Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 392 * 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 392 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -86284.508 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 -86284.508

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 29 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 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 392 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 161155,6217.641,-1007.807,24,1.2,41,-10.1 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.095,-0.218

_SM_DEPTHo 1.30 KALMAN_X 563982.6,1172.5,-753.4,-650757.3,2245.6

_SM_ANGLEo -50.9 KALMAN_Y 111632.3,-305.4,-393.9,-28376.9,7448.1

GPS2 162333,6217.709,-1007.949,11,1.1,11,-10.1 MHEAD_RNG_PITCHd_Wd 166.4,28217,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 732

Post-dive calculations and measurements:

FINISH 0.9,1.027383 XPDR_PINGS 2

SM_CCo 16035,50.42,0.806,6,0,1655,300.00 ALTIM_TOP_PING 18.8,999.0

SM_GC 1.48,0.00,0.00,50.42,0.000,0.000,0.806,30,1895,1655,-11.34,-0.17,300.00 _24V_AH 23.1,77.246

IRIDIUM_FIX 6153.50,-1008.78,290497,161643 _10V_AH 10.1,37.397

TT8_MAMPS 0.026845 DATA_FILE_SIZE 38032,767

HUMID 2063 CFSIZE 260165632,234909696

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,6,0

TCM_TEMP 16.40 GPS 030208,205525,6217.506,-1002.148,55,0.9,55,-10.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 139 84.16 SBE_CT 570 24 316.12

Roll_motor 184 79 336.06 SBE_O2 517 19 226.96

VBD_pump_during_apogee 331 1292 9904.92 WL_BB2F 454 105 1101.85

VBD_pump_during_surface 50 806 938.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 181.93 nil 0 0 0.00

Iridium_during_connect 73 160 270.54 nil 0 0 0.00

Iridium_during_xfer 359 223 1850.38

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.52

TT8 1483 19 296.60

LPSleep 12037 2 266.25

TT8_Active 608 19 121.63

TT8_Sampling 1889 39 759.47

TT8_CF8 847 45 391.83

TT8_Kalman 33 81 27.58

Analog_circuits 1588 12 192.53

GPS_charging 0 0 0.00

Compass 1849 8 149.40

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.23 -146.6 0.0 0.0 0 149 0.00 0.00 -121.30 0.000 2 0.000 0.000 35 1889 2922

153 -1.23 -146.6 3.2 -2.2 6 188 11.62 2.65 -17.17 0.000 4 0.140 0.079 2222 501 3477

272 -1.23 -146.6 16.8 -10.5 11 277 0.00 2.50 0.00 0.000 6 0.000 0.039 2222 1919 3477

588 -1.23 -146.6 49.3 -12.0 26 592 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3299 3477

638 -1.23 -146.6 54.8 -9.9 28 642 0.00 2.47 0.00 0.000 6 0.000 0.044 2222 1907 3477

954 -1.23 -146.6 87.5 -9.5 43 955 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1907 3477

1263 -1.23 -146.6 120.3 -11.3 58 1267 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3303 3477

1318 -1.23 -146.6 127.6 -14.1 60 1324 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1895 3477

1634 -1.23 -146.6 167.6 -12.3 76 1636 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1895 3477

1943 -1.23 -146.6 198.6 -9.9 91 1947 0.00 2.55 0.00 0.000 4 0.000 0.048 2222 3303 3477

2009 -1.23 -146.6 207.1 -11.9 94 2013 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1895 3477

2330 -1.23 -146.6 236.2 -8.9 110 2334 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3298 3477

2379 -1.23 -146.6 240.3 -8.1 112 2383 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1892 3477

2700 -1.23 -146.6 268.9 -10.4 128 2704 0.00 2.55 0.00 0.000 4 0.000 0.048 2222 3299 3477

2732 -1.23 -146.6 272.7 -10.9 129 2738 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1896 3477

3048 -1.23 -146.6 308.9 -12.1 145 3049 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

3358 -1.23 -146.6 344.0 -10.9 160 3362 0.00 2.55 0.00 0.000 4 0.000 0.048 2222 3304 3477

3419 -1.23 -146.6 351.0 -10.5 163 3424 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1900 3477

3746 -1.23 -146.6 385.1 -9.2 179 3750 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3299 3477

3779 -1.23 -146.6 388.0 -8.6 180 3785 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

4095 -1.23 -146.6 415.2 -8.6 196 4099 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3298 3477

4156 -1.23 -146.6 420.8 -9.0 199 4161 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1893 3477

4483 -1.23 -146.6 448.8 -8.1 215 4488 0.00 2.53 0.00 0.000 4 0.000 0.049 2222 3297 3477

4523 -1.23 -146.6 451.9 -7.7 217 4528 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1894 3477

4850 -1.23 -146.6 478.2 -8.7 233 4854 0.00 2.55 0.00 0.000 4 0.000 0.050 2222 3297 3477

4883 -1.23 -146.6 481.4 -9.5 234 4889 0.00 2.50 0.00 0.000 6 0.000 0.045 2222 1900 3477

5198 -1.23 -146.6 513.5 -10.7 250 5202 0.00 2.53 0.00 0.000 4 0.000 0.050 2222 3298 3477

5293 -1.23 -146.6 524.6 -12.4 254 5298 0.00 2.53 0.00 0.000 6 0.000 0.046 2222 1894 3476

5615 -1.23 -146.6 561.6 -11.0 270 5619 0.00 2.55 0.00 0.000 4 0.000 0.051 2222 3296 3476

5642 -1.23 -146.6 564.6 -10.7 271 5646 0.00 2.53 0.00 0.000 6 0.000 0.047 2222 1896 3476

5958 -1.23 -146.6 596.5 -10.0 286 5962 0.00 2.55 0.00 0.000 4 0.000 0.053 2222 3295 3477

6020 -1.23 -146.6 602.3 -9.6 289 6024 0.00 2.53 0.00 0.000 6 0.000 0.047 2222 1899 3477

6346 -1.23 -146.6 630.1 -8.5 305 6350 0.00 2.55 0.00 0.000 4 0.000 0.054 2222 3297 3476

6390 -1.23 -146.6 633.7 -7.8 307 6394 0.00 2.53 0.00 0.000 6 0.000 0.048 2221 1896 3476

6711 -1.23 -146.6 661.5 -8.1 323 6712 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3476

7020 -1.23 -146.6 685.3 -7.8 338 7025 0.00 2.58 0.00 0.000 4 0.000 0.057 2222 3299 3476

7138 -1.23 -146.6 694.2 -7.3 343 7143 0.00 2.53 0.00 0.000 6 0.000 0.050 2222 1902 3476

7454 -1.23 -146.6 720.2 -8.8 358 7458 0.00 2.58 0.00 0.000 4 0.000 0.058 2222 3301 3475

7656 -1.23 -146.6 730.1 0.2 367 7660 0.00 2.55 0.00 0.000 6 0.000 0.051 2222 1895 3476

7891 end dive: NO_VERTICAL_VELOCITY

state 7891 begin apogee

7898 -0.36 0.0 730.2 0.0 379 8027 0.88 0.00 124.90 1.292 6 0.058 0.000 2419 2095 2877

8027 end apogee: CONTROL_FINISHED_OK

state 8027 begin climb

8030 1.23 146.6 729.9 0.0 385 8162 1.55 2.72 123.70 1.252 4 0.051 0.072 2765 691 2280

8421 1.23 146.6 708.2 8.3 403 8425 0.00 2.53 0.00 0.000 6 0.000 0.048 2765 2094 2279

8747 1.28 190.9 687.0 6.3 419 8792 0.00 2.72 37.70 1.263 4 0.000 0.062 2764 3504 2099

8894 1.28 190.9 674.5 8.4 425 8901 0.00 2.58 0.00 0.000 6 0.000 0.052 2765 2099 2098

9210 1.31 210.5 652.5 7.3 441 9232 0.00 2.72 17.17 1.256 4 0.000 0.059 2765 3505 2019

9301 1.31 210.5 644.8 8.8 445 9305 0.00 2.58 0.00 0.000 6 0.000 0.051 2764 2100 2019

9628 1.31 210.5 616.5 8.9 461 9632 0.00 2.60 0.00 0.000 4 0.000 0.057 2764 3504 2019

9694 1.31 210.5 610.2 9.1 464 9699 0.00 2.55 0.00 0.000 6 0.000 0.049 2764 2096 2018

10016 1.32 221.2 585.4 7.6 480 10030 0.00 2.62 9.70 1.220 4 0.000 0.055 2764 3502 1976

10087 1.32 221.2 579.2 9.4 482 10091 0.00 2.55 0.00 0.000 6 0.000 0.046 2764 2101 1976

10402 1.32 221.2 553.6 8.1 497 10403 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2101 1976

10712 1.35 242.5 530.2 7.2 512 10736 0.10 2.65 18.60 1.174 4 0.058 0.053 2796 3507 1889

10770 1.35 242.5 524.9 9.2 514 10776 0.00 2.58 0.00 0.000 6 0.000 0.044 2796 2100 1889

11086 1.35 242.5 496.8 8.9 530 11090 0.00 2.60 0.00 0.000 4 0.000 0.053 2796 3508 1889

11152 1.35 242.5 490.5 9.8 533 11156 0.00 2.55 0.00 0.000 6 0.000 0.044 2796 2092 1889

11473 1.35 242.5 460.7 9.3 549 11477 0.00 2.58 0.00 0.000 4 0.000 0.052 2796 3505 1889

11534 1.35 242.5 454.5 10.0 552 11539 0.00 2.53 0.00 0.000 6 0.000 0.044 2796 2100 1889

11861 1.35 242.5 422.2 10.0 568 11866 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3505 1889

11913 1.35 242.5 416.8 10.4 570 11917 0.00 2.53 0.00 0.000 6 0.000 0.044 2796 2098 1889

12228 1.35 242.5 384.5 10.3 585 12232 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3507 1889

12335 1.35 242.5 374.0 9.4 590 12339 0.00 2.53 0.00 0.000 6 0.000 0.043 2796 2100 1889

12662 1.35 242.5 345.1 8.9 606 12666 0.00 2.55 0.00 0.000 4 0.000 0.051 2796 3504 1890

12734 1.35 242.5 338.4 9.2 609 12738 0.00 2.53 0.00 0.000 6 0.000 0.042 2796 2094 1890

13050 1.35 242.5 308.4 9.9 624 13054 0.00 2.58 0.00 0.000 4 0.000 0.051 2796 3504 1890

13116 1.35 242.5 300.4 12.7 627 13120 0.00 2.53 0.00 0.000 6 0.000 0.041 2796 2096 1890

13436 1.35 242.5 261.8 11.8 643 13441 0.00 2.58 0.00 0.000 4 0.000 0.050 2796 3508 1891

13521 1.35 242.5 252.1 11.3 647 13526 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2098 1891

13848 1.35 242.5 220.4 9.3 663 13852 0.00 2.55 0.00 0.000 4 0.000 0.050 2796 3504 1891

13898 1.35 242.5 215.2 10.8 665 13902 0.00 2.50 0.00 0.000 6 0.000 0.041 2796 2100 1891

14213 1.35 242.5 183.4 10.3 680 14217 0.00 2.55 0.00 0.000 4 0.000 0.049 2796 3505 1891

14257 1.35 242.5 178.5 11.3 682 14262 0.00 2.50 0.00 0.000 6 0.000 0.040 2796 2099 1891

14579 1.35 242.5 146.3 9.8 698 14584 0.00 2.55 0.00 0.000 4 0.000 0.050 2796 3504 1891

14657 1.35 242.5 137.3 11.1 701 14664 0.00 2.47 0.00 0.000 6 0.000 0.041 2796 2098 1892

14973 1.35 242.5 105.5 9.8 717 14978 0.00 2.55 0.00 0.000 4 0.000 0.049 2796 3505 1892

15018 1.35 242.5 101.3 8.3 719 15022 0.00 2.47 0.00 0.000 6 0.000 0.039 2796 2098 1892

15339 1.35 242.5 71.9 9.9 735 15343 0.00 2.55 0.00 0.000 4 0.000 0.049 2796 3504 1892

15388 1.35 242.5 65.5 14.8 737 15392 0.00 2.50 0.00 0.000 6 0.000 0.040 2796 2099 1892

15706 1.35 242.5 28.2 11.5 752 15710 0.00 2.55 0.00 0.000 4 0.000 0.048 2796 3507 1892

15738 1.35 242.5 24.1 11.8 753 15745 0.00 2.50 0.00 0.000 6 0.000 0.039 2796 2098 1892

15991 end climb: SURFACE_DEPTH_REACHED

state 15991 begin surface coast

16012 end surface coast: CONTROL_FINISHED_OK

state 16012 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	392	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-86284.508	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	161155,6217.641,-1007.807,24,1.2,41,-10.1	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.095,-0.218
_SM_DEPTHo	1.30	KALMAN_X	563982.6,1172.5,-753.4,-650757.3,2245.6
_SM_ANGLEo	-50.9	KALMAN_Y	111632.3,-305.4,-393.9,-28376.9,7448.1
GPS2	162333,6217.709,-1007.949,11,1.1,11,-10.1	MHEAD_RNG_PITCHd_Wd	166.4,28217,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	732

FINISH	0.9,1.027383	XPDR_PINGS	2
SM_CCo	16035,50.42,0.806,6,0,1655,300.00	ALTIM_TOP_PING	18.8,999.0
SM_GC	1.48,0.00,0.00,50.42,0.000,0.000,0.806,30,1895,1655,-11.34,-0.17,300.00	_24V_AH	23.1,77.246
IRIDIUM_FIX	6153.50,-1008.78,290497,161643	_10V_AH	10.1,37.397
TT8_MAMPS	0.026845	DATA_FILE_SIZE	38032,767
HUMID	2063	CFSIZE	260165632,234909696
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,6,0
TCM_TEMP	16.40	GPS	030208,205525,6217.506,-1002.148,55,0.9,55,-10.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	139	84.16	SBE_CT	570	24	316.12
Roll_motor	184	79	336.06	SBE_O2	517	19	226.96
VBD_pump_during_apogee	331	1292	9904.92	WL_BB2F	454	105	1101.85
VBD_pump_during_surface	50	806	938.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	181.93	nil	0	0	0.00
Iridium_during_connect	73	160	270.54	nil	0	0	0.00
Iridium_during_xfer	359	223	1850.38
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.52
TT8	1483	19	296.60
LPSleep	12037	2	266.25
TT8_Active	608	19	121.63
TT8_Sampling	1889	39	759.47
TT8_CF8	847	45	391.83
TT8_Kalman	33	81	27.58
Analog_circuits	1588	12	192.53
GPS_charging	0	0	0.00
Compass	1849	8	149.40
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.23	-146.6	0.0	0.0	0	149	0.00	0.00	-121.30	0.000	2	0.000	0.000	35	1889	2922
153	-1.23	-146.6	3.2	-2.2	6	188	11.62	2.65	-17.17	0.000	4	0.140	0.079	2222	501	3477
272	-1.23	-146.6	16.8	-10.5	11	277	0.00	2.50	0.00	0.000	6	0.000	0.039	2222	1919	3477
588	-1.23	-146.6	49.3	-12.0	26	592	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3299	3477
638	-1.23	-146.6	54.8	-9.9	28	642	0.00	2.47	0.00	0.000	6	0.000	0.044	2222	1907	3477
954	-1.23	-146.6	87.5	-9.5	43	955	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1907	3477
1263	-1.23	-146.6	120.3	-11.3	58	1267	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3303	3477
1318	-1.23	-146.6	127.6	-14.1	60	1324	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1895	3477
1634	-1.23	-146.6	167.6	-12.3	76	1636	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1895	3477
1943	-1.23	-146.6	198.6	-9.9	91	1947	0.00	2.55	0.00	0.000	4	0.000	0.048	2222	3303	3477
2009	-1.23	-146.6	207.1	-11.9	94	2013	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1895	3477
2330	-1.23	-146.6	236.2	-8.9	110	2334	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3298	3477
2379	-1.23	-146.6	240.3	-8.1	112	2383	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1892	3477
2700	-1.23	-146.6	268.9	-10.4	128	2704	0.00	2.55	0.00	0.000	4	0.000	0.048	2222	3299	3477
2732	-1.23	-146.6	272.7	-10.9	129	2738	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1896	3477
3048	-1.23	-146.6	308.9	-12.1	145	3049	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
3358	-1.23	-146.6	344.0	-10.9	160	3362	0.00	2.55	0.00	0.000	4	0.000	0.048	2222	3304	3477
3419	-1.23	-146.6	351.0	-10.5	163	3424	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1900	3477
3746	-1.23	-146.6	385.1	-9.2	179	3750	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3299	3477
3779	-1.23	-146.6	388.0	-8.6	180	3785	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
4095	-1.23	-146.6	415.2	-8.6	196	4099	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3298	3477
4156	-1.23	-146.6	420.8	-9.0	199	4161	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1893	3477
4483	-1.23	-146.6	448.8	-8.1	215	4488	0.00	2.53	0.00	0.000	4	0.000	0.049	2222	3297	3477
4523	-1.23	-146.6	451.9	-7.7	217	4528	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1894	3477
4850	-1.23	-146.6	478.2	-8.7	233	4854	0.00	2.55	0.00	0.000	4	0.000	0.050	2222	3297	3477
4883	-1.23	-146.6	481.4	-9.5	234	4889	0.00	2.50	0.00	0.000	6	0.000	0.045	2222	1900	3477
5198	-1.23	-146.6	513.5	-10.7	250	5202	0.00	2.53	0.00	0.000	4	0.000	0.050	2222	3298	3477
5293	-1.23	-146.6	524.6	-12.4	254	5298	0.00	2.53	0.00	0.000	6	0.000	0.046	2222	1894	3476
5615	-1.23	-146.6	561.6	-11.0	270	5619	0.00	2.55	0.00	0.000	4	0.000	0.051	2222	3296	3476
5642	-1.23	-146.6	564.6	-10.7	271	5646	0.00	2.53	0.00	0.000	6	0.000	0.047	2222	1896	3476
5958	-1.23	-146.6	596.5	-10.0	286	5962	0.00	2.55	0.00	0.000	4	0.000	0.053	2222	3295	3477
6020	-1.23	-146.6	602.3	-9.6	289	6024	0.00	2.53	0.00	0.000	6	0.000	0.047	2222	1899	3477
6346	-1.23	-146.6	630.1	-8.5	305	6350	0.00	2.55	0.00	0.000	4	0.000	0.054	2222	3297	3476
6390	-1.23	-146.6	633.7	-7.8	307	6394	0.00	2.53	0.00	0.000	6	0.000	0.048	2221	1896	3476
6711	-1.23	-146.6	661.5	-8.1	323	6712	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3476
7020	-1.23	-146.6	685.3	-7.8	338	7025	0.00	2.58	0.00	0.000	4	0.000	0.057	2222	3299	3476
7138	-1.23	-146.6	694.2	-7.3	343	7143	0.00	2.53	0.00	0.000	6	0.000	0.050	2222	1902	3476
7454	-1.23	-146.6	720.2	-8.8	358	7458	0.00	2.58	0.00	0.000	4	0.000	0.058	2222	3301	3475
7656	-1.23	-146.6	730.1	0.2	367	7660	0.00	2.55	0.00	0.000	6	0.000	0.051	2222	1895	3476
7891	end dive: NO_VERTICAL_VELOCITY
state	7891	begin apogee
7898	-0.36	0.0	730.2	0.0	379	8027	0.88	0.00	124.90	1.292	6	0.058	0.000	2419	2095	2877
8027	end apogee: CONTROL_FINISHED_OK
state	8027	begin climb
8030	1.23	146.6	729.9	0.0	385	8162	1.55	2.72	123.70	1.252	4	0.051	0.072	2765	691	2280
8421	1.23	146.6	708.2	8.3	403	8425	0.00	2.53	0.00	0.000	6	0.000	0.048	2765	2094	2279
8747	1.28	190.9	687.0	6.3	419	8792	0.00	2.72	37.70	1.263	4	0.000	0.062	2764	3504	2099
8894	1.28	190.9	674.5	8.4	425	8901	0.00	2.58	0.00	0.000	6	0.000	0.052	2765	2099	2098
9210	1.31	210.5	652.5	7.3	441	9232	0.00	2.72	17.17	1.256	4	0.000	0.059	2765	3505	2019
9301	1.31	210.5	644.8	8.8	445	9305	0.00	2.58	0.00	0.000	6	0.000	0.051	2764	2100	2019
9628	1.31	210.5	616.5	8.9	461	9632	0.00	2.60	0.00	0.000	4	0.000	0.057	2764	3504	2019
9694	1.31	210.5	610.2	9.1	464	9699	0.00	2.55	0.00	0.000	6	0.000	0.049	2764	2096	2018
10016	1.32	221.2	585.4	7.6	480	10030	0.00	2.62	9.70	1.220	4	0.000	0.055	2764	3502	1976
10087	1.32	221.2	579.2	9.4	482	10091	0.00	2.55	0.00	0.000	6	0.000	0.046	2764	2101	1976
10402	1.32	221.2	553.6	8.1	497	10403	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2101	1976
10712	1.35	242.5	530.2	7.2	512	10736	0.10	2.65	18.60	1.174	4	0.058	0.053	2796	3507	1889
10770	1.35	242.5	524.9	9.2	514	10776	0.00	2.58	0.00	0.000	6	0.000	0.044	2796	2100	1889
11086	1.35	242.5	496.8	8.9	530	11090	0.00	2.60	0.00	0.000	4	0.000	0.053	2796	3508	1889
11152	1.35	242.5	490.5	9.8	533	11156	0.00	2.55	0.00	0.000	6	0.000	0.044	2796	2092	1889
11473	1.35	242.5	460.7	9.3	549	11477	0.00	2.58	0.00	0.000	4	0.000	0.052	2796	3505	1889
11534	1.35	242.5	454.5	10.0	552	11539	0.00	2.53	0.00	0.000	6	0.000	0.044	2796	2100	1889
11861	1.35	242.5	422.2	10.0	568	11866	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3505	1889
11913	1.35	242.5	416.8	10.4	570	11917	0.00	2.53	0.00	0.000	6	0.000	0.044	2796	2098	1889
12228	1.35	242.5	384.5	10.3	585	12232	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3507	1889
12335	1.35	242.5	374.0	9.4	590	12339	0.00	2.53	0.00	0.000	6	0.000	0.043	2796	2100	1889
12662	1.35	242.5	345.1	8.9	606	12666	0.00	2.55	0.00	0.000	4	0.000	0.051	2796	3504	1890
12734	1.35	242.5	338.4	9.2	609	12738	0.00	2.53	0.00	0.000	6	0.000	0.042	2796	2094	1890
13050	1.35	242.5	308.4	9.9	624	13054	0.00	2.58	0.00	0.000	4	0.000	0.051	2796	3504	1890
13116	1.35	242.5	300.4	12.7	627	13120	0.00	2.53	0.00	0.000	6	0.000	0.041	2796	2096	1890
13436	1.35	242.5	261.8	11.8	643	13441	0.00	2.58	0.00	0.000	4	0.000	0.050	2796	3508	1891
13521	1.35	242.5	252.1	11.3	647	13526	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2098	1891
13848	1.35	242.5	220.4	9.3	663	13852	0.00	2.55	0.00	0.000	4	0.000	0.050	2796	3504	1891
13898	1.35	242.5	215.2	10.8	665	13902	0.00	2.50	0.00	0.000	6	0.000	0.041	2796	2100	1891
14213	1.35	242.5	183.4	10.3	680	14217	0.00	2.55	0.00	0.000	4	0.000	0.049	2796	3505	1891
14257	1.35	242.5	178.5	11.3	682	14262	0.00	2.50	0.00	0.000	6	0.000	0.040	2796	2099	1891
14579	1.35	242.5	146.3	9.8	698	14584	0.00	2.55	0.00	0.000	4	0.000	0.050	2796	3504	1891
14657	1.35	242.5	137.3	11.1	701	14664	0.00	2.47	0.00	0.000	6	0.000	0.041	2796	2098	1892
14973	1.35	242.5	105.5	9.8	717	14978	0.00	2.55	0.00	0.000	4	0.000	0.049	2796	3505	1892
15018	1.35	242.5	101.3	8.3	719	15022	0.00	2.47	0.00	0.000	6	0.000	0.039	2796	2098	1892
15339	1.35	242.5	71.9	9.9	735	15343	0.00	2.55	0.00	0.000	4	0.000	0.049	2796	3504	1892
15388	1.35	242.5	65.5	14.8	737	15392	0.00	2.50	0.00	0.000	6	0.000	0.040	2796	2099	1892
15706	1.35	242.5	28.2	11.5	752	15710	0.00	2.55	0.00	0.000	4	0.000	0.048	2796	3507	1892
15738	1.35	242.5	24.1	11.8	753	15745	0.00	2.50	0.00	0.000	6	0.000	0.039	2796	2098	1892
15991	end climb: SURFACE_DEPTH_REACHED
state	15991	begin surface coast
16012	end surface coast: CONTROL_FINISHED_OK
state	16012	begin surface