Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 362 * 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 362 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -84369.938 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 -84369.938

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 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 362 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 213658,6224.280,-1116.755,29,2.6,48,-10.8 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.094,0.219

_SM_DEPTHo 1.75 KALMAN_X 523611.8,1455.0,-184.5,-671815.8,1441.7

_SM_ANGLEo -55.7 KALMAN_Y 64301.7,-385.6,35.3,30864.6,-4213.1

GPS2 214323,6224.336,-1116.584,9,2.7,28,-10.8 MHEAD_RNG_PITCHd_Wd 34.0,14274,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 823

Post-dive calculations and measurements:

FINISH 1.2,1.022590 XPDR_PINGS 1

SM_CCo 18390,51.05,0.795,6,0,1655,300.00 ALTIM_TOP_PING 19.8,999.0

SM_GC 1.91,0.00,0.00,51.05,0.000,0.000,0.795,35,1892,1655,-11.32,-0.25,300.00 _24V_AH 23.1,72.244

IRIDIUM_FIX 6158.08,-1126.79,230497,161608 _10V_AH 10.1,34.993

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44253,883

HUMID 2047 CFSIZE 260165632,236646400

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,6,0

TCM_TEMP 15.00 GPS 290108,025407,6229.146,-1108.102,29,1.2,29,-10.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 139 84.24 SBE_CT 650 24 360.51

Roll_motor 167 79 305.77 SBE_O2 596 19 261.73

VBD_pump_during_apogee 339 1346 10571.18 WL_BB2F 504 105 1222.54

VBD_pump_during_surface 51 795 937.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.61 nil 0 0 0.00

Iridium_during_connect 32 160 119.62 nil 0 0 0.00

Iridium_during_xfer 173 223 896.31

Transponder_ping 7 420 67.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 15.59

TT8 1672 19 334.49

LPSleep 13887 2 307.19

TT8_Active 571 19 114.30

TT8_Sampling 2195 39 882.70

TT8_CF8 581 45 269.21

TT8_Kalman 33 81 27.57

Analog_circuits 1658 12 201.05

GPS_charging 0 0 0.00

Compass 2134 8 172.43

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 -61.20 0.000 2 0.000 0.000 29 1886 2848

90 -1.23 -146.6 3.3 -3.8 3 132 11.62 2.62 -20.98 0.000 4 0.140 0.079 2222 501 3477

385 -1.23 -146.6 32.9 -10.2 16 389 0.00 2.45 0.00 0.000 6 0.000 0.039 2222 1909 3477

706 -1.23 -146.6 63.5 -8.7 32 710 0.00 2.65 0.00 0.000 4 0.000 0.070 2222 501 3477

761 -1.23 -146.6 68.6 -8.9 34 767 0.00 2.42 0.00 0.000 6 0.000 0.039 2222 1902 3477

1077 -1.23 -146.6 98.9 -10.4 50 1081 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3292 3477

1126 -1.23 -146.6 104.7 -11.3 52 1130 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1902 3477

1442 -1.23 -146.6 134.9 -10.2 67 1443 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1902 3477

1751 -1.23 -146.6 169.3 -10.9 82 1755 0.00 2.53 0.00 0.000 4 0.000 0.046 2222 3302 3477

1790 -1.23 -146.6 173.6 -10.2 84 1794 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1896 3477

2116 -1.23 -146.6 207.8 -10.6 100 2117 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

2425 -1.23 -146.6 239.8 -10.7 115 2429 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3299 3477

2474 -1.23 -146.6 245.0 -10.4 117 2478 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1901 3477

2796 -1.23 -146.6 277.9 -10.0 133 2800 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3302 3477

2822 -1.23 -146.6 280.6 -9.9 134 2827 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1895 3477

3138 -1.23 -146.6 313.1 -10.4 149 3139 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1895 3477

3447 -1.23 -146.6 345.0 -10.5 164 3451 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3294 3477

3497 -1.23 -146.6 350.0 -9.8 166 3501 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1896 3477

3814 -1.23 -146.6 381.3 -9.9 181 3815 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

4122 -1.23 -146.6 410.2 -9.3 196 4126 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3293 3477

4206 -1.23 -146.6 418.4 -9.3 200 4210 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

4533 -1.23 -146.6 448.8 -9.1 216 4534 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

4843 -1.23 -146.6 475.7 -8.7 231 4847 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3296 3477

4898 -1.23 -146.6 480.8 -9.5 233 4904 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1900 3477

5214 -1.23 -146.6 511.5 -10.1 249 5215 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

5523 -1.23 -146.6 541.3 -9.5 264 5524 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1899 3477

5832 -1.23 -146.6 569.2 -8.4 279 5836 0.00 2.53 0.00 0.000 4 0.000 0.051 2222 3293 3477

5898 -1.23 -146.6 574.8 -8.4 282 5906 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

6227 -1.23 -146.6 602.1 -8.7 298 6232 0.00 2.53 0.00 0.000 4 0.000 0.052 2222 3292 3477

6267 -1.23 -146.6 605.6 -9.3 300 6271 0.00 2.50 0.00 0.000 6 0.000 0.047 2222 1900 3477

6594 -1.23 -146.6 634.6 -9.2 316 6595 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3477

6903 -1.23 -146.6 663.1 -9.1 331 6907 0.00 2.55 0.00 0.000 4 0.000 0.055 2221 3295 3477

6942 -1.23 -146.6 667.0 -9.6 333 6946 0.00 2.53 0.00 0.000 6 0.000 0.048 2222 1898 3476

7268 -1.23 -146.6 694.7 -8.7 349 7273 0.00 2.55 0.00 0.000 4 0.000 0.057 2223 3292 3476

7313 -1.23 -146.6 698.9 -9.8 351 7317 0.00 2.53 0.00 0.000 6 0.000 0.050 2222 1902 3476

7633 -1.23 -146.6 728.2 -8.9 367 7637 0.00 2.55 0.00 0.000 4 0.000 0.058 2222 3291 3476

7767 -1.23 -146.6 740.7 -9.7 373 7771 0.00 2.53 0.00 0.000 6 0.000 0.052 2222 1900 3476

8087 -1.23 -146.6 768.2 -8.1 389 8088 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3475

8397 -1.23 -146.6 793.3 -8.0 404 8398 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1900 3474

8706 -1.23 -146.6 798.3 0.0 419 8710 0.00 2.60 0.00 0.000 4 0.000 0.064 2222 3295 3474

8821 end dive: NO_VERTICAL_VELOCITY

state 8821 begin apogee

8830 -0.36 0.0 798.0 0.0 424 8962 0.85 0.00 126.35 1.347 6 0.063 0.000 2418 2097 2878

8963 end apogee: CONTROL_FINISHED_OK

state 8963 begin climb

8965 1.23 146.6 798.1 0.0 431 9101 1.55 2.75 125.38 1.299 4 0.058 0.067 2758 3491 2280

9358 1.23 146.6 781.0 8.7 449 9363 0.00 2.58 0.00 0.000 6 0.000 0.056 2759 2100 2279

9685 1.25 166.3 757.3 7.3 465 9708 0.00 2.67 17.45 1.317 4 0.000 0.064 2759 3487 2200

9866 1.25 166.3 742.2 8.9 473 9870 0.00 2.58 0.00 0.000 6 0.000 0.055 2759 2095 2200

10192 1.25 166.3 715.5 8.2 489 10196 0.00 2.62 0.00 0.000 4 0.000 0.062 2759 3494 2199

10305 1.25 166.3 706.0 8.6 494 10309 0.00 2.55 0.00 0.000 6 0.000 0.053 2759 2099 2199

10625 1.25 166.3 680.0 8.1 510 10629 0.00 2.58 0.00 0.000 4 0.000 0.061 2759 3488 2198

10686 1.25 166.3 674.7 8.8 513 10691 0.00 2.55 0.00 0.000 6 0.000 0.052 2758 2099 2198

11014 1.27 182.2 650.2 7.4 529 11035 0.00 2.62 14.05 1.304 4 0.000 0.060 2759 3488 2135

11216 1.28 186.6 634.2 7.8 538 11226 0.00 2.55 5.05 1.237 6 0.000 0.051 2759 2099 2117

11542 1.28 186.6 609.2 8.1 554 11546 0.00 2.58 0.00 0.000 4 0.000 0.058 2758 3490 2117

11653 1.28 186.6 599.5 8.3 559 11658 0.00 2.55 0.00 0.000 6 0.000 0.049 2759 2093 2116

11975 1.28 186.6 572.5 8.7 575 11979 0.00 2.58 0.00 0.000 4 0.000 0.056 2759 3489 2116

12086 1.28 186.6 562.2 8.8 580 12090 0.00 2.53 0.00 0.000 6 0.000 0.048 2759 2100 2116

12407 1.28 186.6 533.5 9.1 596 12408 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2100 2117

12717 1.28 186.6 506.6 8.6 611 12721 0.00 2.55 0.00 0.000 4 0.000 0.054 2759 3494 2117

12817 1.28 186.6 497.0 9.7 615 12823 0.00 2.53 0.00 0.000 6 0.000 0.043 2759 2090 2117

13132 1.28 186.6 469.5 8.8 631 13134 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2090 2117

13442 1.28 186.6 443.2 8.4 646 13446 0.00 2.55 0.00 0.000 4 0.000 0.052 2759 3492 2118

13542 1.28 186.6 434.2 8.4 650 13548 0.00 2.50 0.00 0.000 6 0.000 0.043 2759 2097 2117

13858 1.28 187.3 408.6 8.0 666 13863 0.00 2.55 0.00 0.000 4 0.000 0.051 2759 3494 2118

13943 1.28 187.3 401.3 8.6 670 13947 0.00 2.50 0.00 0.000 6 0.000 0.042 2759 2098 2119

14270 1.30 203.8 376.4 7.4 686 14291 0.00 2.60 15.55 1.086 4 0.000 0.051 2759 3489 2047

14364 1.30 203.8 368.8 8.5 690 14369 0.00 2.50 0.00 0.000 6 0.000 0.042 2758 2099 2047

14686 1.31 211.9 344.2 7.7 706 14695 0.00 0.00 7.80 1.062 6 0.000 0.000 2758 2099 2014

14996 1.32 219.2 320.1 7.7 721 15010 0.10 2.60 7.28 1.039 4 0.059 0.051 2791 3489 1984

15084 1.32 219.2 312.0 8.9 725 15088 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2099 1984

15410 1.32 219.2 284.0 8.2 741 15415 0.00 2.53 0.00 0.000 4 0.000 0.050 2790 3491 1984

15500 1.32 219.2 276.0 9.3 745 15504 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2093 1984

15821 1.32 219.2 249.3 8.4 761 15825 0.00 2.55 0.00 0.000 4 0.000 0.051 2790 3491 1984

15920 1.32 219.2 240.2 8.3 765 15927 0.00 2.50 0.00 0.000 6 0.000 0.041 2790 2093 1984

16237 1.32 219.2 212.0 9.7 781 16241 0.00 2.53 0.00 0.000 4 0.000 0.050 2790 3491 1984

16308 1.32 219.2 204.0 11.1 784 16313 0.00 2.47 0.00 0.000 6 0.000 0.040 2790 2099 1984

16624 1.32 219.2 172.2 10.4 799 16629 0.00 2.53 0.00 0.000 4 0.000 0.050 2791 3491 1984

16702 1.32 219.2 163.6 10.4 802 16708 0.00 2.47 0.00 0.000 6 0.000 0.040 2791 2097 1985

17018 1.32 219.2 130.4 10.7 818 17022 0.00 2.53 0.00 0.000 4 0.000 0.049 2791 3491 1985

17073 1.32 219.2 124.1 11.4 820 17080 0.00 2.47 0.00 0.000 6 0.000 0.040 2791 2095 1984

17389 1.32 219.2 94.5 9.0 836 17390 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2095 1985

17700 1.35 244.3 64.3 7.0 851 17726 0.00 2.58 20.88 0.872 4 0.000 0.049 2790 3492 1881

17846 1.35 244.3 49.1 9.6 857 17852 0.00 2.50 0.00 0.000 6 0.000 0.040 2791 2090 1881

18162 1.35 244.3 19.8 9.4 873 18164 0.00 0.00 0.00 0.000 6 0.000 0.000 2790 2090 1881

18345 end climb: SURFACE_DEPTH_REACHED

state 18345 begin surface coast

18367 end surface coast: CONTROL_FINISHED_OK

state 18367 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	362	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-84369.938	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	213658,6224.280,-1116.755,29,2.6,48,-10.8	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.094,0.219
_SM_DEPTHo	1.75	KALMAN_X	523611.8,1455.0,-184.5,-671815.8,1441.7
_SM_ANGLEo	-55.7	KALMAN_Y	64301.7,-385.6,35.3,30864.6,-4213.1
GPS2	214323,6224.336,-1116.584,9,2.7,28,-10.8	MHEAD_RNG_PITCHd_Wd	34.0,14274,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	823

FINISH	1.2,1.022590	XPDR_PINGS	1
SM_CCo	18390,51.05,0.795,6,0,1655,300.00	ALTIM_TOP_PING	19.8,999.0
SM_GC	1.91,0.00,0.00,51.05,0.000,0.000,0.795,35,1892,1655,-11.32,-0.25,300.00	_24V_AH	23.1,72.244
IRIDIUM_FIX	6158.08,-1126.79,230497,161608	_10V_AH	10.1,34.993
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44253,883
HUMID	2047	CFSIZE	260165632,236646400
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,6,0
TCM_TEMP	15.00	GPS	290108,025407,6229.146,-1108.102,29,1.2,29,-10.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	139	84.24	SBE_CT	650	24	360.51
Roll_motor	167	79	305.77	SBE_O2	596	19	261.73
VBD_pump_during_apogee	339	1346	10571.18	WL_BB2F	504	105	1222.54
VBD_pump_during_surface	51	795	937.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.61	nil	0	0	0.00
Iridium_during_connect	32	160	119.62	nil	0	0	0.00
Iridium_during_xfer	173	223	896.31
Transponder_ping	7	420	67.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	15.59
TT8	1672	19	334.49
LPSleep	13887	2	307.19
TT8_Active	571	19	114.30
TT8_Sampling	2195	39	882.70
TT8_CF8	581	45	269.21
TT8_Kalman	33	81	27.57
Analog_circuits	1658	12	201.05
GPS_charging	0	0	0.00
Compass	2134	8	172.43
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	-61.20	0.000	2	0.000	0.000	29	1886	2848
90	-1.23	-146.6	3.3	-3.8	3	132	11.62	2.62	-20.98	0.000	4	0.140	0.079	2222	501	3477
385	-1.23	-146.6	32.9	-10.2	16	389	0.00	2.45	0.00	0.000	6	0.000	0.039	2222	1909	3477
706	-1.23	-146.6	63.5	-8.7	32	710	0.00	2.65	0.00	0.000	4	0.000	0.070	2222	501	3477
761	-1.23	-146.6	68.6	-8.9	34	767	0.00	2.42	0.00	0.000	6	0.000	0.039	2222	1902	3477
1077	-1.23	-146.6	98.9	-10.4	50	1081	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3292	3477
1126	-1.23	-146.6	104.7	-11.3	52	1130	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1902	3477
1442	-1.23	-146.6	134.9	-10.2	67	1443	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1902	3477
1751	-1.23	-146.6	169.3	-10.9	82	1755	0.00	2.53	0.00	0.000	4	0.000	0.046	2222	3302	3477
1790	-1.23	-146.6	173.6	-10.2	84	1794	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1896	3477
2116	-1.23	-146.6	207.8	-10.6	100	2117	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
2425	-1.23	-146.6	239.8	-10.7	115	2429	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3299	3477
2474	-1.23	-146.6	245.0	-10.4	117	2478	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1901	3477
2796	-1.23	-146.6	277.9	-10.0	133	2800	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3302	3477
2822	-1.23	-146.6	280.6	-9.9	134	2827	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1895	3477
3138	-1.23	-146.6	313.1	-10.4	149	3139	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1895	3477
3447	-1.23	-146.6	345.0	-10.5	164	3451	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3294	3477
3497	-1.23	-146.6	350.0	-9.8	166	3501	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1896	3477
3814	-1.23	-146.6	381.3	-9.9	181	3815	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
4122	-1.23	-146.6	410.2	-9.3	196	4126	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3293	3477
4206	-1.23	-146.6	418.4	-9.3	200	4210	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
4533	-1.23	-146.6	448.8	-9.1	216	4534	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
4843	-1.23	-146.6	475.7	-8.7	231	4847	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3296	3477
4898	-1.23	-146.6	480.8	-9.5	233	4904	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1900	3477
5214	-1.23	-146.6	511.5	-10.1	249	5215	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
5523	-1.23	-146.6	541.3	-9.5	264	5524	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1899	3477
5832	-1.23	-146.6	569.2	-8.4	279	5836	0.00	2.53	0.00	0.000	4	0.000	0.051	2222	3293	3477
5898	-1.23	-146.6	574.8	-8.4	282	5906	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
6227	-1.23	-146.6	602.1	-8.7	298	6232	0.00	2.53	0.00	0.000	4	0.000	0.052	2222	3292	3477
6267	-1.23	-146.6	605.6	-9.3	300	6271	0.00	2.50	0.00	0.000	6	0.000	0.047	2222	1900	3477
6594	-1.23	-146.6	634.6	-9.2	316	6595	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3477
6903	-1.23	-146.6	663.1	-9.1	331	6907	0.00	2.55	0.00	0.000	4	0.000	0.055	2221	3295	3477
6942	-1.23	-146.6	667.0	-9.6	333	6946	0.00	2.53	0.00	0.000	6	0.000	0.048	2222	1898	3476
7268	-1.23	-146.6	694.7	-8.7	349	7273	0.00	2.55	0.00	0.000	4	0.000	0.057	2223	3292	3476
7313	-1.23	-146.6	698.9	-9.8	351	7317	0.00	2.53	0.00	0.000	6	0.000	0.050	2222	1902	3476
7633	-1.23	-146.6	728.2	-8.9	367	7637	0.00	2.55	0.00	0.000	4	0.000	0.058	2222	3291	3476
7767	-1.23	-146.6	740.7	-9.7	373	7771	0.00	2.53	0.00	0.000	6	0.000	0.052	2222	1900	3476
8087	-1.23	-146.6	768.2	-8.1	389	8088	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3475
8397	-1.23	-146.6	793.3	-8.0	404	8398	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1900	3474
8706	-1.23	-146.6	798.3	0.0	419	8710	0.00	2.60	0.00	0.000	4	0.000	0.064	2222	3295	3474
8821	end dive: NO_VERTICAL_VELOCITY
state	8821	begin apogee
8830	-0.36	0.0	798.0	0.0	424	8962	0.85	0.00	126.35	1.347	6	0.063	0.000	2418	2097	2878
8963	end apogee: CONTROL_FINISHED_OK
state	8963	begin climb
8965	1.23	146.6	798.1	0.0	431	9101	1.55	2.75	125.38	1.299	4	0.058	0.067	2758	3491	2280
9358	1.23	146.6	781.0	8.7	449	9363	0.00	2.58	0.00	0.000	6	0.000	0.056	2759	2100	2279
9685	1.25	166.3	757.3	7.3	465	9708	0.00	2.67	17.45	1.317	4	0.000	0.064	2759	3487	2200
9866	1.25	166.3	742.2	8.9	473	9870	0.00	2.58	0.00	0.000	6	0.000	0.055	2759	2095	2200
10192	1.25	166.3	715.5	8.2	489	10196	0.00	2.62	0.00	0.000	4	0.000	0.062	2759	3494	2199
10305	1.25	166.3	706.0	8.6	494	10309	0.00	2.55	0.00	0.000	6	0.000	0.053	2759	2099	2199
10625	1.25	166.3	680.0	8.1	510	10629	0.00	2.58	0.00	0.000	4	0.000	0.061	2759	3488	2198
10686	1.25	166.3	674.7	8.8	513	10691	0.00	2.55	0.00	0.000	6	0.000	0.052	2758	2099	2198
11014	1.27	182.2	650.2	7.4	529	11035	0.00	2.62	14.05	1.304	4	0.000	0.060	2759	3488	2135
11216	1.28	186.6	634.2	7.8	538	11226	0.00	2.55	5.05	1.237	6	0.000	0.051	2759	2099	2117
11542	1.28	186.6	609.2	8.1	554	11546	0.00	2.58	0.00	0.000	4	0.000	0.058	2758	3490	2117
11653	1.28	186.6	599.5	8.3	559	11658	0.00	2.55	0.00	0.000	6	0.000	0.049	2759	2093	2116
11975	1.28	186.6	572.5	8.7	575	11979	0.00	2.58	0.00	0.000	4	0.000	0.056	2759	3489	2116
12086	1.28	186.6	562.2	8.8	580	12090	0.00	2.53	0.00	0.000	6	0.000	0.048	2759	2100	2116
12407	1.28	186.6	533.5	9.1	596	12408	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2100	2117
12717	1.28	186.6	506.6	8.6	611	12721	0.00	2.55	0.00	0.000	4	0.000	0.054	2759	3494	2117
12817	1.28	186.6	497.0	9.7	615	12823	0.00	2.53	0.00	0.000	6	0.000	0.043	2759	2090	2117
13132	1.28	186.6	469.5	8.8	631	13134	0.00	0.00	0.00	0.000	6	0.000	0.000	2759	2090	2117
13442	1.28	186.6	443.2	8.4	646	13446	0.00	2.55	0.00	0.000	4	0.000	0.052	2759	3492	2118
13542	1.28	186.6	434.2	8.4	650	13548	0.00	2.50	0.00	0.000	6	0.000	0.043	2759	2097	2117
13858	1.28	187.3	408.6	8.0	666	13863	0.00	2.55	0.00	0.000	4	0.000	0.051	2759	3494	2118
13943	1.28	187.3	401.3	8.6	670	13947	0.00	2.50	0.00	0.000	6	0.000	0.042	2759	2098	2119
14270	1.30	203.8	376.4	7.4	686	14291	0.00	2.60	15.55	1.086	4	0.000	0.051	2759	3489	2047
14364	1.30	203.8	368.8	8.5	690	14369	0.00	2.50	0.00	0.000	6	0.000	0.042	2758	2099	2047
14686	1.31	211.9	344.2	7.7	706	14695	0.00	0.00	7.80	1.062	6	0.000	0.000	2758	2099	2014
14996	1.32	219.2	320.1	7.7	721	15010	0.10	2.60	7.28	1.039	4	0.059	0.051	2791	3489	1984
15084	1.32	219.2	312.0	8.9	725	15088	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2099	1984
15410	1.32	219.2	284.0	8.2	741	15415	0.00	2.53	0.00	0.000	4	0.000	0.050	2790	3491	1984
15500	1.32	219.2	276.0	9.3	745	15504	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2093	1984
15821	1.32	219.2	249.3	8.4	761	15825	0.00	2.55	0.00	0.000	4	0.000	0.051	2790	3491	1984
15920	1.32	219.2	240.2	8.3	765	15927	0.00	2.50	0.00	0.000	6	0.000	0.041	2790	2093	1984
16237	1.32	219.2	212.0	9.7	781	16241	0.00	2.53	0.00	0.000	4	0.000	0.050	2790	3491	1984
16308	1.32	219.2	204.0	11.1	784	16313	0.00	2.47	0.00	0.000	6	0.000	0.040	2790	2099	1984
16624	1.32	219.2	172.2	10.4	799	16629	0.00	2.53	0.00	0.000	4	0.000	0.050	2791	3491	1984
16702	1.32	219.2	163.6	10.4	802	16708	0.00	2.47	0.00	0.000	6	0.000	0.040	2791	2097	1985
17018	1.32	219.2	130.4	10.7	818	17022	0.00	2.53	0.00	0.000	4	0.000	0.049	2791	3491	1985
17073	1.32	219.2	124.1	11.4	820	17080	0.00	2.47	0.00	0.000	6	0.000	0.040	2791	2095	1984
17389	1.32	219.2	94.5	9.0	836	17390	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2095	1985
17700	1.35	244.3	64.3	7.0	851	17726	0.00	2.58	20.88	0.872	4	0.000	0.049	2790	3492	1881
17846	1.35	244.3	49.1	9.6	857	17852	0.00	2.50	0.00	0.000	6	0.000	0.040	2791	2090	1881
18162	1.35	244.3	19.8	9.4	873	18164	0.00	0.00	0.00	0.000	6	0.000	0.000	2790	2090	1881
18345	end climb: SURFACE_DEPTH_REACHED
state	18345	begin surface coast
18367	end surface coast: CONTROL_FINISHED_OK
state	18367	begin surface