Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 388 * 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 388 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 23 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 -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 -86204.609 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 -86204.609

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 23 USE_BATHY -3

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 388 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 203407,6210.557,-1024.786,36,1.1,36,-10.2 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.236,-0.029

_SM_DEPTHo 1.69 KALMAN_X 557217.8,1841.2,1281.2,-661519.2,-4820.5

_SM_ANGLEo -62.3 KALMAN_Y 83634.5,2489.5,1359.9,-18098.5,-5980.0

GPS2 204415,6210.653,-1024.652,14,1.2,14,-10.2 MHEAD_RNG_PITCHd_Wd 107.3,31818,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 814

Post-dive calculations and measurements:

FINISH 0.9,1.014197 XPDR_PINGS 2

SM_CCo 17342,54.67,0.803,7,0,1655,300.00 ALTIM_TOP_PING 19.6,999.0

SM_GC 1.50,0.00,0.00,54.67,0.000,0.000,0.803,30,1883,1655,-11.34,-0.51,300.00 _24V_AH 23.0,76.588

IRIDIUM_FIX 6144.36,-1020.76,280497,202004 _10V_AH 10.1,37.065

TT8_MAMPS 0.027612 DATA_FILE_SIZE 41105,832

HUMID 2045 CFSIZE 260165632,235147264

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,7,0

TCM_TEMP 16.50 GPS 030208,013738,6213.026,-1019.301,29,1.4,29,-10.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 140 84.66 SBE_CT 611 24 337.37

Roll_motor 204 83 392.65 SBE_O2 561 19 245.37

VBD_pump_during_apogee 337 1335 10375.61 WL_BB2F 461 105 1113.51

VBD_pump_during_surface 54 803 1009.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 187.95 nil 0 0 0.00

Iridium_during_connect 75 160 279.25 nil 0 0 0.00

Iridium_during_xfer 252 223 1294.09

Transponder_ping 7 420 72.45

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.18

TT8 1602 19 320.43

LPSleep 13112 2 290.04

TT8_Active 598 19 119.71

TT8_Sampling 2009 39 807.73

TT8_CF8 766 45 354.38

TT8_Kalman 33 81 27.57

Analog_circuits 1631 12 197.75

GPS_charging 0 0 0.00

Compass 1959 8 158.35

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 0 106 0.00 0.00 -80.60 0.000 2 0.000 0.000 28 1885 3244

110 -1.23 -146.6 4.5 -4.5 4 133 11.68 2.65 -5.43 0.000 4 0.140 0.084 2225 497 3478

359 -1.23 -146.6 44.6 -15.2 15 363 0.00 2.47 0.00 0.000 6 0.000 0.040 2224 1908 3479

685 -1.23 -146.6 87.6 -13.2 31 689 0.00 2.50 0.00 0.000 4 0.000 0.049 2224 3295 3478

713 -1.23 -146.6 91.1 -12.7 32 717 0.00 2.50 0.00 0.000 6 0.000 0.044 2224 1900 3478

1029 -1.23 -146.6 126.6 -10.0 47 1030 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3478

1337 -1.23 -146.6 164.8 -14.3 62 1342 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3299 3478

1404 -1.23 -146.6 175.3 -16.1 65 1409 0.00 2.50 0.00 0.000 6 0.000 0.044 2224 1898 3478

1726 -1.23 -146.6 219.8 -14.0 81 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3478

2035 -1.23 -146.6 255.4 -9.1 96 2040 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3298 3478

2080 -1.23 -146.6 260.3 -10.9 98 2084 0.00 2.50 0.00 0.000 6 0.000 0.043 2225 1898 3478

2400 -1.23 -146.6 294.0 -9.9 114 2405 0.00 2.53 0.00 0.000 4 0.000 0.047 2225 3301 3478

2441 -1.23 -146.6 298.5 -12.8 116 2445 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1895 3478

2768 -1.23 -146.6 327.2 -7.2 132 2772 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3305 3478

2789 -1.23 -146.6 329.0 -7.6 133 2794 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1896 3478

3110 -1.23 -146.6 355.9 -8.5 149 3114 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3305 3478

3137 -1.23 -146.6 358.4 -8.9 150 3141 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1897 3478

3452 -1.23 -146.6 389.5 -10.5 165 3457 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3298 3478

3474 -1.23 -146.6 391.4 -8.4 166 3478 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1895 3478

3797 -1.23 -146.6 425.3 -10.4 182 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1894 3478

4105 -1.23 -146.6 457.6 -10.0 197 4106 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1895 3478

4414 -1.23 -146.6 486.3 -8.9 212 4418 0.00 2.55 0.00 0.000 4 0.000 0.050 2224 3299 3478

4441 -1.23 -146.6 488.9 -9.3 213 4445 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1893 3478

4756 -1.23 -146.6 519.4 -9.9 228 4761 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3297 3478

4823 -1.23 -146.6 526.5 -10.9 231 4827 0.00 2.53 0.00 0.000 6 0.000 0.046 2224 1896 3478

5144 -1.23 -146.6 558.9 -9.9 247 5149 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3299 3478

5172 -1.23 -146.6 561.8 -10.3 248 5176 0.00 2.53 0.00 0.000 6 0.000 0.046 2225 1898 3478

5487 -1.23 -146.6 590.6 -9.2 263 5491 0.00 2.53 0.00 0.000 4 0.000 0.051 2224 3300 3478

5527 -1.23 -146.6 594.5 -9.4 265 5531 0.00 2.53 0.00 0.000 6 0.000 0.048 2224 1896 3478

5854 -1.23 -146.6 626.3 -10.4 281 5858 0.00 2.55 0.00 0.000 4 0.000 0.054 2224 3300 3478

5875 -1.23 -146.6 628.6 -10.3 282 5879 0.00 2.50 0.00 0.000 6 0.000 0.048 2224 1901 3478

6197 -1.23 -146.6 657.9 -8.3 298 6198 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1901 3478

6506 -1.23 -146.6 684.2 -8.0 313 6510 0.00 2.55 0.00 0.000 4 0.000 0.055 2224 3298 3478

6628 -1.23 -146.6 695.1 -9.7 318 6634 0.00 2.53 0.00 0.000 6 0.000 0.049 2224 1902 3478

6945 -1.23 -146.6 726.5 -10.5 334 6949 0.00 2.55 0.00 0.000 4 0.000 0.055 2224 3296 3478

7022 -1.23 -146.6 734.0 -9.3 337 7028 0.00 2.53 0.00 0.000 6 0.000 0.049 2224 1900 3478

7338 -1.23 -146.6 762.3 -8.8 353 7342 0.00 2.58 0.00 0.000 4 0.000 0.057 2224 3303 3478

7423 -1.23 -146.6 769.3 -7.9 357 7427 0.00 2.55 0.00 0.000 6 0.000 0.052 2224 1899 3478

7749 -1.23 -146.6 796.6 -9.0 373 7753 0.00 2.62 0.00 0.000 4 0.000 0.077 2224 494 3478

7798 -1.23 -146.6 801.5 -9.5 375 7802 0.00 2.50 0.00 0.000 6 0.000 0.049 2224 1896 3478

7946 end dive: TARGET_DEPTH_EXCEEDED

state 7946 begin apogee

7953 -0.36 0.0 814.4 8.4 382 8083 0.93 0.00 127.40 1.335 6 0.084 0.000 2419 2104 2878

8084 end apogee: CONTROL_FINISHED_OK

state 8084 begin climb

8087 1.23 146.6 818.3 0.0 388 8222 1.55 2.70 125.65 1.289 4 0.056 0.061 2763 3495 2279

8307 1.24 156.8 806.7 7.6 398 8322 0.00 2.58 9.80 1.249 6 0.000 0.051 2763 2102 2237

8643 1.24 156.8 780.2 8.1 415 8647 0.00 2.62 0.00 0.000 4 0.000 0.061 2762 3502 2238

8687 1.24 156.8 776.5 8.0 417 8692 0.00 2.58 0.00 0.000 6 0.000 0.052 2763 2098 2237

9008 1.25 166.7 752.7 7.6 433 9022 0.00 2.65 8.98 1.277 4 0.000 0.059 2762 3499 2198

9102 1.27 176.8 745.9 7.6 437 9118 0.00 2.58 9.75 1.272 6 0.000 0.049 2763 2097 2157

9427 1.27 176.8 720.5 8.3 453 9431 0.00 2.60 0.00 0.000 4 0.000 0.058 2762 3497 2156

9544 1.27 176.8 710.9 8.5 458 9548 0.00 2.55 0.00 0.000 6 0.000 0.048 2763 2099 2156

9860 1.30 207.9 688.9 6.8 473 9894 0.00 2.70 27.08 1.272 4 0.000 0.057 2762 3501 2030

10036 1.30 207.9 674.6 8.3 481 10041 0.00 2.55 0.00 0.000 6 0.000 0.048 2763 2099 2029

10363 1.30 207.9 645.9 8.8 497 10367 0.00 2.58 0.00 0.000 4 0.000 0.055 2762 3498 2029

10412 1.30 207.9 641.2 9.0 499 10416 0.00 2.53 0.00 0.000 6 0.000 0.047 2763 2097 2029

10728 1.30 207.9 615.0 8.3 514 10732 0.00 2.55 0.00 0.000 4 0.000 0.055 2762 3497 2029

10783 1.30 207.9 610.3 9.2 516 10789 0.00 2.53 0.00 0.000 6 0.000 0.046 2763 2099 2029

11098 1.30 207.9 585.2 8.2 532 11103 0.00 2.55 0.00 0.000 4 0.000 0.054 2763 3497 2029

11165 1.30 207.9 579.1 8.9 535 11170 0.00 2.53 0.00 0.000 6 0.000 0.045 2763 2098 2029

11487 1.30 207.9 550.6 9.2 551 11492 0.00 2.55 0.00 0.000 4 0.000 0.054 2762 3497 2029

11572 1.30 207.9 542.3 9.6 555 11576 0.00 2.53 0.00 0.000 6 0.000 0.044 2763 2100 2029

11899 1.30 207.9 511.6 9.5 571 11903 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3497 2029

11976 1.30 207.9 504.1 8.7 574 11982 0.00 2.53 0.00 0.000 6 0.000 0.044 2763 2092 2029

12292 1.30 207.9 476.8 8.6 590 12296 0.00 2.55 0.00 0.000 4 0.000 0.053 2763 3498 2029

12332 1.30 207.9 473.1 9.2 592 12337 0.00 2.53 0.00 0.000 6 0.000 0.043 2763 2094 2029

12659 1.30 207.9 445.5 8.1 608 12664 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3498 2029

12709 1.30 207.9 441.0 8.4 610 12714 0.00 2.50 0.00 0.000 6 0.000 0.043 2763 2091 2030

13025 1.30 207.9 413.9 8.0 625 13030 0.00 2.55 0.00 0.000 4 0.000 0.052 2762 3504 2030

13067 1.30 207.9 410.3 8.8 627 13071 0.00 2.53 0.00 0.000 6 0.000 0.043 2762 2097 2030

13393 1.30 207.9 383.6 8.6 643 13397 0.00 2.55 0.00 0.000 4 0.000 0.052 2763 3502 2031

13425 1.30 207.9 381.0 8.3 644 13431 0.00 2.50 0.00 0.000 6 0.000 0.042 2763 2093 2030

13741 1.30 207.9 354.4 8.3 660 13742 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2093 2030

14050 1.34 235.5 331.7 6.9 675 14080 0.10 2.65 23.65 1.036 4 0.061 0.051 2794 3500 1916

14131 1.35 241.3 325.1 7.8 678 14142 0.00 2.53 5.53 1.006 6 0.000 0.041 2794 2100 1894

14463 1.35 241.3 294.2 9.6 695 14467 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3502 1894

14552 1.35 241.3 284.9 10.1 699 14556 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2098 1894

14872 1.35 241.3 253.8 9.3 715 14877 0.00 2.55 0.00 0.000 4 0.000 0.050 2794 3498 1894

14939 1.35 241.3 247.3 9.9 718 14943 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2101 1894

15261 1.35 241.3 212.7 11.1 734 15265 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3499 1894

15304 1.35 241.3 207.4 11.5 736 15308 0.00 2.47 0.00 0.000 6 0.000 0.040 2794 2093 1894

15631 1.35 241.3 172.8 10.2 752 15635 0.00 2.58 0.00 0.000 4 0.000 0.050 2793 3504 1894

15703 1.35 241.3 164.7 11.2 755 15708 0.00 2.50 0.00 0.000 6 0.000 0.040 2794 2100 1894

16019 1.35 241.3 131.1 10.5 770 16023 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3501 1894

16075 1.35 241.3 125.3 9.4 772 16081 0.00 2.50 0.00 0.000 6 0.000 0.040 2794 2097 1894

16391 1.35 241.3 90.5 11.0 788 16395 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3499 1895

16463 1.35 241.3 81.8 12.1 791 16467 0.00 2.47 0.00 0.000 6 0.000 0.039 2794 2092 1895

16780 1.35 241.3 53.3 9.5 806 16785 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3505 1895

16881 1.35 241.3 43.6 10.1 810 16888 0.00 2.50 0.00 0.000 6 0.000 0.040 2794 2092 1895

17197 1.35 241.3 10.9 10.2 826 17201 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3499 1895

17252 1.35 241.3 4.6 9.1 828 17258 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2098 1895

17297 end climb: SURFACE_DEPTH_REACHED

state 17297 begin surface coast

17319 end surface coast: CONTROL_FINISHED_OK

state 17319 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	388	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	23	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	-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	-86204.609	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	203407,6210.557,-1024.786,36,1.1,36,-10.2	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.236,-0.029
_SM_DEPTHo	1.69	KALMAN_X	557217.8,1841.2,1281.2,-661519.2,-4820.5
_SM_ANGLEo	-62.3	KALMAN_Y	83634.5,2489.5,1359.9,-18098.5,-5980.0
GPS2	204415,6210.653,-1024.652,14,1.2,14,-10.2	MHEAD_RNG_PITCHd_Wd	107.3,31818,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	814

FINISH	0.9,1.014197	XPDR_PINGS	2
SM_CCo	17342,54.67,0.803,7,0,1655,300.00	ALTIM_TOP_PING	19.6,999.0
SM_GC	1.50,0.00,0.00,54.67,0.000,0.000,0.803,30,1883,1655,-11.34,-0.51,300.00	_24V_AH	23.0,76.588
IRIDIUM_FIX	6144.36,-1020.76,280497,202004	_10V_AH	10.1,37.065
TT8_MAMPS	0.027612	DATA_FILE_SIZE	41105,832
HUMID	2045	CFSIZE	260165632,235147264
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,7,0
TCM_TEMP	16.50	GPS	030208,013738,6213.026,-1019.301,29,1.4,29,-10.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	140	84.66	SBE_CT	611	24	337.37
Roll_motor	204	83	392.65	SBE_O2	561	19	245.37
VBD_pump_during_apogee	337	1335	10375.61	WL_BB2F	461	105	1113.51
VBD_pump_during_surface	54	803	1009.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	187.95	nil	0	0	0.00
Iridium_during_connect	75	160	279.25	nil	0	0	0.00
Iridium_during_xfer	252	223	1294.09
Transponder_ping	7	420	72.45
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.18
TT8	1602	19	320.43
LPSleep	13112	2	290.04
TT8_Active	598	19	119.71
TT8_Sampling	2009	39	807.73
TT8_CF8	766	45	354.38
TT8_Kalman	33	81	27.57
Analog_circuits	1631	12	197.75
GPS_charging	0	0	0.00
Compass	1959	8	158.35
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	106	0.00	0.00	-80.60	0.000	2	0.000	0.000	28	1885	3244
110	-1.23	-146.6	4.5	-4.5	4	133	11.68	2.65	-5.43	0.000	4	0.140	0.084	2225	497	3478
359	-1.23	-146.6	44.6	-15.2	15	363	0.00	2.47	0.00	0.000	6	0.000	0.040	2224	1908	3479
685	-1.23	-146.6	87.6	-13.2	31	689	0.00	2.50	0.00	0.000	4	0.000	0.049	2224	3295	3478
713	-1.23	-146.6	91.1	-12.7	32	717	0.00	2.50	0.00	0.000	6	0.000	0.044	2224	1900	3478
1029	-1.23	-146.6	126.6	-10.0	47	1030	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3478
1337	-1.23	-146.6	164.8	-14.3	62	1342	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3299	3478
1404	-1.23	-146.6	175.3	-16.1	65	1409	0.00	2.50	0.00	0.000	6	0.000	0.044	2224	1898	3478
1726	-1.23	-146.6	219.8	-14.0	81	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3478
2035	-1.23	-146.6	255.4	-9.1	96	2040	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3298	3478
2080	-1.23	-146.6	260.3	-10.9	98	2084	0.00	2.50	0.00	0.000	6	0.000	0.043	2225	1898	3478
2400	-1.23	-146.6	294.0	-9.9	114	2405	0.00	2.53	0.00	0.000	4	0.000	0.047	2225	3301	3478
2441	-1.23	-146.6	298.5	-12.8	116	2445	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1895	3478
2768	-1.23	-146.6	327.2	-7.2	132	2772	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3305	3478
2789	-1.23	-146.6	329.0	-7.6	133	2794	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1896	3478
3110	-1.23	-146.6	355.9	-8.5	149	3114	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3305	3478
3137	-1.23	-146.6	358.4	-8.9	150	3141	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1897	3478
3452	-1.23	-146.6	389.5	-10.5	165	3457	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3298	3478
3474	-1.23	-146.6	391.4	-8.4	166	3478	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1895	3478
3797	-1.23	-146.6	425.3	-10.4	182	3798	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1894	3478
4105	-1.23	-146.6	457.6	-10.0	197	4106	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1895	3478
4414	-1.23	-146.6	486.3	-8.9	212	4418	0.00	2.55	0.00	0.000	4	0.000	0.050	2224	3299	3478
4441	-1.23	-146.6	488.9	-9.3	213	4445	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1893	3478
4756	-1.23	-146.6	519.4	-9.9	228	4761	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3297	3478
4823	-1.23	-146.6	526.5	-10.9	231	4827	0.00	2.53	0.00	0.000	6	0.000	0.046	2224	1896	3478
5144	-1.23	-146.6	558.9	-9.9	247	5149	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3299	3478
5172	-1.23	-146.6	561.8	-10.3	248	5176	0.00	2.53	0.00	0.000	6	0.000	0.046	2225	1898	3478
5487	-1.23	-146.6	590.6	-9.2	263	5491	0.00	2.53	0.00	0.000	4	0.000	0.051	2224	3300	3478
5527	-1.23	-146.6	594.5	-9.4	265	5531	0.00	2.53	0.00	0.000	6	0.000	0.048	2224	1896	3478
5854	-1.23	-146.6	626.3	-10.4	281	5858	0.00	2.55	0.00	0.000	4	0.000	0.054	2224	3300	3478
5875	-1.23	-146.6	628.6	-10.3	282	5879	0.00	2.50	0.00	0.000	6	0.000	0.048	2224	1901	3478
6197	-1.23	-146.6	657.9	-8.3	298	6198	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1901	3478
6506	-1.23	-146.6	684.2	-8.0	313	6510	0.00	2.55	0.00	0.000	4	0.000	0.055	2224	3298	3478
6628	-1.23	-146.6	695.1	-9.7	318	6634	0.00	2.53	0.00	0.000	6	0.000	0.049	2224	1902	3478
6945	-1.23	-146.6	726.5	-10.5	334	6949	0.00	2.55	0.00	0.000	4	0.000	0.055	2224	3296	3478
7022	-1.23	-146.6	734.0	-9.3	337	7028	0.00	2.53	0.00	0.000	6	0.000	0.049	2224	1900	3478
7338	-1.23	-146.6	762.3	-8.8	353	7342	0.00	2.58	0.00	0.000	4	0.000	0.057	2224	3303	3478
7423	-1.23	-146.6	769.3	-7.9	357	7427	0.00	2.55	0.00	0.000	6	0.000	0.052	2224	1899	3478
7749	-1.23	-146.6	796.6	-9.0	373	7753	0.00	2.62	0.00	0.000	4	0.000	0.077	2224	494	3478
7798	-1.23	-146.6	801.5	-9.5	375	7802	0.00	2.50	0.00	0.000	6	0.000	0.049	2224	1896	3478
7946	end dive: TARGET_DEPTH_EXCEEDED
state	7946	begin apogee
7953	-0.36	0.0	814.4	8.4	382	8083	0.93	0.00	127.40	1.335	6	0.084	0.000	2419	2104	2878
8084	end apogee: CONTROL_FINISHED_OK
state	8084	begin climb
8087	1.23	146.6	818.3	0.0	388	8222	1.55	2.70	125.65	1.289	4	0.056	0.061	2763	3495	2279
8307	1.24	156.8	806.7	7.6	398	8322	0.00	2.58	9.80	1.249	6	0.000	0.051	2763	2102	2237
8643	1.24	156.8	780.2	8.1	415	8647	0.00	2.62	0.00	0.000	4	0.000	0.061	2762	3502	2238
8687	1.24	156.8	776.5	8.0	417	8692	0.00	2.58	0.00	0.000	6	0.000	0.052	2763	2098	2237
9008	1.25	166.7	752.7	7.6	433	9022	0.00	2.65	8.98	1.277	4	0.000	0.059	2762	3499	2198
9102	1.27	176.8	745.9	7.6	437	9118	0.00	2.58	9.75	1.272	6	0.000	0.049	2763	2097	2157
9427	1.27	176.8	720.5	8.3	453	9431	0.00	2.60	0.00	0.000	4	0.000	0.058	2762	3497	2156
9544	1.27	176.8	710.9	8.5	458	9548	0.00	2.55	0.00	0.000	6	0.000	0.048	2763	2099	2156
9860	1.30	207.9	688.9	6.8	473	9894	0.00	2.70	27.08	1.272	4	0.000	0.057	2762	3501	2030
10036	1.30	207.9	674.6	8.3	481	10041	0.00	2.55	0.00	0.000	6	0.000	0.048	2763	2099	2029
10363	1.30	207.9	645.9	8.8	497	10367	0.00	2.58	0.00	0.000	4	0.000	0.055	2762	3498	2029
10412	1.30	207.9	641.2	9.0	499	10416	0.00	2.53	0.00	0.000	6	0.000	0.047	2763	2097	2029
10728	1.30	207.9	615.0	8.3	514	10732	0.00	2.55	0.00	0.000	4	0.000	0.055	2762	3497	2029
10783	1.30	207.9	610.3	9.2	516	10789	0.00	2.53	0.00	0.000	6	0.000	0.046	2763	2099	2029
11098	1.30	207.9	585.2	8.2	532	11103	0.00	2.55	0.00	0.000	4	0.000	0.054	2763	3497	2029
11165	1.30	207.9	579.1	8.9	535	11170	0.00	2.53	0.00	0.000	6	0.000	0.045	2763	2098	2029
11487	1.30	207.9	550.6	9.2	551	11492	0.00	2.55	0.00	0.000	4	0.000	0.054	2762	3497	2029
11572	1.30	207.9	542.3	9.6	555	11576	0.00	2.53	0.00	0.000	6	0.000	0.044	2763	2100	2029
11899	1.30	207.9	511.6	9.5	571	11903	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3497	2029
11976	1.30	207.9	504.1	8.7	574	11982	0.00	2.53	0.00	0.000	6	0.000	0.044	2763	2092	2029
12292	1.30	207.9	476.8	8.6	590	12296	0.00	2.55	0.00	0.000	4	0.000	0.053	2763	3498	2029
12332	1.30	207.9	473.1	9.2	592	12337	0.00	2.53	0.00	0.000	6	0.000	0.043	2763	2094	2029
12659	1.30	207.9	445.5	8.1	608	12664	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3498	2029
12709	1.30	207.9	441.0	8.4	610	12714	0.00	2.50	0.00	0.000	6	0.000	0.043	2763	2091	2030
13025	1.30	207.9	413.9	8.0	625	13030	0.00	2.55	0.00	0.000	4	0.000	0.052	2762	3504	2030
13067	1.30	207.9	410.3	8.8	627	13071	0.00	2.53	0.00	0.000	6	0.000	0.043	2762	2097	2030
13393	1.30	207.9	383.6	8.6	643	13397	0.00	2.55	0.00	0.000	4	0.000	0.052	2763	3502	2031
13425	1.30	207.9	381.0	8.3	644	13431	0.00	2.50	0.00	0.000	6	0.000	0.042	2763	2093	2030
13741	1.30	207.9	354.4	8.3	660	13742	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2093	2030
14050	1.34	235.5	331.7	6.9	675	14080	0.10	2.65	23.65	1.036	4	0.061	0.051	2794	3500	1916
14131	1.35	241.3	325.1	7.8	678	14142	0.00	2.53	5.53	1.006	6	0.000	0.041	2794	2100	1894
14463	1.35	241.3	294.2	9.6	695	14467	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3502	1894
14552	1.35	241.3	284.9	10.1	699	14556	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2098	1894
14872	1.35	241.3	253.8	9.3	715	14877	0.00	2.55	0.00	0.000	4	0.000	0.050	2794	3498	1894
14939	1.35	241.3	247.3	9.9	718	14943	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2101	1894
15261	1.35	241.3	212.7	11.1	734	15265	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3499	1894
15304	1.35	241.3	207.4	11.5	736	15308	0.00	2.47	0.00	0.000	6	0.000	0.040	2794	2093	1894
15631	1.35	241.3	172.8	10.2	752	15635	0.00	2.58	0.00	0.000	4	0.000	0.050	2793	3504	1894
15703	1.35	241.3	164.7	11.2	755	15708	0.00	2.50	0.00	0.000	6	0.000	0.040	2794	2100	1894
16019	1.35	241.3	131.1	10.5	770	16023	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3501	1894
16075	1.35	241.3	125.3	9.4	772	16081	0.00	2.50	0.00	0.000	6	0.000	0.040	2794	2097	1894
16391	1.35	241.3	90.5	11.0	788	16395	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3499	1895
16463	1.35	241.3	81.8	12.1	791	16467	0.00	2.47	0.00	0.000	6	0.000	0.039	2794	2092	1895
16780	1.35	241.3	53.3	9.5	806	16785	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3505	1895
16881	1.35	241.3	43.6	10.1	810	16888	0.00	2.50	0.00	0.000	6	0.000	0.040	2794	2092	1895
17197	1.35	241.3	10.9	10.2	826	17201	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3499	1895
17252	1.35	241.3	4.6	9.1	828	17258	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2098	1895
17297	end climb: SURFACE_DEPTH_REACHED
state	17297	begin surface coast
17319	end surface coast: CONTROL_FINISHED_OK
state	17319	begin surface