.00 2.55 0.00 0.000 4 0.000 0.048 2794 3507 1933

17726 1.33 232.6 15.4 8.0 850 17731 0.00 2.50 0.00 0.000 6 0.000 0.039 2794 2094 1933

17875 end climb: SURFACE_DEPTH_REACHED

state 17875 begin surface coast

17897 end surface coast: CONTROL_FINISHED_OK

state 17897 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	361	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-84338.43	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	162707,6224.371,-1123.560,31,1.0,31,-10.9	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.126,0.202
_SM_DEPTHo	1.80	KALMAN_X	520389.3,635.1,408.2,-674318.8,682.3
_SM_ANGLEo	-55.5	KALMAN_Y	67824.7,664.1,-326.8,26673.4,-3990.3
GPS2	163321,6224.339,-1123.365,10,1.7,10,-10.9	MHEAD_RNG_PITCHd_Wd	42.8,20074,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	829

FINISH	1.0,1.003011	XPDR_PINGS	1
SM_CCo	17920,63.30,0.796,8,0,1654,300.00	ALTIM_TOP_PING	19.8,999.0
SM_GC	1.69,0.00,0.00,63.30,0.000,0.000,0.796,30,1888,1654,-11.34,-0.34,300.00	_24V_AH	23.1,72.095
IRIDIUM_FIX	6202.67,-1136.81,230497,111118	_10V_AH	10.1,34.905
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44204,858
HUMID	2041	CFSIZE	260165632,236724224
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,8,0
TCM_TEMP	15.20	GPS	280108,213658,6224.280,-1116.755,29,2.6,48,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	135	81.85	SBE_CT	633	24	351.12
Roll_motor	148	77	266.14	SBE_O2	579	19	254.56
VBD_pump_during_apogee	331	1365	10453.11	WL_BB2F	476	105	1155.78
VBD_pump_during_surface	63	796	1164.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	95.49	nil	0	0	0.00
Iridium_during_connect	43	160	161.88	nil	0	0	0.00
Iridium_during_xfer	167	223	861.26
Transponder_ping	7	420	72.77
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.22
TT8	1617	19	323.49
LPSleep	13625	2	301.38
TT8_Active	582	19	116.50
TT8_Sampling	2052	39	824.95
TT8_CF8	574	45	265.55
TT8_Kalman	33	81	27.57
Analog_circuits	1596	12	193.45
GPS_charging	0	0	0.00
Compass	2010	8	162.44
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	-61.17	0.000	2	0.000	0.000	29	1883	2866
90	-1.23	-146.6	3.3	-3.2	3	132	11.55	2.62	-20.25	0.000	4	0.136	0.077	2222	501	3477
385	-1.23	-146.6	36.7	-10.0	16	389	0.00	2.45	0.00	0.000	6	0.000	0.041	2223	1906	3477
706	-1.23	-146.6	71.8	-12.3	32	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1910	3477
1017	-1.23	-146.6	112.7	-11.5	47	1018	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1910	3477
1324	-1.23	-146.6	153.7	-11.8	62	1328	0.00	2.50	0.00	0.000	4	0.000	0.048	2223	3296	3477
1351	-1.23	-146.6	157.3	-12.9	63	1356	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1898	3477
1673	-1.23	-146.6	188.6	-10.6	79	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
1982	-1.23	-146.6	219.5	-9.7	94	1986	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3303	3477
2031	-1.23	-146.6	224.5	-9.9	96	2035	0.00	2.50	0.00	0.000	6	0.000	0.044	2223	1901	3477
2352	-1.23	-146.6	257.1	-10.3	112	2354	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3477
2661	-1.23	-146.6	288.1	-10.0	127	2666	0.00	2.50	0.00	0.000	4	0.000	0.048	2223	3298	3477
2723	-1.23	-146.6	294.6	-10.4	130	2728	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1895	3477
3051	-1.23	-146.6	329.0	-10.5	146	3055	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3298	3477
3083	-1.23	-146.6	332.6	-11.3	147	3089	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1895	3477
3399	-1.23	-146.6	368.3	-11.5	163	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1895	3477
3708	-1.23	-146.6	404.0	-11.4	178	3713	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3302	3477
3748	-1.23	-146.6	408.5	-11.3	180	3752	0.00	2.53	0.00	0.000	6	0.000	0.046	2222	1900	3477
4075	-1.23	-146.6	442.3	-9.8	196	4076	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1900	3477
4383	-1.23	-146.6	471.6	-9.5	211	4388	0.00	2.53	0.00	0.000	4	0.000	0.050	2223	3298	3477
4439	-1.23	-146.6	477.1	-10.3	213	4445	0.00	2.53	0.00	0.000	6	0.000	0.047	2223	1898	3477
4755	-1.23	-146.6	506.4	-9.4	229	4759	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3304	3477
4798	-1.23	-146.6	510.6	-9.0	231	4803	0.00	2.55	0.00	0.000	6	0.000	0.047	2223	1894	3477
5119	-1.23	-146.6	540.8	-9.4	247	5120	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1894	3476
5429	-1.23	-146.6	570.7	-9.9	262	5433	0.00	2.55	0.00	0.000	4	0.000	0.052	2223	3298	3477
5495	-1.23	-146.6	577.2	-9.3	265	5499	0.00	2.53	0.00	0.000	6	0.000	0.048	2223	1898	3477
5817	-1.23	-146.6	610.6	-10.8	281	5818	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3476
6126	-1.23	-146.6	644.4	-10.9	296	6131	0.00	2.58	0.00	0.000	4	0.000	0.056	2223	3300	3476
6195	-1.23	-146.6	651.6	-10.5	299	6199	0.00	2.53	0.00	0.000	6	0.000	0.050	2223	1902	3476
6515	-1.23	-146.6	680.8	-8.8	315	6516	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1902	3476
6825	-1.23	-146.6	707.8	-8.8	330	6829	0.00	2.55	0.00	0.000	4	0.000	0.055	2223	3296	3476
6887	-1.23	-146.6	713.8	-10.2	333	6891	0.00	2.55	0.00	0.000	6	0.000	0.050	2223	1894	3476
7213	-1.23	-146.6	744.2	-8.8	349	7214	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1893	3476
7523	-1.23	-146.6	770.0	-7.8	364	7527	0.00	2.58	0.00	0.000	4	0.000	0.059	2223	3296	3476
7663	-1.23	-146.6	780.9	-7.5	370	7667	0.00	2.55	0.00	0.000	6	0.000	0.054	2223	1903	3476
7978	-1.23	-146.6	804.7	-8.1	385	7979	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1903	3475
8264	end dive: TARGET_DEPTH_EXCEEDED
state	8264	begin apogee
8271	-0.36	0.0	829.4	8.3	399	8401	0.93	0.00	126.93	1.365	6	0.084	0.000	2418	2099	2878
8402	end apogee: CONTROL_FINISHED_OK
state	8402	begin climb
8404	1.23	146.6	832.8	0.0	405	8540	1.55	2.75	125.60	1.322	4	0.053	0.067	2763	3497	2279
8798	1.23	146.6	811.4	10.6	423	8802	0.00	2.60	0.00	0.000	6	0.000	0.056	2762	2095	2278
9124	1.23	146.6	791.1	8.9	439	9128	0.00	2.65	0.00	0.000	4	0.000	0.065	2763	3505	2277
9382	1.24	155.3	765.0	7.7	450	9396	0.00	2.60	7.82	1.319	6	0.000	0.058	2763	2100	2245
9719	1.26	169.1	741.5	7.5	467	9740	0.00	2.70	12.90	1.339	4	0.000	0.063	2763	3495	2188
9931	1.26	169.1	723.9	8.9	476	9935	0.00	2.55	0.00	0.000	6	0.000	0.053	2763	2099	2188
10247	1.30	204.0	702.3	6.7	491	10279	0.00	0.00	30.33	1.322	6	0.000	0.000	2763	2099	2046
10576	1.30	204.0	675.7	8.4	507	10580	0.00	2.60	0.00	0.000	4	0.000	0.059	2763	3504	2046
10642	1.30	204.0	669.6	9.0	510	10647	0.00	2.60	0.00	0.000	6	0.000	0.051	2763	2090	2046
10963	1.30	208.4	644.5	7.8	526	10974	0.00	2.65	5.28	1.236	4	0.000	0.057	2763	3499	2027
11036	1.32	221.5	638.7	7.5	529	11055	0.00	2.58	12.12	1.265	6	0.000	0.048	2763	2094	1975
11377	1.32	221.5	609.6	9.3	546	11382	0.00	2.60	0.00	0.000	4	0.000	0.056	2763	3506	1974
11433	1.32	221.5	604.1	9.8	548	11439	0.00	2.55	0.00	0.000	6	0.000	0.048	2763	2099	1975
11749	1.32	221.5	576.1	8.7	564	11750	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2099	1975
12057	1.32	221.5	548.9	8.6	579	12059	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2099	1975
12367	1.32	221.5	523.2	8.3	594	12371	0.00	2.55	0.00	0.000	4	0.000	0.054	2763	3500	1975
12468	1.32	221.5	514.1	8.3	598	12474	0.00	2.53	0.00	0.000	6	0.000	0.044	2763	2098	1975
12784	1.32	221.5	486.5	8.7	614	12785	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2098	1975
13093	1.32	221.5	459.4	8.8	629	13097	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3501	1975
13177	1.32	221.5	451.4	9.7	633	13181	0.00	2.53	0.00	0.000	6	0.000	0.044	2763	2098	1976
13504	1.32	221.5	421.8	8.8	649	13505	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2097	1977
13813	1.32	221.5	394.1	8.7	664	13817	0.00	2.55	0.00	0.000	4	0.000	0.051	2763	3500	1977
13913	1.32	221.5	385.0	9.3	668	13919	0.00	2.53	0.00	0.000	6	0.000	0.043	2763	2092	1978
14228	1.32	221.5	356.9	9.0	684	14229	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2091	1978
14538	1.32	221.5	328.9	9.4	699	14542	0.00	2.58	0.00	0.000	4	0.000	0.052	2763	3507	1978
14610	1.32	221.5	321.8	9.9	702	14614	0.00	2.53	0.00	0.000	6	0.000	0.041	2763	2093	1978
14925	1.33	232.0	295.1	7.6	717	14938	0.10	0.00	10.48	1.035	6	0.061	0.000	2794	2093	1931
15234	1.33	232.0	265.0	10.0	732	15238	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3501	1932
15350	1.33	232.0	252.2	11.7	737	15355	0.00	2.53	0.00	0.000	6	0.000	0.041	2794	2090	1932
15666	1.33	232.0	219.2	10.2	752	15670	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3504	1932
15751	1.33	232.0	210.2	10.4	756	15755	0.00	2.53	0.00	0.000	6	0.000	0.041	2794	2088	1932
16077	1.33	232.0	179.6	9.7	772	16081	0.00	2.58	0.00	0.000	4	0.000	0.050	2794	3506	1932
16184	1.33	232.0	168.6	10.6	777	16188	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2103	1932
16510	1.33	232.0	135.6	9.3	793	16514	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3508	1932
16582	1.33	232.0	127.7	9.9	796	16587	0.00	2.53	0.00	0.000	6	0.000	0.040	2794	2088	1932
16899	1.33	232.0	93.5	11.2	811	16903	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3502	1932
16985	1.33	232.0	84.1	10.1	815	16989	0.00	2.50	0.00	0.000	6	0.000	0.040	2794	2097	1933
17311	1.33	232.0	56.1	9.3	831	17315	0.00	2.55	0.00	0.000	4	0.000	0.048	2794	3505	1933
17361	1.33	232.0	50.9	10.6	833	17365	0.00	2.50	0.00	0.000	6	0.000	0.039	2794	2097	1933
17677	1.33	232.0	19.8	10.3	848	17681	0.00	2.55	0.00	0.000	4	0.000	0.048	2794	3507	1933
17726	1.33	232.6	15.4	8.0	850	17731	0.00	2.50	0.00	0.000	6	0.000	0.039	2794	2094	1933
17875	end climb: SURFACE_DEPTH_REACHED
state	17875	begin surface coast
17897	end surface coast: CONTROL_FINISHED_OK
state	17897	begin surface