Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 384 * 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 384 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 412.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 440 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -3 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 -86147.961 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 -86147.961

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 24 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 384 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 224032,6212.024,-1048.519,39,1.4,39,-10.5 TGT_NAME DE

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.237,0.023

_SM_DEPTHo 1.78 KALMAN_X 560394.7,-577.1,-581.8,-681606.0,-5343.8

_SM_ANGLEo -53.2 KALMAN_Y 92704.6,-1383.3,-761.3,-18791.7,-507.6

GPS2 225121,6211.876,-1048.800,12,1.0,12,-10.5 MHEAD_RNG_PITCHd_Wd 94.9,13232,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 909

Post-dive calculations and measurements:

FINISH 1.1,1.014056 XPDR_PINGS 2

SM_CCo 18463,0.00,0.000,0,0,1512,335.08 ALTIM_TOP_PING 18.4,999.0

SM_GC 1.87,11.98,0.00,0.00,0.031,0.000,0.000,33,1897,1512,-11.27,-0.11,335.08 _24V_AH 23.0,75.908

IRIDIUM_FIX 6148.92,-1054.18,270497,222226 _10V_AH 10.1,36.705

TT8_MAMPS 0.026078 DATA_FILE_SIZE 44403,886

HUMID 2074 CFSIZE 260165632,235425792

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,21,0,0

TCM_TEMP 16.50 GPS 020208,040207,6209.613,-1049.030,38,1.4,43,-10.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 83.50 SBE_CT 653 24 360.71

Roll_motor 220 81 412.42 SBE_O2 597 19 261.27

VBD_pump_during_apogee 416 1419 13603.44 WL_BB2F 495 105 1196.38

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 181.99 nil 0 0 0.00

Iridium_during_connect 80 160 297.77 nil 0 0 0.00

Iridium_during_xfer 297 223 1524.98

Transponder_ping 8 420 82.11

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.00

TT8 1693 19 338.61

LPSleep 13973 2 309.09

TT8_Active 576 19 115.29

TT8_Sampling 2093 39 841.46

TT8_CF8 822 45 380.62

TT8_Kalman 33 81 27.58

Analog_circuits 1675 12 203.04

GPS_charging 0 0 0.00

Compass 2039 8 164.76

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 0 106 0.00 0.00 -80.95 0.000 2 0.000 0.000 33 1894 3116

110 -1.23 -146.6 4.2 -3.7 4 136 11.60 2.65 -8.73 0.000 4 0.139 0.081 2226 498 3476

267 -1.23 -146.6 31.9 -14.9 11 272 0.00 2.45 0.00 0.000 6 0.000 0.038 2226 1904 3477

590 -1.23 -146.6 75.3 -15.0 27 591 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1908 3477

897 -1.23 -146.6 114.3 -9.4 42 901 0.00 2.50 0.00 0.000 4 0.000 0.047 2226 3296 3477

952 -1.23 -146.6 119.9 -9.6 44 958 0.00 2.50 0.00 0.000 6 0.000 0.043 2226 1899 3477

1269 -1.23 -146.6 149.4 -8.7 60 1270 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3476

1577 -1.23 -146.6 177.8 -10.7 75 1581 0.00 2.50 0.00 0.000 4 0.000 0.045 2226 3298 3476

1598 -1.23 -146.6 180.2 -10.7 76 1602 0.00 2.50 0.00 0.000 6 0.000 0.042 2226 1896 3476

1919 -1.23 -146.6 218.1 -12.0 92 1923 0.00 2.53 0.00 0.000 4 0.000 0.046 2225 3302 3477

1975 -1.23 -146.6 225.8 -13.8 94 1981 0.00 2.50 0.00 0.000 6 0.000 0.043 2226 1900 3477

2290 -1.23 -146.6 270.6 -14.1 110 2294 0.00 2.50 0.00 0.000 4 0.000 0.046 2226 3295 3476

2307 -1.23 -146.6 273.0 -14.7 111 2312 0.00 2.50 0.00 0.000 6 0.000 0.042 2226 1893 3477

2635 -1.23 -146.6 325.9 -15.5 127 2639 0.00 2.53 0.00 0.000 4 0.000 0.047 2226 3295 3476

2667 -1.23 -146.6 331.2 -15.7 128 2673 0.00 2.53 0.00 0.000 6 0.000 0.044 2226 1893 3476

2984 -1.23 -146.6 377.4 -14.0 144 2988 0.00 2.53 0.00 0.000 4 0.000 0.047 2226 3295 3476

3024 -1.23 -146.6 382.9 -13.8 146 3028 0.00 2.50 0.00 0.000 6 0.000 0.045 2226 1900 3476

3350 -1.23 -146.6 418.2 -11.4 162 3354 0.00 2.50 0.00 0.000 4 0.000 0.048 2225 3295 3476

3379 -1.23 -146.6 421.4 -11.6 163 3383 0.00 2.50 0.00 0.000 6 0.000 0.044 2226 1896 3476

3694 -1.23 -146.6 454.4 -10.7 178 3695 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1896 3477

4003 -1.23 -146.6 484.6 -8.3 193 4008 0.00 2.53 0.00 0.000 4 0.000 0.048 2226 3294 3476

4026 -1.23 -146.6 486.4 -8.1 194 4030 0.00 2.50 0.00 0.000 6 0.000 0.044 2226 1896 3476

4347 -1.23 -146.6 511.4 -7.7 210 4351 0.00 2.53 0.00 0.000 4 0.000 0.049 2226 3293 3477

4374 -1.23 -146.6 513.6 -7.6 211 4378 0.00 2.50 0.00 0.000 6 0.000 0.044 2226 1900 3476

4691 -1.23 -146.6 537.4 -7.2 226 4695 0.00 2.62 0.00 0.000 4 0.000 0.071 2226 495 3477

4717 -1.23 -146.6 539.5 -8.2 227 4722 0.00 2.45 0.00 0.000 6 0.000 0.041 2226 1901 3476

5033 -1.23 -146.6 568.0 -9.4 242 5034 0.00 0.00 0.00 0.000 6 0.000 0.000 2226 1902 3476

5343 -1.23 -146.6 599.6 -10.2 257 5347 0.00 2.53 0.00 0.000 4 0.000 0.053 2226 3293 3476

5403 -1.23 -146.6 606.1 -10.5 259 5409 0.00 2.53 0.00 0.000 6 0.000 0.048 2226 1900 3476

5719 -1.23 -146.6 637.1 -9.1 275 5723 0.00 2.55 0.00 0.000 4 0.000 0.053 2226 3301 3476

5786 -1.23 -146.6 641.8 -6.2 278 5790 0.00 2.53 0.00 0.000 6 0.000 0.048 2226 1900 3476

6107 -1.23 -146.6 660.7 -6.4 294 6111 0.00 2.65 0.00 0.000 4 0.000 0.075 2226 488 3476

6162 -1.23 -146.6 664.9 -7.0 296 6169 0.00 2.47 0.00 0.000 6 0.000 0.044 2226 1896 3476

6478 -1.23 -146.6 687.3 -7.5 312 6482 0.00 2.55 0.00 0.000 4 0.000 0.056 2226 3298 3476

6517 -1.23 -146.6 690.1 -7.2 314 6522 0.00 2.55 0.00 0.000 6 0.000 0.050 2226 1895 3476

6845 -1.23 -146.6 717.0 -7.8 330 6849 0.00 2.58 0.00 0.000 4 0.000 0.055 2226 3305 3476

6866 -1.23 -146.6 718.5 -6.5 331 6871 0.00 2.55 0.00 0.000 6 0.000 0.051 2226 1900 3476

7187 -1.23 -146.6 745.9 -9.0 347 7192 0.00 2.55 0.00 0.000 4 0.000 0.055 2226 3299 3476

7299 -1.23 -146.6 760.8 -14.9 352 7304 0.00 2.55 0.00 0.000 6 0.000 0.051 2226 1896 3476

7620 -1.23 -146.6 805.4 -14.3 368 7625 0.00 2.65 0.00 0.000 4 0.000 0.077 2226 488 3476

7670 -1.23 -146.6 812.8 -14.9 370 7675 0.00 2.50 0.00 0.000 6 0.000 0.048 2226 1898 3476

7989 -1.23 -146.6 851.2 -9.2 385 7993 0.00 2.58 0.00 0.000 4 0.000 0.060 2226 3299 3476

8078 -1.23 -146.6 858.7 -7.7 389 8082 0.00 2.58 0.00 0.000 6 0.000 0.055 2226 1895 3476

8399 -1.23 -146.6 884.6 -7.4 405 8403 0.00 2.60 0.00 0.000 4 0.000 0.061 2226 3302 3475

8465 -1.23 -146.6 889.0 -6.4 408 8470 0.00 2.58 0.00 0.000 6 0.000 0.058 2226 1901 3475

8787 -1.23 -146.6 907.4 -6.2 424 8791 0.00 2.65 0.00 0.000 4 0.000 0.081 2226 490 3475

8805 end dive: TARGET_DEPTH_EXCEEDED

state 8805 begin apogee

8815 -0.36 0.0 909.2 8.1 425 8951 0.88 0.00 128.40 1.420 6 0.082 0.000 2413 2099 2878

8952 end apogee: CONTROL_FINISHED_OK

state 8952 begin climb

8955 1.23 146.6 914.2 0.0 432 9091 1.58 2.72 127.40 1.384 4 0.055 0.065 2762 3504 2280

9138 1.27 176.8 911.1 6.9 440 9173 0.00 2.62 27.12 1.356 6 0.000 0.057 2763 2100 2156

9497 1.30 203.9 884.3 7.0 458 9526 0.00 2.70 24.10 1.372 4 0.000 0.064 2762 3508 2046

9612 1.36 255.3 876.3 6.0 463 9663 0.12 2.62 44.72 1.366 6 0.054 0.057 2796 2099 1837

9976 1.36 255.3 849.3 8.5 480 9981 0.00 2.62 0.00 0.000 4 0.000 0.061 2796 3505 1836

10066 1.36 255.3 840.5 8.9 484 10070 0.00 2.60 0.00 0.000 6 0.000 0.056 2796 2099 1836

10386 1.36 255.3 808.0 11.0 500 10390 0.00 2.62 0.00 0.000 4 0.000 0.060 2796 3504 1835

10443 1.36 255.3 802.3 9.6 502 10449 0.00 2.60 0.00 0.000 6 0.000 0.054 2796 2098 1835

10758 1.36 255.3 772.4 10.0 518 10763 0.00 2.62 0.00 0.000 4 0.000 0.059 2796 3506 1835

10814 1.36 255.3 766.2 11.6 520 10820 0.00 2.58 0.00 0.000 6 0.000 0.054 2796 2099 1835

11130 1.36 255.3 727.3 11.0 536 11134 0.00 2.60 0.00 0.000 4 0.000 0.058 2796 3504 1834

11215 1.36 255.3 717.6 11.4 540 11219 0.00 2.58 0.00 0.000 6 0.000 0.052 2797 2094 1834

11541 1.36 255.3 680.2 12.3 556 11545 0.00 2.60 0.00 0.000 4 0.000 0.056 2796 3506 1834

11626 1.36 255.3 669.4 11.9 560 11630 0.00 2.55 0.00 0.000 6 0.000 0.050 2796 2103 1834

11952 1.36 255.3 634.2 10.0 576 11953 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2102 1834

12261 1.36 255.3 604.5 9.4 591 12266 0.00 2.55 0.00 0.000 4 0.000 0.053 2796 3505 1834

12330 1.36 255.3 597.7 9.5 594 12334 0.00 2.55 0.00 0.000 6 0.000 0.046 2797 2095 1834

12650 1.36 255.3 569.8 8.2 610 12655 0.00 2.60 0.00 0.000 4 0.000 0.052 2796 3512 1835

12700 1.36 255.3 565.5 9.1 612 12704 0.00 2.53 0.00 0.000 6 0.000 0.046 2796 2099 1834

13016 1.36 255.3 539.4 8.6 627 13020 0.00 2.58 0.00 0.000 4 0.000 0.051 2797 3511 1835

13082 1.36 255.3 533.3 8.9 630 13086 0.00 2.53 0.00 0.000 6 0.000 0.045 2796 2100 1835

13404 1.37 257.4 507.8 7.9 646 13408 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3506 1835

13448 1.37 257.4 504.0 8.1 648 13452 0.00 2.55 0.00 0.000 6 0.000 0.044 2796 2092 1835

13768 1.37 257.4 477.0 9.0 664 13773 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3506 1835

13810 1.37 257.4 473.1 10.0 666 13814 0.00 2.53 0.00 0.000 6 0.000 0.044 2797 2097 1835

14136 1.37 257.4 440.5 10.9 682 14141 0.00 2.55 0.00 0.000 4 0.000 0.051 2796 3506 1836

14199 1.37 257.4 433.2 11.8 685 14203 0.00 2.53 0.00 0.000 6 0.000 0.044 2796 2098 1836

14526 1.37 257.4 400.0 9.8 701 14530 0.00 2.55 0.00 0.000 4 0.000 0.051 2796 3505 1836

14570 1.37 257.4 395.9 9.5 703 14574 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2098 1836

14890 1.37 257.4 362.0 12.3 719 14899 0.00 2.60 3.28 1.004 4 0.000 0.051 2796 3505 1827

14944 1.37 257.4 355.4 10.7 721 14949 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2090 1827

15261 1.37 257.4 317.6 13.0 736 15265 0.00 2.60 0.00 0.000 4 0.000 0.051 2797 3514 1827

15295 1.37 257.4 312.9 13.0 737 15301 0.00 2.55 0.00 0.000 6 0.000 0.042 2796 2090 1828

15610 1.37 257.4 268.9 13.7 753 15615 0.00 2.58 0.00 0.000 4 0.000 0.050 2796 3506 1828

15711 1.37 257.4 256.2 13.0 757 15717 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2093 1827

16026 1.37 257.4 222.1 11.1 773 16031 0.00 2.58 0.00 0.000 4 0.000 0.050 2797 3507 1827

16121 1.37 257.4 213.2 9.9 777 16125 0.00 2.47 0.00 0.000 6 0.000 0.041 2797 2100 1827

16442 1.37 257.4 180.4 13.4 793 16447 0.00 2.55 0.00 0.000 4 0.000 0.050 2797 3505 1827

16482 1.37 257.4 175.2 11.4 795 16486 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2095 1827

16809 1.37 257.4 141.7 9.8 811 16813 0.00 2.58 0.00 0.000 4 0.000 0.050 2797 3510 1827

16881 1.37 257.4 135.0 8.2 814 16885 0.00 2.53 0.00 0.000 6 0.000 0.041 2796 2093 1828

17198 1.39 278.9 111.9 7.2 829 17223 0.00 2.67 17.73 0.910 4 0.000 0.048 2796 3512 1741

17281 1.39 278.9 104.0 9.0 832 17287 0.00 2.55 0.00 0.000 6 0.000 0.040 2796 2090 1741

17596 1.39 278.9 80.3 8.1 848 17601 0.00 2.58 0.00 0.000 4 0.000 0.048 2796 3508 1741

17663 1.39 278.9 71.4 13.7 851 17667 0.00 2.53 0.00 0.000 6 0.000 0.040 2797 2096 1740

17985 1.46 334.2 35.9 5.9 867 18033 0.00 0.00 43.85 0.838 6 0.000 0.000 2797 2096 1514

18354 end climb: SURFACE_DEPTH_REACHED

state 18354 begin surface coast

18379 end surface coast: CONTROL_FINISHED_OK

state 18379 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	384	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	412.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	440	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-3	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	-86147.961	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	224032,6212.024,-1048.519,39,1.4,39,-10.5	TGT_NAME	DE
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.237,0.023
_SM_DEPTHo	1.78	KALMAN_X	560394.7,-577.1,-581.8,-681606.0,-5343.8
_SM_ANGLEo	-53.2	KALMAN_Y	92704.6,-1383.3,-761.3,-18791.7,-507.6
GPS2	225121,6211.876,-1048.800,12,1.0,12,-10.5	MHEAD_RNG_PITCHd_Wd	94.9,13232,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	909

FINISH	1.1,1.014056	XPDR_PINGS	2
SM_CCo	18463,0.00,0.000,0,0,1512,335.08	ALTIM_TOP_PING	18.4,999.0
SM_GC	1.87,11.98,0.00,0.00,0.031,0.000,0.000,33,1897,1512,-11.27,-0.11,335.08	_24V_AH	23.0,75.908
IRIDIUM_FIX	6148.92,-1054.18,270497,222226	_10V_AH	10.1,36.705
TT8_MAMPS	0.026078	DATA_FILE_SIZE	44403,886
HUMID	2074	CFSIZE	260165632,235425792
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,21,0,0
TCM_TEMP	16.50	GPS	020208,040207,6209.613,-1049.030,38,1.4,43,-10.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	83.50	SBE_CT	653	24	360.71
Roll_motor	220	81	412.42	SBE_O2	597	19	261.27
VBD_pump_during_apogee	416	1419	13603.44	WL_BB2F	495	105	1196.38
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	181.99	nil	0	0	0.00
Iridium_during_connect	80	160	297.77	nil	0	0	0.00
Iridium_during_xfer	297	223	1524.98
Transponder_ping	8	420	82.11
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.00
TT8	1693	19	338.61
LPSleep	13973	2	309.09
TT8_Active	576	19	115.29
TT8_Sampling	2093	39	841.46
TT8_CF8	822	45	380.62
TT8_Kalman	33	81	27.58
Analog_circuits	1675	12	203.04
GPS_charging	0	0	0.00
Compass	2039	8	164.76
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	106	0.00	0.00	-80.95	0.000	2	0.000	0.000	33	1894	3116
110	-1.23	-146.6	4.2	-3.7	4	136	11.60	2.65	-8.73	0.000	4	0.139	0.081	2226	498	3476
267	-1.23	-146.6	31.9	-14.9	11	272	0.00	2.45	0.00	0.000	6	0.000	0.038	2226	1904	3477
590	-1.23	-146.6	75.3	-15.0	27	591	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1908	3477
897	-1.23	-146.6	114.3	-9.4	42	901	0.00	2.50	0.00	0.000	4	0.000	0.047	2226	3296	3477
952	-1.23	-146.6	119.9	-9.6	44	958	0.00	2.50	0.00	0.000	6	0.000	0.043	2226	1899	3477
1269	-1.23	-146.6	149.4	-8.7	60	1270	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3476
1577	-1.23	-146.6	177.8	-10.7	75	1581	0.00	2.50	0.00	0.000	4	0.000	0.045	2226	3298	3476
1598	-1.23	-146.6	180.2	-10.7	76	1602	0.00	2.50	0.00	0.000	6	0.000	0.042	2226	1896	3476
1919	-1.23	-146.6	218.1	-12.0	92	1923	0.00	2.53	0.00	0.000	4	0.000	0.046	2225	3302	3477
1975	-1.23	-146.6	225.8	-13.8	94	1981	0.00	2.50	0.00	0.000	6	0.000	0.043	2226	1900	3477
2290	-1.23	-146.6	270.6	-14.1	110	2294	0.00	2.50	0.00	0.000	4	0.000	0.046	2226	3295	3476
2307	-1.23	-146.6	273.0	-14.7	111	2312	0.00	2.50	0.00	0.000	6	0.000	0.042	2226	1893	3477
2635	-1.23	-146.6	325.9	-15.5	127	2639	0.00	2.53	0.00	0.000	4	0.000	0.047	2226	3295	3476
2667	-1.23	-146.6	331.2	-15.7	128	2673	0.00	2.53	0.00	0.000	6	0.000	0.044	2226	1893	3476
2984	-1.23	-146.6	377.4	-14.0	144	2988	0.00	2.53	0.00	0.000	4	0.000	0.047	2226	3295	3476
3024	-1.23	-146.6	382.9	-13.8	146	3028	0.00	2.50	0.00	0.000	6	0.000	0.045	2226	1900	3476
3350	-1.23	-146.6	418.2	-11.4	162	3354	0.00	2.50	0.00	0.000	4	0.000	0.048	2225	3295	3476
3379	-1.23	-146.6	421.4	-11.6	163	3383	0.00	2.50	0.00	0.000	6	0.000	0.044	2226	1896	3476
3694	-1.23	-146.6	454.4	-10.7	178	3695	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1896	3477
4003	-1.23	-146.6	484.6	-8.3	193	4008	0.00	2.53	0.00	0.000	4	0.000	0.048	2226	3294	3476
4026	-1.23	-146.6	486.4	-8.1	194	4030	0.00	2.50	0.00	0.000	6	0.000	0.044	2226	1896	3476
4347	-1.23	-146.6	511.4	-7.7	210	4351	0.00	2.53	0.00	0.000	4	0.000	0.049	2226	3293	3477
4374	-1.23	-146.6	513.6	-7.6	211	4378	0.00	2.50	0.00	0.000	6	0.000	0.044	2226	1900	3476
4691	-1.23	-146.6	537.4	-7.2	226	4695	0.00	2.62	0.00	0.000	4	0.000	0.071	2226	495	3477
4717	-1.23	-146.6	539.5	-8.2	227	4722	0.00	2.45	0.00	0.000	6	0.000	0.041	2226	1901	3476
5033	-1.23	-146.6	568.0	-9.4	242	5034	0.00	0.00	0.00	0.000	6	0.000	0.000	2226	1902	3476
5343	-1.23	-146.6	599.6	-10.2	257	5347	0.00	2.53	0.00	0.000	4	0.000	0.053	2226	3293	3476
5403	-1.23	-146.6	606.1	-10.5	259	5409	0.00	2.53	0.00	0.000	6	0.000	0.048	2226	1900	3476
5719	-1.23	-146.6	637.1	-9.1	275	5723	0.00	2.55	0.00	0.000	4	0.000	0.053	2226	3301	3476
5786	-1.23	-146.6	641.8	-6.2	278	5790	0.00	2.53	0.00	0.000	6	0.000	0.048	2226	1900	3476
6107	-1.23	-146.6	660.7	-6.4	294	6111	0.00	2.65	0.00	0.000	4	0.000	0.075	2226	488	3476
6162	-1.23	-146.6	664.9	-7.0	296	6169	0.00	2.47	0.00	0.000	6	0.000	0.044	2226	1896	3476
6478	-1.23	-146.6	687.3	-7.5	312	6482	0.00	2.55	0.00	0.000	4	0.000	0.056	2226	3298	3476
6517	-1.23	-146.6	690.1	-7.2	314	6522	0.00	2.55	0.00	0.000	6	0.000	0.050	2226	1895	3476
6845	-1.23	-146.6	717.0	-7.8	330	6849	0.00	2.58	0.00	0.000	4	0.000	0.055	2226	3305	3476
6866	-1.23	-146.6	718.5	-6.5	331	6871	0.00	2.55	0.00	0.000	6	0.000	0.051	2226	1900	3476
7187	-1.23	-146.6	745.9	-9.0	347	7192	0.00	2.55	0.00	0.000	4	0.000	0.055	2226	3299	3476
7299	-1.23	-146.6	760.8	-14.9	352	7304	0.00	2.55	0.00	0.000	6	0.000	0.051	2226	1896	3476
7620	-1.23	-146.6	805.4	-14.3	368	7625	0.00	2.65	0.00	0.000	4	0.000	0.077	2226	488	3476
7670	-1.23	-146.6	812.8	-14.9	370	7675	0.00	2.50	0.00	0.000	6	0.000	0.048	2226	1898	3476
7989	-1.23	-146.6	851.2	-9.2	385	7993	0.00	2.58	0.00	0.000	4	0.000	0.060	2226	3299	3476
8078	-1.23	-146.6	858.7	-7.7	389	8082	0.00	2.58	0.00	0.000	6	0.000	0.055	2226	1895	3476
8399	-1.23	-146.6	884.6	-7.4	405	8403	0.00	2.60	0.00	0.000	4	0.000	0.061	2226	3302	3475
8465	-1.23	-146.6	889.0	-6.4	408	8470	0.00	2.58	0.00	0.000	6	0.000	0.058	2226	1901	3475
8787	-1.23	-146.6	907.4	-6.2	424	8791	0.00	2.65	0.00	0.000	4	0.000	0.081	2226	490	3475
8805	end dive: TARGET_DEPTH_EXCEEDED
state	8805	begin apogee
8815	-0.36	0.0	909.2	8.1	425	8951	0.88	0.00	128.40	1.420	6	0.082	0.000	2413	2099	2878
8952	end apogee: CONTROL_FINISHED_OK
state	8952	begin climb
8955	1.23	146.6	914.2	0.0	432	9091	1.58	2.72	127.40	1.384	4	0.055	0.065	2762	3504	2280
9138	1.27	176.8	911.1	6.9	440	9173	0.00	2.62	27.12	1.356	6	0.000	0.057	2763	2100	2156
9497	1.30	203.9	884.3	7.0	458	9526	0.00	2.70	24.10	1.372	4	0.000	0.064	2762	3508	2046
9612	1.36	255.3	876.3	6.0	463	9663	0.12	2.62	44.72	1.366	6	0.054	0.057	2796	2099	1837
9976	1.36	255.3	849.3	8.5	480	9981	0.00	2.62	0.00	0.000	4	0.000	0.061	2796	3505	1836
10066	1.36	255.3	840.5	8.9	484	10070	0.00	2.60	0.00	0.000	6	0.000	0.056	2796	2099	1836
10386	1.36	255.3	808.0	11.0	500	10390	0.00	2.62	0.00	0.000	4	0.000	0.060	2796	3504	1835
10443	1.36	255.3	802.3	9.6	502	10449	0.00	2.60	0.00	0.000	6	0.000	0.054	2796	2098	1835
10758	1.36	255.3	772.4	10.0	518	10763	0.00	2.62	0.00	0.000	4	0.000	0.059	2796	3506	1835
10814	1.36	255.3	766.2	11.6	520	10820	0.00	2.58	0.00	0.000	6	0.000	0.054	2796	2099	1835
11130	1.36	255.3	727.3	11.0	536	11134	0.00	2.60	0.00	0.000	4	0.000	0.058	2796	3504	1834
11215	1.36	255.3	717.6	11.4	540	11219	0.00	2.58	0.00	0.000	6	0.000	0.052	2797	2094	1834
11541	1.36	255.3	680.2	12.3	556	11545	0.00	2.60	0.00	0.000	4	0.000	0.056	2796	3506	1834
11626	1.36	255.3	669.4	11.9	560	11630	0.00	2.55	0.00	0.000	6	0.000	0.050	2796	2103	1834
11952	1.36	255.3	634.2	10.0	576	11953	0.00	0.00	0.00	0.000	6	0.000	0.000	2797	2102	1834
12261	1.36	255.3	604.5	9.4	591	12266	0.00	2.55	0.00	0.000	4	0.000	0.053	2796	3505	1834
12330	1.36	255.3	597.7	9.5	594	12334	0.00	2.55	0.00	0.000	6	0.000	0.046	2797	2095	1834
12650	1.36	255.3	569.8	8.2	610	12655	0.00	2.60	0.00	0.000	4	0.000	0.052	2796	3512	1835
12700	1.36	255.3	565.5	9.1	612	12704	0.00	2.53	0.00	0.000	6	0.000	0.046	2796	2099	1834
13016	1.36	255.3	539.4	8.6	627	13020	0.00	2.58	0.00	0.000	4	0.000	0.051	2797	3511	1835
13082	1.36	255.3	533.3	8.9	630	13086	0.00	2.53	0.00	0.000	6	0.000	0.045	2796	2100	1835
13404	1.37	257.4	507.8	7.9	646	13408	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3506	1835
13448	1.37	257.4	504.0	8.1	648	13452	0.00	2.55	0.00	0.000	6	0.000	0.044	2796	2092	1835
13768	1.37	257.4	477.0	9.0	664	13773	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3506	1835
13810	1.37	257.4	473.1	10.0	666	13814	0.00	2.53	0.00	0.000	6	0.000	0.044	2797	2097	1835
14136	1.37	257.4	440.5	10.9	682	14141	0.00	2.55	0.00	0.000	4	0.000	0.051	2796	3506	1836
14199	1.37	257.4	433.2	11.8	685	14203	0.00	2.53	0.00	0.000	6	0.000	0.044	2796	2098	1836
14526	1.37	257.4	400.0	9.8	701	14530	0.00	2.55	0.00	0.000	4	0.000	0.051	2796	3505	1836
14570	1.37	257.4	395.9	9.5	703	14574	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2098	1836
14890	1.37	257.4	362.0	12.3	719	14899	0.00	2.60	3.28	1.004	4	0.000	0.051	2796	3505	1827
14944	1.37	257.4	355.4	10.7	721	14949	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2090	1827
15261	1.37	257.4	317.6	13.0	736	15265	0.00	2.60	0.00	0.000	4	0.000	0.051	2797	3514	1827
15295	1.37	257.4	312.9	13.0	737	15301	0.00	2.55	0.00	0.000	6	0.000	0.042	2796	2090	1828
15610	1.37	257.4	268.9	13.7	753	15615	0.00	2.58	0.00	0.000	4	0.000	0.050	2796	3506	1828
15711	1.37	257.4	256.2	13.0	757	15717	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2093	1827
16026	1.37	257.4	222.1	11.1	773	16031	0.00	2.58	0.00	0.000	4	0.000	0.050	2797	3507	1827
16121	1.37	257.4	213.2	9.9	777	16125	0.00	2.47	0.00	0.000	6	0.000	0.041	2797	2100	1827
16442	1.37	257.4	180.4	13.4	793	16447	0.00	2.55	0.00	0.000	4	0.000	0.050	2797	3505	1827
16482	1.37	257.4	175.2	11.4	795	16486	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2095	1827
16809	1.37	257.4	141.7	9.8	811	16813	0.00	2.58	0.00	0.000	4	0.000	0.050	2797	3510	1827
16881	1.37	257.4	135.0	8.2	814	16885	0.00	2.53	0.00	0.000	6	0.000	0.041	2796	2093	1828
17198	1.39	278.9	111.9	7.2	829	17223	0.00	2.67	17.73	0.910	4	0.000	0.048	2796	3512	1741
17281	1.39	278.9	104.0	9.0	832	17287	0.00	2.55	0.00	0.000	6	0.000	0.040	2796	2090	1741
17596	1.39	278.9	80.3	8.1	848	17601	0.00	2.58	0.00	0.000	4	0.000	0.048	2796	3508	1741
17663	1.39	278.9	71.4	13.7	851	17667	0.00	2.53	0.00	0.000	6	0.000	0.040	2797	2096	1740
17985	1.46	334.2	35.9	5.9	867	18033	0.00	0.00	43.85	0.838	6	0.000	0.000	2797	2096	1514
18354	end climb: SURFACE_DEPTH_REACHED
state	18354	begin surface coast
18379	end surface coast: CONTROL_FINISHED_OK
state	18379	begin surface