Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 363 * 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 363 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 38 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 -84385.008 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 -84385.008

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 38 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 363 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 025407,6229.146,-1108.102,29,1.2,29,-10.8 TGT_NAME EE

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.214,-0.104

_SM_DEPTHo 1.83 KALMAN_X 529008.6,753.4,960.5,-670053.5,684.2

_SM_ANGLEo -57.4 KALMAN_Y 66669.7,466.6,1682.7,35021.2,-3214.0

GPS2 030009,6229.239,-1107.955,13,1.3,13,-10.8 MHEAD_RNG_PITCHd_Wd 126.8,10400,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 742

Post-dive calculations and measurements:

FINISH 1.0,1.027378 XPDR_PINGS 1

SM_CCo 16306,53.70,0.794,7,0,1654,300.00 ALTIM_TOP_PING 19.8,999.0

SM_GC 1.61,0.00,0.00,53.70,0.000,0.000,0.794,35,1885,1654,-11.32,-0.42,300.00 _24V_AH 23.1,72.389

IRIDIUM_FIX 6158.08,-1116.78,230497,212148 _10V_AH 10.1,35.073

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41103,777

HUMID 2034 CFSIZE 260165632,236580864

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,26,7,0

TCM_TEMP 18.60 GPS 290108,073625,6231.419,-1104.778,37,1.1,37,-10.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 85.01 SBE_CT 578 24 320.60

Roll_motor 214 79 391.72 SBE_O2 525 19 230.65

VBD_pump_during_apogee 336 1297 10078.72 WL_BB2F 432 105 1047.97

VBD_pump_during_surface 53 793 984.74 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 86.72 nil 0 0 0.00

Iridium_during_connect 34 160 128.95 nil 0 0 0.00

Iridium_during_xfer 165 223 853.50

Transponder_ping 6 420 63.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.30

TT8 1530 19 306.08

LPSleep 12140 2 268.54

TT8_Active 593 19 118.76

TT8_Sampling 1967 39 791.06

TT8_CF8 576 45 266.57

TT8_Kalman 33 81 27.57

Analog_circuits 1621 12 196.47

GPS_charging 0 0 0.00

Compass 1922 8 155.31

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.23 -146.6 0.0 0.0 0 86 0.00 0.00 -60.80 0.000 2 0.000 0.000 35 1889 2871

90 -1.23 -146.6 3.5 -4.0 3 125 11.65 2.55 -17.73 0.000 4 0.141 0.061 2225 3296 3477

379 -1.23 -146.6 37.5 -10.8 16 383 0.00 2.50 0.00 0.000 6 0.000 0.043 2225 1905 3477

705 -1.23 -146.6 85.0 -16.4 32 710 0.00 2.50 0.00 0.000 4 0.000 0.047 2225 3293 3477

772 -1.23 -146.6 95.4 -17.3 35 776 0.00 2.50 0.00 0.000 6 0.000 0.043 2225 1899 3477

1094 -1.23 -146.6 140.7 -12.8 51 1099 0.00 2.62 0.00 0.000 4 0.000 0.071 2225 495 3477

1122 -1.23 -146.6 144.1 -11.6 52 1126 0.00 2.45 0.00 0.000 6 0.000 0.039 2225 1899 3477

1438 -1.23 -146.6 173.0 -8.5 67 1442 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3298 3477

1492 -1.23 -146.6 178.1 -8.8 69 1498 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1895 3477

1808 -1.23 -146.6 205.5 -8.4 85 1812 0.00 2.62 0.00 0.000 4 0.000 0.070 2225 490 3477

1825 -1.23 -146.6 207.2 -10.5 86 1829 0.00 2.45 0.00 0.000 6 0.000 0.040 2225 1903 3477

2152 -1.23 -146.6 243.7 -9.9 102 2156 0.00 2.50 0.00 0.000 4 0.000 0.049 2225 3292 3477

2201 -1.23 -146.6 249.0 -10.7 104 2205 0.00 2.50 0.00 0.000 6 0.000 0.043 2225 1896 3477

2517 -1.23 -146.6 278.7 -8.5 119 2521 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3294 3477

2544 -1.23 -146.6 281.5 -9.8 120 2548 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1896 3477

2859 -1.23 -146.6 309.3 -9.1 135 2863 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3298 3477

2909 -1.23 -146.6 314.2 -9.5 137 2913 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1895 3477

3224 -1.23 -146.6 345.9 -10.2 152 3228 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3294 3477

3257 -1.23 -146.6 349.3 -10.4 153 3262 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1898 3477

3572 -1.23 -146.6 379.8 -9.6 169 3576 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3299 3477

3605 -1.23 -146.6 383.3 -9.9 170 3612 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1901 3477

3921 -1.23 -146.6 414.9 -10.2 186 3926 0.00 2.50 0.00 0.000 4 0.000 0.048 2225 3293 3477

3955 -1.23 -146.6 418.4 -10.0 187 3961 0.00 2.50 0.00 0.000 6 0.000 0.044 2225 1896 3477

4270 -1.23 -146.6 449.9 -9.9 203 4275 0.00 2.53 0.00 0.000 4 0.000 0.049 2225 3293 3477

4330 -1.23 -146.6 456.0 -10.0 205 4337 0.00 2.50 0.00 0.000 6 0.000 0.045 2225 1897 3478

4647 -1.23 -146.6 485.8 -9.4 221 4651 0.00 2.60 0.00 0.000 4 0.000 0.072 2225 497 3477

4679 -1.23 -146.6 489.0 -9.7 222 4685 0.00 2.42 0.00 0.000 6 0.000 0.041 2225 1897 3477

4995 -1.23 -146.6 519.6 -10.5 238 4999 0.00 2.50 0.00 0.000 4 0.000 0.052 2225 3295 3477

5079 -1.23 -146.6 528.6 -10.4 241 5085 0.00 2.50 0.00 0.000 6 0.000 0.047 2225 1903 3477

5394 -1.23 -146.6 561.1 -9.4 257 5398 0.00 2.53 0.00 0.000 4 0.000 0.051 2225 3295 3477

5455 -1.23 -146.6 567.0 -10.1 260 5460 0.00 2.50 0.00 0.000 6 0.000 0.045 2225 1895 3477

5783 -1.23 -146.6 594.8 -8.9 276 5787 0.00 2.62 0.00 0.000 4 0.000 0.075 2225 497 3476

5809 -1.23 -146.6 597.5 -9.7 277 5814 0.00 2.45 0.00 0.000 6 0.000 0.044 2225 1896 3477

6128 -1.23 -146.6 625.4 -9.0 292 6132 0.00 2.58 0.00 0.000 4 0.000 0.059 2225 3303 3477

6189 -1.23 -146.6 631.3 -8.5 295 6194 0.00 2.55 0.00 0.000 6 0.000 0.051 2225 1902 3477

6517 -1.23 -146.6 658.1 -7.9 311 6521 0.00 2.58 0.00 0.000 4 0.000 0.057 2225 3303 3477

6703 -1.23 -146.6 673.7 -8.9 319 6707 0.00 2.55 0.00 0.000 6 0.000 0.052 2225 1901 3477

7019 -1.23 -146.6 701.1 -8.6 334 7023 0.00 2.65 0.00 0.000 4 0.000 0.079 2225 491 3476

7082 -1.23 -146.6 707.5 -9.5 337 7086 0.00 2.50 0.00 0.000 6 0.000 0.049 2225 1897 3476

7408 -1.23 -146.6 734.5 -7.7 353 7412 0.00 2.58 0.00 0.000 4 0.000 0.061 2225 3301 3476

7548 -1.23 -146.6 734.6 -0.0 359 7552 0.00 2.58 0.00 0.000 6 0.000 0.054 2225 1895 3475

7737 end dive: NO_VERTICAL_VELOCITY

state 7737 begin apogee

7744 -0.36 0.0 734.5 0.0 368 7873 0.88 0.00 125.82 1.298 6 0.061 0.000 2423 2111 2878

7874 end apogee: CONTROL_FINISHED_OK

state 7874 begin climb

7876 1.23 146.6 734.0 0.0 374 8011 1.52 2.78 124.38 1.254 4 0.052 0.076 2763 694 2279

8267 1.24 156.5 713.4 7.6 392 8281 0.00 2.53 9.45 1.243 6 0.000 0.049 2763 2095 2239

8593 1.25 162.4 689.0 7.8 407 8606 0.00 2.65 6.22 1.221 4 0.000 0.063 2763 3501 2215

8636 1.25 163.1 685.7 8.0 409 8641 0.00 2.58 0.00 0.000 6 0.000 0.053 2763 2103 2214

8962 1.25 163.4 659.6 8.0 425 8966 0.00 2.60 0.00 0.000 4 0.000 0.061 2762 3501 2213

9017 1.25 163.4 655.1 8.0 427 9023 0.00 2.58 0.00 0.000 6 0.000 0.052 2763 2098 2213

9333 1.30 208.1 634.1 6.3 443 9377 0.00 2.70 38.60 1.259 4 0.000 0.061 2763 3512 2029

9524 1.30 208.1 618.0 9.0 451 9530 0.00 2.60 0.00 0.000 6 0.000 0.051 2763 2094 2028

9840 1.30 208.1 588.6 9.3 467 9844 0.00 2.60 0.00 0.000 4 0.000 0.058 2763 3502 2028

9867 1.30 208.1 585.9 9.4 468 9871 0.00 2.58 0.00 0.000 6 0.000 0.050 2763 2094 2028

10182 1.30 208.1 557.4 8.6 483 10187 0.00 2.60 0.00 0.000 4 0.000 0.057 2763 3505 2028

10215 1.30 208.1 554.4 8.8 484 10221 0.00 2.55 0.00 0.000 6 0.000 0.048 2762 2095 2028

10531 1.31 209.0 529.6 8.0 500 10535 0.00 2.58 0.00 0.000 4 0.000 0.055 2763 3502 2027

10625 1.31 209.0 521.1 9.4 504 10630 0.00 2.55 0.00 0.000 6 0.000 0.046 2763 2093 2028

10941 1.31 209.0 493.1 8.9 519 10945 0.00 2.60 0.00 0.000 4 0.000 0.054 2763 3507 2028

10982 1.31 209.0 489.6 9.7 521 10986 0.00 2.53 0.00 0.000 6 0.000 0.045 2763 2099 2028

11308 1.31 209.0 460.5 8.7 537 11312 0.00 2.55 0.00 0.000 4 0.000 0.054 2762 3502 2028

11352 1.31 209.0 456.4 10.2 539 11356 0.00 2.50 0.00 0.000 6 0.000 0.044 2763 2099 2028

11672 1.31 211.0 430.4 7.9 555 11681 0.00 2.58 3.90 1.071 4 0.000 0.053 2763 3503 2016

11711 1.31 211.0 427.2 8.5 556 11717 0.00 2.53 0.00 0.000 6 0.000 0.044 2763 2099 2016

12026 1.31 211.0 400.1 8.6 572 12030 0.00 2.58 0.00 0.000 4 0.000 0.053 2763 3504 2016

12103 1.31 211.0 393.1 8.2 575 12110 0.00 2.53 0.00 0.000 6 0.000 0.043 2763 2099 2017

12419 1.31 211.0 365.6 8.6 591 12424 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3508 2017

12463 1.31 211.0 361.5 8.6 593 12468 0.00 2.53 0.00 0.000 6 0.000 0.042 2763 2098 2017

12790 1.31 211.0 333.3 8.8 609 12795 0.00 2.58 0.00 0.000 4 0.000 0.052 2763 3507 2017

12857 1.31 211.0 326.9 8.9 612 12861 0.00 2.53 0.00 0.000 6 0.000 0.041 2763 2094 2018

13178 1.31 211.0 300.8 8.5 628 13183 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3503 2018

13218 1.31 211.0 296.9 9.3 630 13222 0.00 2.53 0.00 0.000 6 0.000 0.041 2763 2090 2018

13545 1.31 211.0 270.3 8.1 646 13549 0.00 2.58 0.00 0.000 4 0.000 0.052 2763 3504 2018

13588 1.31 211.0 266.4 8.6 648 13592 0.00 2.50 0.00 0.000 6 0.000 0.041 2763 2101 2019

13910 1.33 230.6 240.8 7.3 664 13932 0.00 2.65 17.10 0.989 4 0.000 0.050 2763 3505 1936

13965 1.33 230.6 236.4 8.2 666 13970 0.00 2.50 0.00 0.000 6 0.000 0.041 2763 2101 1936

14282 1.35 242.8 212.9 7.5 681 14298 0.12 2.60 10.73 0.973 4 0.055 0.049 2800 3504 1887

14322 1.35 242.8 209.2 9.3 682 14326 0.00 2.53 0.00 0.000 6 0.000 0.041 2800 2094 1887

14648 1.35 242.8 178.1 9.4 698 14652 0.00 2.58 0.00 0.000 4 0.000 0.050 2800 3504 1887

14710 1.35 242.8 171.5 11.3 701 14714 0.00 2.53 0.00 0.000 6 0.000 0.041 2800 2095 1888

15037 1.35 242.8 137.2 10.6 717 15041 0.00 2.58 0.00 0.000 4 0.000 0.050 2800 3508 1887

15137 1.35 242.8 126.0 11.1 721 15143 0.00 2.50 0.00 0.000 6 0.000 0.041 2800 2096 1887

15454 1.35 242.8 92.7 10.9 737 15459 0.00 2.55 0.00 0.000 4 0.000 0.049 2800 3504 1888

15532 1.35 242.8 83.0 11.2 740 15539 0.00 2.53 0.00 0.000 6 0.000 0.040 2800 2088 1888

15848 1.35 242.8 50.0 11.8 756 15852 0.00 2.58 0.00 0.000 4 0.000 0.049 2800 3509 1888

15938 1.35 242.8 38.2 12.4 760 15942 0.00 2.50 0.00 0.000 6 0.000 0.040 2800 2102 1888

16260 1.35 242.8 3.6 10.1 776 16264 0.00 2.55 0.00 0.000 4 0.000 0.051 2800 3504 1888

16275 end climb: SURFACE_DEPTH_REACHED

state 16275 begin surface coast

16280 end surface coast: CONTROL_FINISHED_OK

state 16280 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	363	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	38	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	-84385.008	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	025407,6229.146,-1108.102,29,1.2,29,-10.8	TGT_NAME	EE
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.214,-0.104
_SM_DEPTHo	1.83	KALMAN_X	529008.6,753.4,960.5,-670053.5,684.2
_SM_ANGLEo	-57.4	KALMAN_Y	66669.7,466.6,1682.7,35021.2,-3214.0
GPS2	030009,6229.239,-1107.955,13,1.3,13,-10.8	MHEAD_RNG_PITCHd_Wd	126.8,10400,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	742

FINISH	1.0,1.027378	XPDR_PINGS	1
SM_CCo	16306,53.70,0.794,7,0,1654,300.00	ALTIM_TOP_PING	19.8,999.0
SM_GC	1.61,0.00,0.00,53.70,0.000,0.000,0.794,35,1885,1654,-11.32,-0.42,300.00	_24V_AH	23.1,72.389
IRIDIUM_FIX	6158.08,-1116.78,230497,212148	_10V_AH	10.1,35.073
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41103,777
HUMID	2034	CFSIZE	260165632,236580864
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,26,7,0
TCM_TEMP	18.60	GPS	290108,073625,6231.419,-1104.778,37,1.1,37,-10.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	85.01	SBE_CT	578	24	320.60
Roll_motor	214	79	391.72	SBE_O2	525	19	230.65
VBD_pump_during_apogee	336	1297	10078.72	WL_BB2F	432	105	1047.97
VBD_pump_during_surface	53	793	984.74	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	86.72	nil	0	0	0.00
Iridium_during_connect	34	160	128.95	nil	0	0	0.00
Iridium_during_xfer	165	223	853.50
Transponder_ping	6	420	63.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.30
TT8	1530	19	306.08
LPSleep	12140	2	268.54
TT8_Active	593	19	118.76
TT8_Sampling	1967	39	791.06
TT8_CF8	576	45	266.57
TT8_Kalman	33	81	27.57
Analog_circuits	1621	12	196.47
GPS_charging	0	0	0.00
Compass	1922	8	155.31
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.23	-146.6	0.0	0.0	0	86	0.00	0.00	-60.80	0.000	2	0.000	0.000	35	1889	2871
90	-1.23	-146.6	3.5	-4.0	3	125	11.65	2.55	-17.73	0.000	4	0.141	0.061	2225	3296	3477
379	-1.23	-146.6	37.5	-10.8	16	383	0.00	2.50	0.00	0.000	6	0.000	0.043	2225	1905	3477
705	-1.23	-146.6	85.0	-16.4	32	710	0.00	2.50	0.00	0.000	4	0.000	0.047	2225	3293	3477
772	-1.23	-146.6	95.4	-17.3	35	776	0.00	2.50	0.00	0.000	6	0.000	0.043	2225	1899	3477
1094	-1.23	-146.6	140.7	-12.8	51	1099	0.00	2.62	0.00	0.000	4	0.000	0.071	2225	495	3477
1122	-1.23	-146.6	144.1	-11.6	52	1126	0.00	2.45	0.00	0.000	6	0.000	0.039	2225	1899	3477
1438	-1.23	-146.6	173.0	-8.5	67	1442	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3298	3477
1492	-1.23	-146.6	178.1	-8.8	69	1498	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1895	3477
1808	-1.23	-146.6	205.5	-8.4	85	1812	0.00	2.62	0.00	0.000	4	0.000	0.070	2225	490	3477
1825	-1.23	-146.6	207.2	-10.5	86	1829	0.00	2.45	0.00	0.000	6	0.000	0.040	2225	1903	3477
2152	-1.23	-146.6	243.7	-9.9	102	2156	0.00	2.50	0.00	0.000	4	0.000	0.049	2225	3292	3477
2201	-1.23	-146.6	249.0	-10.7	104	2205	0.00	2.50	0.00	0.000	6	0.000	0.043	2225	1896	3477
2517	-1.23	-146.6	278.7	-8.5	119	2521	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3294	3477
2544	-1.23	-146.6	281.5	-9.8	120	2548	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1896	3477
2859	-1.23	-146.6	309.3	-9.1	135	2863	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3298	3477
2909	-1.23	-146.6	314.2	-9.5	137	2913	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1895	3477
3224	-1.23	-146.6	345.9	-10.2	152	3228	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3294	3477
3257	-1.23	-146.6	349.3	-10.4	153	3262	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1898	3477
3572	-1.23	-146.6	379.8	-9.6	169	3576	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3299	3477
3605	-1.23	-146.6	383.3	-9.9	170	3612	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1901	3477
3921	-1.23	-146.6	414.9	-10.2	186	3926	0.00	2.50	0.00	0.000	4	0.000	0.048	2225	3293	3477
3955	-1.23	-146.6	418.4	-10.0	187	3961	0.00	2.50	0.00	0.000	6	0.000	0.044	2225	1896	3477
4270	-1.23	-146.6	449.9	-9.9	203	4275	0.00	2.53	0.00	0.000	4	0.000	0.049	2225	3293	3477
4330	-1.23	-146.6	456.0	-10.0	205	4337	0.00	2.50	0.00	0.000	6	0.000	0.045	2225	1897	3478
4647	-1.23	-146.6	485.8	-9.4	221	4651	0.00	2.60	0.00	0.000	4	0.000	0.072	2225	497	3477
4679	-1.23	-146.6	489.0	-9.7	222	4685	0.00	2.42	0.00	0.000	6	0.000	0.041	2225	1897	3477
4995	-1.23	-146.6	519.6	-10.5	238	4999	0.00	2.50	0.00	0.000	4	0.000	0.052	2225	3295	3477
5079	-1.23	-146.6	528.6	-10.4	241	5085	0.00	2.50	0.00	0.000	6	0.000	0.047	2225	1903	3477
5394	-1.23	-146.6	561.1	-9.4	257	5398	0.00	2.53	0.00	0.000	4	0.000	0.051	2225	3295	3477
5455	-1.23	-146.6	567.0	-10.1	260	5460	0.00	2.50	0.00	0.000	6	0.000	0.045	2225	1895	3477
5783	-1.23	-146.6	594.8	-8.9	276	5787	0.00	2.62	0.00	0.000	4	0.000	0.075	2225	497	3476
5809	-1.23	-146.6	597.5	-9.7	277	5814	0.00	2.45	0.00	0.000	6	0.000	0.044	2225	1896	3477
6128	-1.23	-146.6	625.4	-9.0	292	6132	0.00	2.58	0.00	0.000	4	0.000	0.059	2225	3303	3477
6189	-1.23	-146.6	631.3	-8.5	295	6194	0.00	2.55	0.00	0.000	6	0.000	0.051	2225	1902	3477
6517	-1.23	-146.6	658.1	-7.9	311	6521	0.00	2.58	0.00	0.000	4	0.000	0.057	2225	3303	3477
6703	-1.23	-146.6	673.7	-8.9	319	6707	0.00	2.55	0.00	0.000	6	0.000	0.052	2225	1901	3477
7019	-1.23	-146.6	701.1	-8.6	334	7023	0.00	2.65	0.00	0.000	4	0.000	0.079	2225	491	3476
7082	-1.23	-146.6	707.5	-9.5	337	7086	0.00	2.50	0.00	0.000	6	0.000	0.049	2225	1897	3476
7408	-1.23	-146.6	734.5	-7.7	353	7412	0.00	2.58	0.00	0.000	4	0.000	0.061	2225	3301	3476
7548	-1.23	-146.6	734.6	-0.0	359	7552	0.00	2.58	0.00	0.000	6	0.000	0.054	2225	1895	3475
7737	end dive: NO_VERTICAL_VELOCITY
state	7737	begin apogee
7744	-0.36	0.0	734.5	0.0	368	7873	0.88	0.00	125.82	1.298	6	0.061	0.000	2423	2111	2878
7874	end apogee: CONTROL_FINISHED_OK
state	7874	begin climb
7876	1.23	146.6	734.0	0.0	374	8011	1.52	2.78	124.38	1.254	4	0.052	0.076	2763	694	2279
8267	1.24	156.5	713.4	7.6	392	8281	0.00	2.53	9.45	1.243	6	0.000	0.049	2763	2095	2239
8593	1.25	162.4	689.0	7.8	407	8606	0.00	2.65	6.22	1.221	4	0.000	0.063	2763	3501	2215
8636	1.25	163.1	685.7	8.0	409	8641	0.00	2.58	0.00	0.000	6	0.000	0.053	2763	2103	2214
8962	1.25	163.4	659.6	8.0	425	8966	0.00	2.60	0.00	0.000	4	0.000	0.061	2762	3501	2213
9017	1.25	163.4	655.1	8.0	427	9023	0.00	2.58	0.00	0.000	6	0.000	0.052	2763	2098	2213
9333	1.30	208.1	634.1	6.3	443	9377	0.00	2.70	38.60	1.259	4	0.000	0.061	2763	3512	2029
9524	1.30	208.1	618.0	9.0	451	9530	0.00	2.60	0.00	0.000	6	0.000	0.051	2763	2094	2028
9840	1.30	208.1	588.6	9.3	467	9844	0.00	2.60	0.00	0.000	4	0.000	0.058	2763	3502	2028
9867	1.30	208.1	585.9	9.4	468	9871	0.00	2.58	0.00	0.000	6	0.000	0.050	2763	2094	2028
10182	1.30	208.1	557.4	8.6	483	10187	0.00	2.60	0.00	0.000	4	0.000	0.057	2763	3505	2028
10215	1.30	208.1	554.4	8.8	484	10221	0.00	2.55	0.00	0.000	6	0.000	0.048	2762	2095	2028
10531	1.31	209.0	529.6	8.0	500	10535	0.00	2.58	0.00	0.000	4	0.000	0.055	2763	3502	2027
10625	1.31	209.0	521.1	9.4	504	10630	0.00	2.55	0.00	0.000	6	0.000	0.046	2763	2093	2028
10941	1.31	209.0	493.1	8.9	519	10945	0.00	2.60	0.00	0.000	4	0.000	0.054	2763	3507	2028
10982	1.31	209.0	489.6	9.7	521	10986	0.00	2.53	0.00	0.000	6	0.000	0.045	2763	2099	2028
11308	1.31	209.0	460.5	8.7	537	11312	0.00	2.55	0.00	0.000	4	0.000	0.054	2762	3502	2028
11352	1.31	209.0	456.4	10.2	539	11356	0.00	2.50	0.00	0.000	6	0.000	0.044	2763	2099	2028
11672	1.31	211.0	430.4	7.9	555	11681	0.00	2.58	3.90	1.071	4	0.000	0.053	2763	3503	2016
11711	1.31	211.0	427.2	8.5	556	11717	0.00	2.53	0.00	0.000	6	0.000	0.044	2763	2099	2016
12026	1.31	211.0	400.1	8.6	572	12030	0.00	2.58	0.00	0.000	4	0.000	0.053	2763	3504	2016
12103	1.31	211.0	393.1	8.2	575	12110	0.00	2.53	0.00	0.000	6	0.000	0.043	2763	2099	2017
12419	1.31	211.0	365.6	8.6	591	12424	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3508	2017
12463	1.31	211.0	361.5	8.6	593	12468	0.00	2.53	0.00	0.000	6	0.000	0.042	2763	2098	2017
12790	1.31	211.0	333.3	8.8	609	12795	0.00	2.58	0.00	0.000	4	0.000	0.052	2763	3507	2017
12857	1.31	211.0	326.9	8.9	612	12861	0.00	2.53	0.00	0.000	6	0.000	0.041	2763	2094	2018
13178	1.31	211.0	300.8	8.5	628	13183	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3503	2018
13218	1.31	211.0	296.9	9.3	630	13222	0.00	2.53	0.00	0.000	6	0.000	0.041	2763	2090	2018
13545	1.31	211.0	270.3	8.1	646	13549	0.00	2.58	0.00	0.000	4	0.000	0.052	2763	3504	2018
13588	1.31	211.0	266.4	8.6	648	13592	0.00	2.50	0.00	0.000	6	0.000	0.041	2763	2101	2019
13910	1.33	230.6	240.8	7.3	664	13932	0.00	2.65	17.10	0.989	4	0.000	0.050	2763	3505	1936
13965	1.33	230.6	236.4	8.2	666	13970	0.00	2.50	0.00	0.000	6	0.000	0.041	2763	2101	1936
14282	1.35	242.8	212.9	7.5	681	14298	0.12	2.60	10.73	0.973	4	0.055	0.049	2800	3504	1887
14322	1.35	242.8	209.2	9.3	682	14326	0.00	2.53	0.00	0.000	6	0.000	0.041	2800	2094	1887
14648	1.35	242.8	178.1	9.4	698	14652	0.00	2.58	0.00	0.000	4	0.000	0.050	2800	3504	1887
14710	1.35	242.8	171.5	11.3	701	14714	0.00	2.53	0.00	0.000	6	0.000	0.041	2800	2095	1888
15037	1.35	242.8	137.2	10.6	717	15041	0.00	2.58	0.00	0.000	4	0.000	0.050	2800	3508	1887
15137	1.35	242.8	126.0	11.1	721	15143	0.00	2.50	0.00	0.000	6	0.000	0.041	2800	2096	1887
15454	1.35	242.8	92.7	10.9	737	15459	0.00	2.55	0.00	0.000	4	0.000	0.049	2800	3504	1888
15532	1.35	242.8	83.0	11.2	740	15539	0.00	2.53	0.00	0.000	6	0.000	0.040	2800	2088	1888
15848	1.35	242.8	50.0	11.8	756	15852	0.00	2.58	0.00	0.000	4	0.000	0.049	2800	3509	1888
15938	1.35	242.8	38.2	12.4	760	15942	0.00	2.50	0.00	0.000	6	0.000	0.040	2800	2102	1888
16260	1.35	242.8	3.6	10.1	776	16264	0.00	2.55	0.00	0.000	4	0.000	0.051	2800	3504	1888
16275	end climb: SURFACE_DEPTH_REACHED
state	16275	begin surface coast
16280	end surface coast: CONTROL_FINISHED_OK
state	16280	begin surface