Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 425 * 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 425 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -86936.562 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 -86936.562

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 31 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 425 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 112037,6138.363,-918.211,28,1.6,28,-9.4 TGT_NAME AW

_CALLS 2 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.219,-0.092

_SM_DEPTHo 1.55 KALMAN_X 604454.3,-175.8,357.6,-647050.8,-2555.6

_SM_ANGLEo -47.4 KALMAN_Y 132916.5,568.6,1391.3,-125095.8,-2476.3

GPS2 113009,6138.428,-918.143,13,1.5,13,-9.4 MHEAD_RNG_PITCHd_Wd 122.2,37743,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 845

Post-dive calculations and measurements:

FINISH 1.1,1.027386 XPDR_PINGS 2

SM_CCo 16672,0.00,0.000,0,0,1334,378.50 ALTIM_TOP_PING 18.8,999.0

SM_GC 1.98,12.35,0.00,0.00,0.034,0.000,0.000,34,1895,1334,-11.26,-0.11,378.50 _24V_AH 22.9,82.719

IRIDIUM_FIX 6112.75,-914.35,050597,111130 _10V_AH 10.1,39.836

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41049,793

HUMID 2057 CFSIZE 260165632,233111552

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 18.70 GPS 090208,161101,6136.818,-918.663,37,1.0,42,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 84.72 SBE_CT 581 24 319.38

Roll_motor 198 79 363.28 SBE_O2 533 19 232.21

VBD_pump_during_apogee 450 1366 14091.07 WL_BB2F 469 105 1129.63

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 76 103 179.49 nil 0 0 0.00

Iridium_during_connect 78 160 288.72 nil 0 0 0.00

Iridium_during_xfer 227 223 1162.33

Transponder_ping 7 420 74.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.30

TT8 1535 19 307.08

LPSleep 12381 2 273.86

TT8_Active 628 19 125.67

TT8_Sampling 2000 39 804.33

TT8_CF8 745 45 345.06

TT8_Kalman 33 81 27.57

Analog_circuits 1672 12 202.65

GPS_charging 0 0 0.00

Compass 1948 8 157.42

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

27 -1.23 -146.6 0.0 0.0 0 130 0.00 0.00 -100.97 0.000 2 0.000 0.000 32 1881 2735

133 -1.23 -146.6 3.3 -1.8 5 176 11.57 2.60 -23.05 0.000 4 0.139 0.059 2221 3291 3477

429 -1.23 -146.6 47.1 -14.2 18 434 0.00 2.47 0.00 0.000 6 0.000 0.040 2221 1907 3477

751 -1.23 -146.6 77.7 -7.9 34 756 0.00 2.50 0.00 0.000 4 0.000 0.044 2221 3297 3477

852 -1.23 -146.6 86.1 -8.6 38 858 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1899 3477

1170 -1.23 -146.6 116.1 -9.5 54 1174 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3301 3477

1197 -1.23 -146.6 118.7 -8.6 55 1201 0.00 2.50 0.00 0.000 6 0.000 0.040 2221 1899 3477

1513 -1.23 -146.6 148.7 -10.3 70 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1899 3477

1822 -1.23 -146.6 174.7 -9.0 85 1830 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3302 3477

1852 -1.23 -146.6 177.3 -8.5 86 1856 0.00 2.50 0.00 0.000 6 0.000 0.040 2222 1898 3477

2179 -1.23 -146.6 214.2 -13.8 102 2183 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3302 3477

2212 -1.23 -146.6 217.7 -9.9 103 2218 0.00 2.50 0.00 0.000 6 0.000 0.040 2221 1898 3477

2528 -1.23 -146.6 251.0 -11.7 119 2533 0.00 2.60 0.00 0.000 4 0.000 0.066 2221 495 3477

2556 -1.23 -146.6 254.6 -12.3 120 2560 0.00 2.45 0.00 0.000 6 0.000 0.038 2221 1909 3477

2872 -1.23 -146.6 288.5 -9.4 135 2876 0.00 2.47 0.00 0.000 4 0.000 0.047 2221 3295 3477

2921 -1.23 -146.6 293.0 -10.2 137 2926 0.00 2.47 0.00 0.000 6 0.000 0.041 2221 1903 3477

3237 -1.23 -146.6 335.5 -13.3 152 3241 0.00 2.53 0.00 0.000 4 0.000 0.045 2221 3303 3477

3270 -1.23 -146.6 340.4 -13.4 153 3276 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1899 3477

3585 -1.23 -146.6 378.0 -11.7 169 3590 0.00 2.53 0.00 0.000 4 0.000 0.046 2221 3298 3477

3663 -1.23 -146.6 387.3 -12.1 172 3669 0.00 2.50 0.00 0.000 6 0.000 0.041 2221 1899 3477

3979 -1.23 -146.6 429.2 -15.6 188 3984 0.00 2.53 0.00 0.000 4 0.000 0.046 2221 3299 3477

4058 -1.23 -146.6 439.9 -13.5 191 4063 0.00 2.50 0.00 0.000 6 0.000 0.042 2221 1899 3477

4373 -1.23 -146.6 477.9 -10.6 207 4377 0.00 2.53 0.00 0.000 4 0.000 0.047 2221 3299 3477

4400 -1.23 -146.6 481.0 -11.2 208 4405 0.00 2.50 0.00 0.000 6 0.000 0.042 2221 1899 3477

4716 -1.23 -146.6 514.2 -10.3 223 4720 0.00 2.53 0.00 0.000 4 0.000 0.048 2221 3298 3477

4737 -1.23 -146.6 516.5 -10.3 224 4742 0.00 2.50 0.00 0.000 6 0.000 0.042 2221 1899 3477

5059 -1.23 -146.6 548.8 -10.0 240 5063 0.00 2.62 0.00 0.000 4 0.000 0.070 2221 497 3477

5131 -1.23 -146.6 556.7 -10.7 243 5135 0.00 2.45 0.00 0.000 6 0.000 0.039 2221 1899 3477

5447 -1.23 -146.6 589.7 -10.2 258 5451 0.00 2.53 0.00 0.000 4 0.000 0.051 2221 3293 3477

5542 -1.23 -146.6 598.8 -8.8 262 5546 0.00 2.50 0.00 0.000 6 0.000 0.044 2221 1902 3477

5858 -1.23 -146.6 624.7 -8.0 277 5863 0.00 2.53 0.00 0.000 4 0.000 0.052 2221 3295 3477

5881 -1.23 -146.6 626.5 -7.9 278 5885 0.00 2.50 0.00 0.000 6 0.000 0.045 2221 1898 3477

6208 -1.23 -146.6 649.7 -7.4 294 6213 0.00 2.65 0.00 0.000 4 0.000 0.074 2221 494 3477

6235 -1.23 -146.6 652.2 -8.8 295 6239 0.00 2.45 0.00 0.000 6 0.000 0.041 2221 1895 3477

6557 -1.23 -146.6 680.8 -9.8 311 6561 0.00 2.55 0.00 0.000 4 0.000 0.054 2221 3298 3477

6600 -1.23 -146.6 685.4 -10.1 313 6605 0.00 2.53 0.00 0.000 6 0.000 0.048 2221 1901 3477

6922 -1.23 -146.6 716.1 -8.4 329 6926 0.00 2.55 0.00 0.000 4 0.000 0.052 2221 3301 3477

7140 -1.23 -146.6 735.4 -9.3 339 7144 0.00 2.55 0.00 0.000 6 0.000 0.049 2221 1897 3477

7466 -1.23 -146.6 767.8 -9.9 355 7471 0.00 2.65 0.00 0.000 4 0.000 0.076 2221 495 3477

7696 -1.23 -146.6 792.2 -13.8 365 7701 0.00 2.47 0.00 0.000 6 0.000 0.045 2221 1898 3477

8012 -1.23 -146.6 825.7 -11.5 380 8017 0.00 2.60 0.00 0.000 4 0.000 0.064 2221 3303 3477

8136 -1.23 -146.6 839.6 -8.9 385 8142 0.00 2.60 0.00 0.000 6 0.000 0.060 2221 1901 3477

8243 end dive: TARGET_DEPTH_EXCEEDED

state 8243 begin apogee

8250 -0.36 0.0 845.9 5.2 391 8385 0.93 0.00 127.78 1.367 6 0.078 0.000 2419 2100 2878

8386 end apogee: CONTROL_FINISHED_OK

state 8386 begin climb

8389 1.23 146.6 847.9 0.0 398 8524 1.55 2.80 126.72 1.326 4 0.050 0.080 2765 696 2280

8534 1.24 152.3 840.9 7.8 405 8545 0.00 2.60 6.00 1.211 6 0.000 0.052 2765 2106 2257

8861 1.27 180.6 818.3 6.9 421 8892 0.00 2.70 25.33 1.332 4 0.000 0.065 2765 3501 2141

9094 1.35 243.0 798.4 5.6 431 9154 0.10 2.62 53.55 1.338 6 0.067 0.058 2792 2097 1887

9470 1.35 245.1 774.3 7.9 450 9475 0.00 2.65 0.00 0.000 4 0.000 0.062 2792 3504 1884

9498 1.36 249.1 771.9 7.8 451 9509 0.00 2.60 5.90 1.295 6 0.000 0.054 2792 2100 1862

9818 1.36 249.1 741.3 9.6 467 9823 0.00 2.60 0.00 0.000 4 0.000 0.060 2792 3498 1861

9874 1.36 249.1 735.4 10.8 469 9880 0.00 2.58 0.00 0.000 6 0.000 0.051 2792 2099 1860

10190 1.36 249.1 701.8 10.8 485 10194 0.00 2.60 0.00 0.000 4 0.000 0.055 2792 3507 1859

10355 1.36 249.1 683.8 12.2 492 10360 0.00 2.58 0.00 0.000 6 0.000 0.047 2792 2093 1859

10671 1.36 249.1 643.9 12.0 507 10675 0.00 2.65 0.00 0.000 4 0.000 0.074 2792 690 1859

10710 1.36 249.1 639.0 13.2 509 10715 0.00 2.50 0.00 0.000 6 0.000 0.041 2792 2105 1859

11037 1.36 249.1 603.0 8.9 525 11042 0.00 2.67 0.00 0.000 4 0.000 0.070 2792 684 1860

11065 1.39 279.1 601.2 6.9 526 11096 0.00 2.50 25.73 1.232 6 0.000 0.041 2792 2101 1740

11405 1.39 279.1 565.9 11.5 543 11410 0.00 2.55 0.00 0.000 4 0.000 0.051 2792 3504 1740

11501 1.39 279.1 553.5 12.7 547 11505 0.00 2.53 0.00 0.000 6 0.000 0.043 2792 2099 1740

11816 1.39 279.1 516.0 10.3 562 11817 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2099 1741

12125 1.39 279.1 480.7 11.5 577 12130 0.00 2.55 0.00 0.000 4 0.000 0.051 2792 3498 1742

12176 1.39 279.1 475.2 11.4 579 12180 0.00 2.50 0.00 0.000 6 0.000 0.039 2792 2096 1742

12491 1.39 279.1 440.0 12.9 594 12496 0.00 2.55 0.00 0.000 4 0.000 0.049 2792 3499 1742

12558 1.39 279.1 431.4 12.7 597 12563 0.00 2.50 0.00 0.000 6 0.000 0.041 2792 2099 1742

12880 1.39 279.1 393.6 12.4 613 12884 0.00 2.53 0.00 0.000 4 0.000 0.048 2792 3500 1742

12952 1.39 279.1 384.3 12.0 616 12956 0.00 2.50 0.00 0.000 6 0.000 0.040 2792 2099 1742

13268 1.39 279.1 356.2 9.6 631 13272 0.00 2.53 0.00 0.000 4 0.000 0.048 2792 3499 1743

13307 1.39 279.1 351.8 11.8 633 13312 0.00 2.50 0.00 0.000 6 0.000 0.040 2792 2099 1743

13634 1.39 279.1 314.6 12.4 649 13638 0.00 2.53 0.00 0.000 4 0.000 0.048 2792 3499 1743

13696 1.39 279.1 306.5 13.2 652 13700 0.00 2.50 0.00 0.000 6 0.000 0.039 2792 2098 1743

14022 1.39 279.1 272.2 9.9 668 14027 0.00 2.60 0.00 0.000 4 0.000 0.067 2792 694 1743

14040 1.39 279.1 270.2 10.1 669 14044 0.00 2.47 0.00 0.000 6 0.000 0.038 2792 2113 1743

14366 1.39 279.1 233.3 12.1 685 14367 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 2117 1743

14676 1.39 279.1 193.4 12.1 700 14680 0.00 2.50 0.00 0.000 4 0.000 0.048 2792 3499 1744

14720 1.39 279.1 187.6 12.2 702 14724 0.00 2.50 0.00 0.000 6 0.000 0.038 2792 2090 1744

15041 1.41 292.1 151.6 7.5 718 15059 0.00 0.00 12.55 0.931 6 0.000 0.000 2792 2090 1687

15371 1.41 292.1 117.1 10.9 734 15376 0.00 2.55 0.00 0.000 4 0.000 0.046 2792 3497 1687

15436 1.41 292.1 110.7 8.4 737 15440 0.00 2.47 0.00 0.000 6 0.000 0.036 2792 2100 1687

15763 1.41 292.1 75.6 11.7 753 15768 0.00 2.60 0.00 0.000 4 0.000 0.063 2792 693 1687

15781 1.41 292.1 73.5 11.0 754 15785 0.00 2.45 0.00 0.000 6 0.000 0.036 2792 2103 1687

16108 1.41 292.1 35.2 11.9 770 16112 0.00 2.50 0.00 0.000 4 0.000 0.046 2792 3498 1687

16172 1.41 292.1 28.2 11.0 773 16176 0.00 2.47 0.00 0.000 6 0.000 0.038 2792 2100 1687

16501 1.51 378.0 9.5 4.7 789 16574 0.15 2.58 66.65 0.788 4 0.051 0.045 2841 3496 1336

16578 end climb: SURFACE_DEPTH_REACHED

state 16578 begin surface coast

16585 end surface coast: CONTROL_FINISHED_OK

state 16586 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	425	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-86936.562	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	112037,6138.363,-918.211,28,1.6,28,-9.4	TGT_NAME	AW
_CALLS	2	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.219,-0.092
_SM_DEPTHo	1.55	KALMAN_X	604454.3,-175.8,357.6,-647050.8,-2555.6
_SM_ANGLEo	-47.4	KALMAN_Y	132916.5,568.6,1391.3,-125095.8,-2476.3
GPS2	113009,6138.428,-918.143,13,1.5,13,-9.4	MHEAD_RNG_PITCHd_Wd	122.2,37743,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	845

FINISH	1.1,1.027386	XPDR_PINGS	2
SM_CCo	16672,0.00,0.000,0,0,1334,378.50	ALTIM_TOP_PING	18.8,999.0
SM_GC	1.98,12.35,0.00,0.00,0.034,0.000,0.000,34,1895,1334,-11.26,-0.11,378.50	_24V_AH	22.9,82.719
IRIDIUM_FIX	6112.75,-914.35,050597,111130	_10V_AH	10.1,39.836
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41049,793
HUMID	2057	CFSIZE	260165632,233111552
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	18.70	GPS	090208,161101,6136.818,-918.663,37,1.0,42,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	84.72	SBE_CT	581	24	319.38
Roll_motor	198	79	363.28	SBE_O2	533	19	232.21
VBD_pump_during_apogee	450	1366	14091.07	WL_BB2F	469	105	1129.63
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	179.49	nil	0	0	0.00
Iridium_during_connect	78	160	288.72	nil	0	0	0.00
Iridium_during_xfer	227	223	1162.33
Transponder_ping	7	420	74.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.30
TT8	1535	19	307.08
LPSleep	12381	2	273.86
TT8_Active	628	19	125.67
TT8_Sampling	2000	39	804.33
TT8_CF8	745	45	345.06
TT8_Kalman	33	81	27.57
Analog_circuits	1672	12	202.65
GPS_charging	0	0	0.00
Compass	1948	8	157.42
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
27	-1.23	-146.6	0.0	0.0	0	130	0.00	0.00	-100.97	0.000	2	0.000	0.000	32	1881	2735
133	-1.23	-146.6	3.3	-1.8	5	176	11.57	2.60	-23.05	0.000	4	0.139	0.059	2221	3291	3477
429	-1.23	-146.6	47.1	-14.2	18	434	0.00	2.47	0.00	0.000	6	0.000	0.040	2221	1907	3477
751	-1.23	-146.6	77.7	-7.9	34	756	0.00	2.50	0.00	0.000	4	0.000	0.044	2221	3297	3477
852	-1.23	-146.6	86.1	-8.6	38	858	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1899	3477
1170	-1.23	-146.6	116.1	-9.5	54	1174	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3301	3477
1197	-1.23	-146.6	118.7	-8.6	55	1201	0.00	2.50	0.00	0.000	6	0.000	0.040	2221	1899	3477
1513	-1.23	-146.6	148.7	-10.3	70	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1899	3477
1822	-1.23	-146.6	174.7	-9.0	85	1830	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3302	3477
1852	-1.23	-146.6	177.3	-8.5	86	1856	0.00	2.50	0.00	0.000	6	0.000	0.040	2222	1898	3477
2179	-1.23	-146.6	214.2	-13.8	102	2183	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3302	3477
2212	-1.23	-146.6	217.7	-9.9	103	2218	0.00	2.50	0.00	0.000	6	0.000	0.040	2221	1898	3477
2528	-1.23	-146.6	251.0	-11.7	119	2533	0.00	2.60	0.00	0.000	4	0.000	0.066	2221	495	3477
2556	-1.23	-146.6	254.6	-12.3	120	2560	0.00	2.45	0.00	0.000	6	0.000	0.038	2221	1909	3477
2872	-1.23	-146.6	288.5	-9.4	135	2876	0.00	2.47	0.00	0.000	4	0.000	0.047	2221	3295	3477
2921	-1.23	-146.6	293.0	-10.2	137	2926	0.00	2.47	0.00	0.000	6	0.000	0.041	2221	1903	3477
3237	-1.23	-146.6	335.5	-13.3	152	3241	0.00	2.53	0.00	0.000	4	0.000	0.045	2221	3303	3477
3270	-1.23	-146.6	340.4	-13.4	153	3276	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1899	3477
3585	-1.23	-146.6	378.0	-11.7	169	3590	0.00	2.53	0.00	0.000	4	0.000	0.046	2221	3298	3477
3663	-1.23	-146.6	387.3	-12.1	172	3669	0.00	2.50	0.00	0.000	6	0.000	0.041	2221	1899	3477
3979	-1.23	-146.6	429.2	-15.6	188	3984	0.00	2.53	0.00	0.000	4	0.000	0.046	2221	3299	3477
4058	-1.23	-146.6	439.9	-13.5	191	4063	0.00	2.50	0.00	0.000	6	0.000	0.042	2221	1899	3477
4373	-1.23	-146.6	477.9	-10.6	207	4377	0.00	2.53	0.00	0.000	4	0.000	0.047	2221	3299	3477
4400	-1.23	-146.6	481.0	-11.2	208	4405	0.00	2.50	0.00	0.000	6	0.000	0.042	2221	1899	3477
4716	-1.23	-146.6	514.2	-10.3	223	4720	0.00	2.53	0.00	0.000	4	0.000	0.048	2221	3298	3477
4737	-1.23	-146.6	516.5	-10.3	224	4742	0.00	2.50	0.00	0.000	6	0.000	0.042	2221	1899	3477
5059	-1.23	-146.6	548.8	-10.0	240	5063	0.00	2.62	0.00	0.000	4	0.000	0.070	2221	497	3477
5131	-1.23	-146.6	556.7	-10.7	243	5135	0.00	2.45	0.00	0.000	6	0.000	0.039	2221	1899	3477
5447	-1.23	-146.6	589.7	-10.2	258	5451	0.00	2.53	0.00	0.000	4	0.000	0.051	2221	3293	3477
5542	-1.23	-146.6	598.8	-8.8	262	5546	0.00	2.50	0.00	0.000	6	0.000	0.044	2221	1902	3477
5858	-1.23	-146.6	624.7	-8.0	277	5863	0.00	2.53	0.00	0.000	4	0.000	0.052	2221	3295	3477
5881	-1.23	-146.6	626.5	-7.9	278	5885	0.00	2.50	0.00	0.000	6	0.000	0.045	2221	1898	3477
6208	-1.23	-146.6	649.7	-7.4	294	6213	0.00	2.65	0.00	0.000	4	0.000	0.074	2221	494	3477
6235	-1.23	-146.6	652.2	-8.8	295	6239	0.00	2.45	0.00	0.000	6	0.000	0.041	2221	1895	3477
6557	-1.23	-146.6	680.8	-9.8	311	6561	0.00	2.55	0.00	0.000	4	0.000	0.054	2221	3298	3477
6600	-1.23	-146.6	685.4	-10.1	313	6605	0.00	2.53	0.00	0.000	6	0.000	0.048	2221	1901	3477
6922	-1.23	-146.6	716.1	-8.4	329	6926	0.00	2.55	0.00	0.000	4	0.000	0.052	2221	3301	3477
7140	-1.23	-146.6	735.4	-9.3	339	7144	0.00	2.55	0.00	0.000	6	0.000	0.049	2221	1897	3477
7466	-1.23	-146.6	767.8	-9.9	355	7471	0.00	2.65	0.00	0.000	4	0.000	0.076	2221	495	3477
7696	-1.23	-146.6	792.2	-13.8	365	7701	0.00	2.47	0.00	0.000	6	0.000	0.045	2221	1898	3477
8012	-1.23	-146.6	825.7	-11.5	380	8017	0.00	2.60	0.00	0.000	4	0.000	0.064	2221	3303	3477
8136	-1.23	-146.6	839.6	-8.9	385	8142	0.00	2.60	0.00	0.000	6	0.000	0.060	2221	1901	3477
8243	end dive: TARGET_DEPTH_EXCEEDED
state	8243	begin apogee
8250	-0.36	0.0	845.9	5.2	391	8385	0.93	0.00	127.78	1.367	6	0.078	0.000	2419	2100	2878
8386	end apogee: CONTROL_FINISHED_OK
state	8386	begin climb
8389	1.23	146.6	847.9	0.0	398	8524	1.55	2.80	126.72	1.326	4	0.050	0.080	2765	696	2280
8534	1.24	152.3	840.9	7.8	405	8545	0.00	2.60	6.00	1.211	6	0.000	0.052	2765	2106	2257
8861	1.27	180.6	818.3	6.9	421	8892	0.00	2.70	25.33	1.332	4	0.000	0.065	2765	3501	2141
9094	1.35	243.0	798.4	5.6	431	9154	0.10	2.62	53.55	1.338	6	0.067	0.058	2792	2097	1887
9470	1.35	245.1	774.3	7.9	450	9475	0.00	2.65	0.00	0.000	4	0.000	0.062	2792	3504	1884
9498	1.36	249.1	771.9	7.8	451	9509	0.00	2.60	5.90	1.295	6	0.000	0.054	2792	2100	1862
9818	1.36	249.1	741.3	9.6	467	9823	0.00	2.60	0.00	0.000	4	0.000	0.060	2792	3498	1861
9874	1.36	249.1	735.4	10.8	469	9880	0.00	2.58	0.00	0.000	6	0.000	0.051	2792	2099	1860
10190	1.36	249.1	701.8	10.8	485	10194	0.00	2.60	0.00	0.000	4	0.000	0.055	2792	3507	1859
10355	1.36	249.1	683.8	12.2	492	10360	0.00	2.58	0.00	0.000	6	0.000	0.047	2792	2093	1859
10671	1.36	249.1	643.9	12.0	507	10675	0.00	2.65	0.00	0.000	4	0.000	0.074	2792	690	1859
10710	1.36	249.1	639.0	13.2	509	10715	0.00	2.50	0.00	0.000	6	0.000	0.041	2792	2105	1859
11037	1.36	249.1	603.0	8.9	525	11042	0.00	2.67	0.00	0.000	4	0.000	0.070	2792	684	1860
11065	1.39	279.1	601.2	6.9	526	11096	0.00	2.50	25.73	1.232	6	0.000	0.041	2792	2101	1740
11405	1.39	279.1	565.9	11.5	543	11410	0.00	2.55	0.00	0.000	4	0.000	0.051	2792	3504	1740
11501	1.39	279.1	553.5	12.7	547	11505	0.00	2.53	0.00	0.000	6	0.000	0.043	2792	2099	1740
11816	1.39	279.1	516.0	10.3	562	11817	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2099	1741
12125	1.39	279.1	480.7	11.5	577	12130	0.00	2.55	0.00	0.000	4	0.000	0.051	2792	3498	1742
12176	1.39	279.1	475.2	11.4	579	12180	0.00	2.50	0.00	0.000	6	0.000	0.039	2792	2096	1742
12491	1.39	279.1	440.0	12.9	594	12496	0.00	2.55	0.00	0.000	4	0.000	0.049	2792	3499	1742
12558	1.39	279.1	431.4	12.7	597	12563	0.00	2.50	0.00	0.000	6	0.000	0.041	2792	2099	1742
12880	1.39	279.1	393.6	12.4	613	12884	0.00	2.53	0.00	0.000	4	0.000	0.048	2792	3500	1742
12952	1.39	279.1	384.3	12.0	616	12956	0.00	2.50	0.00	0.000	6	0.000	0.040	2792	2099	1742
13268	1.39	279.1	356.2	9.6	631	13272	0.00	2.53	0.00	0.000	4	0.000	0.048	2792	3499	1743
13307	1.39	279.1	351.8	11.8	633	13312	0.00	2.50	0.00	0.000	6	0.000	0.040	2792	2099	1743
13634	1.39	279.1	314.6	12.4	649	13638	0.00	2.53	0.00	0.000	4	0.000	0.048	2792	3499	1743
13696	1.39	279.1	306.5	13.2	652	13700	0.00	2.50	0.00	0.000	6	0.000	0.039	2792	2098	1743
14022	1.39	279.1	272.2	9.9	668	14027	0.00	2.60	0.00	0.000	4	0.000	0.067	2792	694	1743
14040	1.39	279.1	270.2	10.1	669	14044	0.00	2.47	0.00	0.000	6	0.000	0.038	2792	2113	1743
14366	1.39	279.1	233.3	12.1	685	14367	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	2117	1743
14676	1.39	279.1	193.4	12.1	700	14680	0.00	2.50	0.00	0.000	4	0.000	0.048	2792	3499	1744
14720	1.39	279.1	187.6	12.2	702	14724	0.00	2.50	0.00	0.000	6	0.000	0.038	2792	2090	1744
15041	1.41	292.1	151.6	7.5	718	15059	0.00	0.00	12.55	0.931	6	0.000	0.000	2792	2090	1687
15371	1.41	292.1	117.1	10.9	734	15376	0.00	2.55	0.00	0.000	4	0.000	0.046	2792	3497	1687
15436	1.41	292.1	110.7	8.4	737	15440	0.00	2.47	0.00	0.000	6	0.000	0.036	2792	2100	1687
15763	1.41	292.1	75.6	11.7	753	15768	0.00	2.60	0.00	0.000	4	0.000	0.063	2792	693	1687
15781	1.41	292.1	73.5	11.0	754	15785	0.00	2.45	0.00	0.000	6	0.000	0.036	2792	2103	1687
16108	1.41	292.1	35.2	11.9	770	16112	0.00	2.50	0.00	0.000	4	0.000	0.046	2792	3498	1687
16172	1.41	292.1	28.2	11.0	773	16176	0.00	2.47	0.00	0.000	6	0.000	0.038	2792	2100	1687
16501	1.51	378.0	9.5	4.7	789	16574	0.15	2.58	66.65	0.788	4	0.051	0.045	2841	3496	1336
16578	end climb: SURFACE_DEPTH_REACHED
state	16578	begin surface coast
16585	end surface coast: CONTROL_FINISHED_OK
state	16586	begin surface