Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 395 * 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 395 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -86341.453 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 -86341.453

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 20 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 395 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 055332,6209.623,-957.282,40,1.8,40,-10.0 TGT_NAME CE

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.007,-0.238

_SM_DEPTHo 1.62 KALMAN_X 575402.1,-332.1,-440.7,-651521.5,5963.8

_SM_ANGLEo -62.3 KALMAN_Y 111628.6,-2744.1,-1296.5,-40044.9,4527.5

GPS2 060314,6209.571,-957.188,12,1.2,23,-10.0 MHEAD_RNG_PITCHd_Wd 188.3,10513,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 757

Post-dive calculations and measurements:

FINISH 0.7,1.027473 XPDR_PINGS 2

SM_CCo 16864,49.33,0.791,5,0,1655,300.00 ALTIM_TOP_PING 19.1,999.0

SM_GC 1.35,0.00,0.00,49.33,0.000,0.000,0.791,31,1884,1655,-11.33,-0.42,300.00 _24V_AH 23.1,77.750

IRIDIUM_FIX 6144.36,-1001.81,300497,060619 _10V_AH 10.1,37.639

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41150,806

HUMID 2057 CFSIZE 260165632,234729472

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,5,0

TCM_TEMP 16.50 GPS 040208,104831,6205.518,-952.411,39,1.2,39,-9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 84.76 SBE_CT 602 24 333.85

Roll_motor 179 79 327.35 SBE_O2 544 19 238.81

VBD_pump_during_apogee 335 1310 10160.41 WL_BB2F 483 105 1172.58

VBD_pump_during_surface 49 790 901.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 179.28 nil 0 0 0.00

Iridium_during_connect 72 160 269.69 nil 0 0 0.00

Iridium_during_xfer 235 223 1214.99

Transponder_ping 6 420 65.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 24 50 12.58

TT8 1550 19 309.99

LPSleep 12775 2 282.58

TT8_Active 557 19 111.56

TT8_Sampling 1951 39 784.27

TT8_CF8 737 45 340.96

TT8_Kalman 33 81 27.57

Analog_circuits 1555 12 188.56

GPS_charging 0 0 0.00

Compass 1899 8 153.48

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.23 -146.6 0.0 0.0 0 93 0.00 0.00 -65.82 0.000 2 0.000 0.000 33 1896 2901

97 -1.23 -146.6 3.1 -2.5 4 133 11.65 2.58 -18.35 0.000 4 0.141 0.061 2223 3302 3477

263 -1.23 -146.6 23.4 -12.0 10 270 0.00 2.53 0.00 0.000 6 0.000 0.042 2223 1897 3477

579 -1.23 -146.6 57.9 -10.4 26 583 0.00 2.55 0.00 0.000 4 0.000 0.046 2223 3308 3477

641 -1.23 -146.6 64.0 -10.1 29 645 0.00 2.53 0.00 0.000 6 0.000 0.042 2223 1900 3477

968 -1.23 -146.6 97.8 -10.5 45 972 0.00 2.53 0.00 0.000 4 0.000 0.046 2223 3305 3477

1008 -1.23 -146.6 102.1 -10.8 47 1012 0.00 2.53 0.00 0.000 6 0.000 0.041 2223 1896 3477

1334 -1.23 -146.6 136.9 -10.7 63 1336 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1896 3477

1643 -1.23 -146.6 170.7 -11.4 78 1648 0.00 2.55 0.00 0.000 4 0.000 0.047 2223 3309 3477

1694 -1.23 -146.6 176.5 -11.2 80 1698 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1898 3477

2009 -1.23 -146.6 211.6 -11.2 95 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

2318 -1.23 -146.6 244.2 -10.0 110 2323 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3305 3477

2352 -1.23 -146.6 247.9 -10.5 111 2358 0.00 2.50 0.00 0.000 6 0.000 0.041 2223 1902 3477

2667 -1.23 -146.6 281.4 -11.0 127 2668 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1902 3477

2976 -1.23 -146.6 316.2 -11.2 142 2978 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1902 3477

3287 -1.23 -146.6 350.4 -10.7 157 3291 0.00 2.55 0.00 0.000 4 0.000 0.048 2223 3312 3477

3331 -1.23 -146.6 355.3 -10.8 159 3335 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1898 3477

3657 -1.23 -146.6 389.2 -10.1 175 3659 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3477

3967 -1.23 -146.6 418.9 -9.3 190 3971 0.00 2.55 0.00 0.000 4 0.000 0.048 2223 3307 3477

4011 -1.23 -146.6 423.1 -9.3 192 4015 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1898 3477

4331 -1.23 -146.6 451.9 -8.8 208 4336 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3305 3477

4359 -1.23 -146.6 454.5 -9.6 209 4363 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1897 3477

4674 -1.23 -146.6 481.1 -8.4 224 4679 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3304 3477

4702 -1.23 -146.6 483.6 -9.0 225 4706 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1895 3477

5024 -1.23 -146.6 510.8 -8.6 241 5028 0.00 2.55 0.00 0.000 4 0.000 0.050 2224 3304 3477

5051 -1.23 -146.6 513.2 -8.9 242 5055 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1900 3477

5366 -1.23 -146.6 540.3 -8.9 257 5370 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3309 3477

5394 -1.23 -146.6 542.9 -9.5 258 5398 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1903 3477

5709 -1.23 -146.6 572.7 -9.6 273 5711 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1902 3477

6019 -1.23 -146.6 602.6 -9.8 288 6023 0.00 2.58 0.00 0.000 4 0.000 0.054 2223 3308 3477

6074 -1.23 -146.6 608.1 -9.5 290 6080 0.00 2.55 0.00 0.000 6 0.000 0.047 2223 1894 3477

6390 -1.23 -146.6 636.5 -8.7 306 6394 0.00 2.65 0.00 0.000 4 0.000 0.076 2223 488 3477

6507 -1.23 -146.6 648.1 -10.6 311 6511 0.00 2.47 0.00 0.000 6 0.000 0.042 2223 1902 3477

6823 -1.23 -146.6 679.1 -10.3 326 6827 0.00 2.55 0.00 0.000 4 0.000 0.058 2223 3299 3477

6923 -1.23 -146.6 689.2 -9.3 330 6929 0.00 2.55 0.00 0.000 6 0.000 0.051 2223 1896 3477

7240 -1.23 -146.6 717.8 -8.7 346 7244 0.00 2.65 0.00 0.000 4 0.000 0.079 2223 496 3477

7268 -1.23 -146.6 720.5 -9.3 347 7272 0.00 2.50 0.00 0.000 6 0.000 0.048 2223 1902 3477

7584 -1.23 -146.6 742.2 -1.2 362 7588 0.00 2.58 0.00 0.000 4 0.000 0.061 2222 3303 3477

7819 -1.23 -146.6 742.2 -0.2 372 7825 0.00 2.58 0.00 0.000 6 0.000 0.058 2223 1902 3476

7905 end dive: NO_VERTICAL_VELOCITY

state 7905 begin apogee

7912 -0.36 0.0 742.3 0.0 377 8041 0.88 0.00 125.75 1.310 6 0.065 0.000 2417 2104 2878

8042 end apogee: CONTROL_FINISHED_OK

state 8042 begin climb

8045 1.23 146.6 741.9 0.0 383 8178 1.55 2.78 124.90 1.256 4 0.054 0.077 2760 693 2280

8438 1.23 150.1 728.9 7.9 401 8448 0.00 2.55 3.90 1.147 6 0.000 0.049 2760 2103 2266

8770 1.26 173.7 705.8 7.1 417 8799 0.00 2.67 21.25 1.280 4 0.000 0.065 2760 3501 2168

8839 1.26 173.7 700.0 8.9 420 8843 0.00 2.60 0.00 0.000 6 0.000 0.054 2760 2099 2168

9160 1.26 173.7 672.6 9.0 436 9162 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2099 2166

9469 1.30 201.1 649.2 7.0 451 9499 0.00 2.72 23.30 1.287 4 0.000 0.061 2760 3504 2058

9562 1.30 201.1 641.7 8.1 455 9567 0.00 2.60 0.00 0.000 6 0.000 0.051 2760 2095 2057

9884 1.30 208.3 617.4 7.7 471 9898 0.00 2.78 7.10 1.252 4 0.000 0.077 2760 688 2028

9915 1.30 208.3 614.7 8.6 472 9920 0.00 2.55 0.00 0.000 6 0.000 0.046 2760 2104 2028

10231 1.30 208.3 589.4 8.1 487 10232 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2104 2028

10540 1.30 208.3 562.9 8.4 502 10544 0.00 2.58 0.00 0.000 4 0.000 0.057 2760 3503 2028

10573 1.30 208.3 560.1 8.3 503 10579 0.00 2.55 0.00 0.000 6 0.000 0.048 2760 2092 2028

10889 1.31 214.3 535.1 7.8 519 10900 0.00 2.62 6.15 1.192 4 0.000 0.054 2760 3499 2003

10922 1.32 216.8 532.2 7.9 520 10932 0.00 2.55 3.35 1.099 6 0.000 0.045 2760 2098 1993

11260 1.32 216.8 505.1 8.0 537 11261 0.10 0.00 0.00 0.000 6 0.055 0.000 2792 2098 1994

11569 1.32 216.8 476.7 9.2 552 11574 0.00 2.58 0.00 0.000 4 0.000 0.052 2793 3504 1994

11670 1.32 216.8 466.7 9.9 556 11676 0.00 2.55 0.00 0.000 6 0.000 0.043 2792 2090 1994

11986 1.32 216.8 437.6 9.2 572 11990 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3501 1994

12058 1.32 216.8 430.6 9.8 575 12062 0.00 2.50 0.00 0.000 6 0.000 0.043 2793 2100 1994

12373 1.32 216.8 400.9 9.5 590 12377 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3501 1995

12417 1.32 216.8 396.6 9.9 592 12422 0.00 2.50 0.00 0.000 6 0.000 0.041 2792 2100 1995

12738 1.32 216.8 366.8 9.1 608 12742 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3502 1995

12817 1.32 216.8 359.4 9.0 611 12823 0.00 2.53 0.00 0.000 6 0.000 0.042 2793 2090 1996

13132 1.32 216.8 331.9 8.7 627 13137 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3501 1995

13217 1.32 216.8 324.2 8.6 631 13222 0.00 2.50 0.00 0.000 6 0.000 0.041 2793 2093 1996

13544 1.32 216.8 295.4 8.8 647 13548 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3505 1996

13611 1.32 216.8 289.0 9.5 650 13615 0.00 2.50 0.00 0.000 6 0.000 0.041 2793 2102 1996

13932 1.32 216.8 259.7 9.7 666 13936 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3501 1997

13998 1.32 216.8 253.0 9.8 669 14002 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2098 1997

14319 1.32 216.8 223.2 8.7 685 14323 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3501 1997

14368 1.32 216.8 218.6 9.0 687 14372 0.00 2.47 0.00 0.000 6 0.000 0.039 2793 2098 1997

14684 1.32 216.8 189.6 9.0 702 14688 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3501 1997

14769 1.32 216.8 181.3 10.1 706 14773 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2098 1997

15095 1.32 216.8 152.0 9.8 722 15097 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 2098 1998

15406 1.32 216.8 126.2 8.2 737 15411 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3504 1998

15471 1.32 222.7 121.3 7.8 740 15485 0.00 2.50 6.93 0.930 6 0.000 0.040 2793 2096 1969

15802 1.33 228.2 95.0 7.8 756 15813 0.00 2.58 5.68 0.912 4 0.000 0.048 2793 3501 1946

15945 1.34 236.5 84.1 7.7 762 15957 0.00 2.47 7.45 0.904 6 0.000 0.038 2793 2100 1913

16267 1.34 236.5 55.1 9.6 778 16271 0.00 2.55 0.00 0.000 4 0.000 0.049 2793 3504 1913

16307 1.34 236.5 50.9 10.9 780 16311 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2098 1913

16634 1.34 236.5 19.1 9.1 796 16639 0.00 2.55 0.00 0.000 4 0.000 0.049 2793 3505 1913

16721 1.34 236.5 11.0 9.1 800 16725 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2095 1913

16818 end climb: SURFACE_DEPTH_REACHED

state 16819 begin surface coast

16840 end surface coast: CONTROL_FINISHED_OK

state 16840 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	395	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-86341.453	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	055332,6209.623,-957.282,40,1.8,40,-10.0	TGT_NAME	CE
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.007,-0.238
_SM_DEPTHo	1.62	KALMAN_X	575402.1,-332.1,-440.7,-651521.5,5963.8
_SM_ANGLEo	-62.3	KALMAN_Y	111628.6,-2744.1,-1296.5,-40044.9,4527.5
GPS2	060314,6209.571,-957.188,12,1.2,23,-10.0	MHEAD_RNG_PITCHd_Wd	188.3,10513,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	757

FINISH	0.7,1.027473	XPDR_PINGS	2
SM_CCo	16864,49.33,0.791,5,0,1655,300.00	ALTIM_TOP_PING	19.1,999.0
SM_GC	1.35,0.00,0.00,49.33,0.000,0.000,0.791,31,1884,1655,-11.33,-0.42,300.00	_24V_AH	23.1,77.750
IRIDIUM_FIX	6144.36,-1001.81,300497,060619	_10V_AH	10.1,37.639
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41150,806
HUMID	2057	CFSIZE	260165632,234729472
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,5,0
TCM_TEMP	16.50	GPS	040208,104831,6205.518,-952.411,39,1.2,39,-9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	84.76	SBE_CT	602	24	333.85
Roll_motor	179	79	327.35	SBE_O2	544	19	238.81
VBD_pump_during_apogee	335	1310	10160.41	WL_BB2F	483	105	1172.58
VBD_pump_during_surface	49	790	901.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	179.28	nil	0	0	0.00
Iridium_during_connect	72	160	269.69	nil	0	0	0.00
Iridium_during_xfer	235	223	1214.99
Transponder_ping	6	420	65.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	24	50	12.58
TT8	1550	19	309.99
LPSleep	12775	2	282.58
TT8_Active	557	19	111.56
TT8_Sampling	1951	39	784.27
TT8_CF8	737	45	340.96
TT8_Kalman	33	81	27.57
Analog_circuits	1555	12	188.56
GPS_charging	0	0	0.00
Compass	1899	8	153.48
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.23	-146.6	0.0	0.0	0	93	0.00	0.00	-65.82	0.000	2	0.000	0.000	33	1896	2901
97	-1.23	-146.6	3.1	-2.5	4	133	11.65	2.58	-18.35	0.000	4	0.141	0.061	2223	3302	3477
263	-1.23	-146.6	23.4	-12.0	10	270	0.00	2.53	0.00	0.000	6	0.000	0.042	2223	1897	3477
579	-1.23	-146.6	57.9	-10.4	26	583	0.00	2.55	0.00	0.000	4	0.000	0.046	2223	3308	3477
641	-1.23	-146.6	64.0	-10.1	29	645	0.00	2.53	0.00	0.000	6	0.000	0.042	2223	1900	3477
968	-1.23	-146.6	97.8	-10.5	45	972	0.00	2.53	0.00	0.000	4	0.000	0.046	2223	3305	3477
1008	-1.23	-146.6	102.1	-10.8	47	1012	0.00	2.53	0.00	0.000	6	0.000	0.041	2223	1896	3477
1334	-1.23	-146.6	136.9	-10.7	63	1336	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1896	3477
1643	-1.23	-146.6	170.7	-11.4	78	1648	0.00	2.55	0.00	0.000	4	0.000	0.047	2223	3309	3477
1694	-1.23	-146.6	176.5	-11.2	80	1698	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1898	3477
2009	-1.23	-146.6	211.6	-11.2	95	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
2318	-1.23	-146.6	244.2	-10.0	110	2323	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3305	3477
2352	-1.23	-146.6	247.9	-10.5	111	2358	0.00	2.50	0.00	0.000	6	0.000	0.041	2223	1902	3477
2667	-1.23	-146.6	281.4	-11.0	127	2668	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1902	3477
2976	-1.23	-146.6	316.2	-11.2	142	2978	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1902	3477
3287	-1.23	-146.6	350.4	-10.7	157	3291	0.00	2.55	0.00	0.000	4	0.000	0.048	2223	3312	3477
3331	-1.23	-146.6	355.3	-10.8	159	3335	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1898	3477
3657	-1.23	-146.6	389.2	-10.1	175	3659	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3477
3967	-1.23	-146.6	418.9	-9.3	190	3971	0.00	2.55	0.00	0.000	4	0.000	0.048	2223	3307	3477
4011	-1.23	-146.6	423.1	-9.3	192	4015	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1898	3477
4331	-1.23	-146.6	451.9	-8.8	208	4336	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3305	3477
4359	-1.23	-146.6	454.5	-9.6	209	4363	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1897	3477
4674	-1.23	-146.6	481.1	-8.4	224	4679	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3304	3477
4702	-1.23	-146.6	483.6	-9.0	225	4706	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1895	3477
5024	-1.23	-146.6	510.8	-8.6	241	5028	0.00	2.55	0.00	0.000	4	0.000	0.050	2224	3304	3477
5051	-1.23	-146.6	513.2	-8.9	242	5055	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1900	3477
5366	-1.23	-146.6	540.3	-8.9	257	5370	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3309	3477
5394	-1.23	-146.6	542.9	-9.5	258	5398	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1903	3477
5709	-1.23	-146.6	572.7	-9.6	273	5711	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1902	3477
6019	-1.23	-146.6	602.6	-9.8	288	6023	0.00	2.58	0.00	0.000	4	0.000	0.054	2223	3308	3477
6074	-1.23	-146.6	608.1	-9.5	290	6080	0.00	2.55	0.00	0.000	6	0.000	0.047	2223	1894	3477
6390	-1.23	-146.6	636.5	-8.7	306	6394	0.00	2.65	0.00	0.000	4	0.000	0.076	2223	488	3477
6507	-1.23	-146.6	648.1	-10.6	311	6511	0.00	2.47	0.00	0.000	6	0.000	0.042	2223	1902	3477
6823	-1.23	-146.6	679.1	-10.3	326	6827	0.00	2.55	0.00	0.000	4	0.000	0.058	2223	3299	3477
6923	-1.23	-146.6	689.2	-9.3	330	6929	0.00	2.55	0.00	0.000	6	0.000	0.051	2223	1896	3477
7240	-1.23	-146.6	717.8	-8.7	346	7244	0.00	2.65	0.00	0.000	4	0.000	0.079	2223	496	3477
7268	-1.23	-146.6	720.5	-9.3	347	7272	0.00	2.50	0.00	0.000	6	0.000	0.048	2223	1902	3477
7584	-1.23	-146.6	742.2	-1.2	362	7588	0.00	2.58	0.00	0.000	4	0.000	0.061	2222	3303	3477
7819	-1.23	-146.6	742.2	-0.2	372	7825	0.00	2.58	0.00	0.000	6	0.000	0.058	2223	1902	3476
7905	end dive: NO_VERTICAL_VELOCITY
state	7905	begin apogee
7912	-0.36	0.0	742.3	0.0	377	8041	0.88	0.00	125.75	1.310	6	0.065	0.000	2417	2104	2878
8042	end apogee: CONTROL_FINISHED_OK
state	8042	begin climb
8045	1.23	146.6	741.9	0.0	383	8178	1.55	2.78	124.90	1.256	4	0.054	0.077	2760	693	2280
8438	1.23	150.1	728.9	7.9	401	8448	0.00	2.55	3.90	1.147	6	0.000	0.049	2760	2103	2266
8770	1.26	173.7	705.8	7.1	417	8799	0.00	2.67	21.25	1.280	4	0.000	0.065	2760	3501	2168
8839	1.26	173.7	700.0	8.9	420	8843	0.00	2.60	0.00	0.000	6	0.000	0.054	2760	2099	2168
9160	1.26	173.7	672.6	9.0	436	9162	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2099	2166
9469	1.30	201.1	649.2	7.0	451	9499	0.00	2.72	23.30	1.287	4	0.000	0.061	2760	3504	2058
9562	1.30	201.1	641.7	8.1	455	9567	0.00	2.60	0.00	0.000	6	0.000	0.051	2760	2095	2057
9884	1.30	208.3	617.4	7.7	471	9898	0.00	2.78	7.10	1.252	4	0.000	0.077	2760	688	2028
9915	1.30	208.3	614.7	8.6	472	9920	0.00	2.55	0.00	0.000	6	0.000	0.046	2760	2104	2028
10231	1.30	208.3	589.4	8.1	487	10232	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2104	2028
10540	1.30	208.3	562.9	8.4	502	10544	0.00	2.58	0.00	0.000	4	0.000	0.057	2760	3503	2028
10573	1.30	208.3	560.1	8.3	503	10579	0.00	2.55	0.00	0.000	6	0.000	0.048	2760	2092	2028
10889	1.31	214.3	535.1	7.8	519	10900	0.00	2.62	6.15	1.192	4	0.000	0.054	2760	3499	2003
10922	1.32	216.8	532.2	7.9	520	10932	0.00	2.55	3.35	1.099	6	0.000	0.045	2760	2098	1993
11260	1.32	216.8	505.1	8.0	537	11261	0.10	0.00	0.00	0.000	6	0.055	0.000	2792	2098	1994
11569	1.32	216.8	476.7	9.2	552	11574	0.00	2.58	0.00	0.000	4	0.000	0.052	2793	3504	1994
11670	1.32	216.8	466.7	9.9	556	11676	0.00	2.55	0.00	0.000	6	0.000	0.043	2792	2090	1994
11986	1.32	216.8	437.6	9.2	572	11990	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3501	1994
12058	1.32	216.8	430.6	9.8	575	12062	0.00	2.50	0.00	0.000	6	0.000	0.043	2793	2100	1994
12373	1.32	216.8	400.9	9.5	590	12377	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3501	1995
12417	1.32	216.8	396.6	9.9	592	12422	0.00	2.50	0.00	0.000	6	0.000	0.041	2792	2100	1995
12738	1.32	216.8	366.8	9.1	608	12742	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3502	1995
12817	1.32	216.8	359.4	9.0	611	12823	0.00	2.53	0.00	0.000	6	0.000	0.042	2793	2090	1996
13132	1.32	216.8	331.9	8.7	627	13137	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3501	1995
13217	1.32	216.8	324.2	8.6	631	13222	0.00	2.50	0.00	0.000	6	0.000	0.041	2793	2093	1996
13544	1.32	216.8	295.4	8.8	647	13548	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3505	1996
13611	1.32	216.8	289.0	9.5	650	13615	0.00	2.50	0.00	0.000	6	0.000	0.041	2793	2102	1996
13932	1.32	216.8	259.7	9.7	666	13936	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3501	1997
13998	1.32	216.8	253.0	9.8	669	14002	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2098	1997
14319	1.32	216.8	223.2	8.7	685	14323	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3501	1997
14368	1.32	216.8	218.6	9.0	687	14372	0.00	2.47	0.00	0.000	6	0.000	0.039	2793	2098	1997
14684	1.32	216.8	189.6	9.0	702	14688	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3501	1997
14769	1.32	216.8	181.3	10.1	706	14773	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2098	1997
15095	1.32	216.8	152.0	9.8	722	15097	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	2098	1998
15406	1.32	216.8	126.2	8.2	737	15411	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3504	1998
15471	1.32	222.7	121.3	7.8	740	15485	0.00	2.50	6.93	0.930	6	0.000	0.040	2793	2096	1969
15802	1.33	228.2	95.0	7.8	756	15813	0.00	2.58	5.68	0.912	4	0.000	0.048	2793	3501	1946
15945	1.34	236.5	84.1	7.7	762	15957	0.00	2.47	7.45	0.904	6	0.000	0.038	2793	2100	1913
16267	1.34	236.5	55.1	9.6	778	16271	0.00	2.55	0.00	0.000	4	0.000	0.049	2793	3504	1913
16307	1.34	236.5	50.9	10.9	780	16311	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2098	1913
16634	1.34	236.5	19.1	9.1	796	16639	0.00	2.55	0.00	0.000	4	0.000	0.049	2793	3505	1913
16721	1.34	236.5	11.0	9.1	800	16725	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2095	1913
16818	end climb: SURFACE_DEPTH_REACHED
state	16819	begin surface coast
16840	end surface coast: CONTROL_FINISHED_OK
state	16840	begin surface