Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 426 * 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 426 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -86950.602 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 -86950.602

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 26 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 426 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 161101,6136.818,-918.663,37,1.0,42,-9.4 TGT_NAME AW

_CALLS 3 TGT_LATLONG 6120.000,-900.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.159,-0.177

_SM_DEPTHo 1.82 KALMAN_X 600194.0,-97.6,-696.0,-642228.7,-2769.6

_SM_ANGLEo -51.4 KALMAN_Y 134775.3,222.6,-1107.1,-127150.1,2724.7

GPS2 162503,6136.784,-918.612,12,1.2,12,-9.4 MHEAD_RNG_PITCHd_Wd 147.4,35208,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 810

Post-dive calculations and measurements:

FINISH 1.5,1.027334 XPDR_PINGS 3

SM_CCo 17361,0.00,0.000,0,0,1446,350.78 ALTIM_TOP_PING 18.9,999.0

SM_GC 2.49,11.95,0.00,0.00,0.031,0.000,0.000,35,1883,1446,-11.26,-0.42,350.78 _24V_AH 23.0,82.892

IRIDIUM_FIX 6112.75,-846.83,050597,161656 _10V_AH 10.1,39.924

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41020,827

HUMID 2066 CFSIZE 260165632,233041920

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.60 GPS 090208,211738,6134.501,-915.747,56,1.0,56,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 133 79.73 SBE_CT 610 24 336.97

Roll_motor 198 71 324.96 SBE_O2 557 19 243.63

VBD_pump_during_apogee 423 1299 12654.32 WL_BB2F 498 105 1204.68

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 113 103 267.90 nil 0 0 0.00

Iridium_during_connect 112 160 412.52 nil 0 0 0.00

Iridium_during_xfer 347 223 1779.92

Transponder_ping 7 420 74.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.78

TT8 1583 19 316.74

LPSleep 13135 2 290.55

TT8_Active 561 19 112.35

TT8_Sampling 2000 39 803.97

TT8_CF8 967 45 447.65

TT8_Kalman 33 81 27.57

Analog_circuits 1614 12 195.65

GPS_charging 0 0 0.00

Compass 1953 8 157.83

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.23 -146.6 0.0 0.0 0 105 0.00 0.00 -76.12 0.000 2 0.000 0.000 33 1891 2862

109 -1.23 -146.6 3.3 -2.2 4 152 11.48 2.55 -20.38 0.000 4 0.133 0.058 2224 3293 3477

288 -1.23 -146.6 20.4 -11.0 12 292 0.00 2.50 0.00 0.000 6 0.000 0.040 2224 1901 3477

615 -1.23 -146.6 51.3 -9.8 28 619 0.00 2.53 0.00 0.000 4 0.000 0.045 2224 3298 3477

679 -1.23 -146.6 58.3 -13.7 31 683 0.00 2.50 0.00 0.000 6 0.000 0.038 2224 1895 3478

1005 -1.23 -146.6 81.1 -9.6 47 1010 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3297 3477

1107 -1.23 -146.6 91.3 -4.9 51 1113 0.00 2.50 0.00 0.000 6 0.000 0.040 2224 1894 3477

1424 -1.23 -146.6 123.9 -10.9 67 1428 0.00 2.53 0.00 0.000 4 0.000 0.045 2224 3297 3477

1480 -1.23 -146.6 130.0 -10.4 69 1486 0.00 2.47 0.00 0.000 6 0.000 0.040 2224 1898 3478

1795 -1.23 -146.6 158.6 -9.1 85 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1898 3477

2104 -1.23 -146.6 193.3 -11.4 100 2109 0.00 2.53 0.00 0.000 4 0.000 0.045 2224 3304 3478

2132 -1.23 -146.6 196.7 -12.0 101 2136 0.00 2.50 0.00 0.000 6 0.000 0.039 2224 1900 3478

2450 -1.23 -146.6 225.7 -8.9 116 2454 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3301 3478

2477 -1.23 -146.6 228.0 -8.0 117 2482 0.00 2.50 0.00 0.000 6 0.000 0.040 2224 1895 3477

2793 -1.23 -146.6 251.7 -8.9 132 2797 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3296 3478

2838 -1.23 -146.6 255.3 -7.0 134 2842 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1895 3477

3159 -1.23 -146.6 279.2 -8.4 150 3160 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1895 3478

3469 -1.23 -146.6 298.5 -5.8 165 3473 0.00 2.53 0.00 0.000 4 0.000 0.046 2224 3296 3477

3513 -1.23 -146.6 301.5 -6.8 167 3517 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1896 3477

3834 -1.23 -146.6 320.9 -6.4 183 3838 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3297 3478

3858 -1.23 -146.6 322.3 -6.6 184 3862 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1898 3477

4179 -1.23 -146.6 346.6 -7.9 200 4180 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

4488 -1.23 -146.6 371.2 -8.3 215 4492 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3297 3477

4515 -1.23 -146.6 373.7 -9.2 216 4520 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1895 3477

4837 -1.23 -146.6 402.0 -8.6 232 4841 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3296 3477

4864 -1.23 -146.6 404.7 -9.2 233 4868 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1899 3477

5180 -1.23 -146.6 439.1 -11.2 248 5184 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3295 3477

5242 -1.23 -146.6 446.7 -12.2 251 5247 0.00 2.50 0.00 0.000 6 0.000 0.042 2224 1899 3477

5569 -1.23 -146.6 490.6 -12.8 267 5574 0.00 2.62 0.00 0.000 4 0.000 0.070 2224 491 3477

5603 -1.23 -146.6 494.8 -12.3 268 5609 0.00 2.47 0.00 0.000 6 0.000 0.039 2224 1909 3477

5919 -1.23 -146.6 527.9 -9.8 284 5923 0.00 2.50 0.00 0.000 4 0.000 0.050 2224 3291 3477

5975 -1.23 -146.6 534.6 -12.6 286 5981 0.00 2.50 0.00 0.000 6 0.000 0.044 2224 1898 3477

6291 -1.23 -146.6 567.8 -10.2 302 6296 0.00 2.53 0.00 0.000 4 0.000 0.049 2225 3293 3477

6319 -1.23 -146.6 570.8 -10.8 303 6323 0.00 2.50 0.00 0.000 6 0.000 0.043 2224 1897 3477

6637 -1.23 -146.6 601.5 -9.4 318 6641 0.00 2.53 0.00 0.000 4 0.000 0.050 2224 3293 3477

6681 -1.23 -146.6 605.9 -9.3 320 6685 0.00 2.50 0.00 0.000 6 0.000 0.043 2224 1896 3477

7002 -1.23 -146.6 634.3 -8.8 336 7007 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3299 3477

7030 -1.23 -146.6 637.0 -9.7 337 7034 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1896 3477

7346 -1.23 -146.6 667.4 -10.2 352 7350 0.00 2.55 0.00 0.000 4 0.000 0.052 2224 3296 3477

7395 -1.23 -146.6 672.5 -10.1 354 7399 0.00 2.53 0.00 0.000 6 0.000 0.046 2224 1896 3477

7711 -1.23 -146.6 706.4 -11.5 369 7712 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1896 3477

8020 -1.23 -146.6 735.7 -9.1 384 8025 0.00 2.53 0.00 0.000 4 0.000 0.051 2224 3293 3477

8054 -1.23 -146.6 738.7 -8.2 385 8060 0.00 2.50 0.00 0.000 6 0.000 0.046 2224 1900 3477

8370 -1.23 -146.6 768.0 -9.3 401 8374 0.00 2.62 0.00 0.000 4 0.000 0.071 2224 496 3477

8437 -1.23 -146.6 773.9 -8.9 404 8441 0.00 2.45 0.00 0.000 6 0.000 0.042 2224 1894 3477

8758 -1.23 -146.6 797.5 -7.1 420 8762 0.00 2.55 0.00 0.000 4 0.000 0.054 2224 3298 3476

8917 -1.23 -146.6 809.9 -9.3 427 8921 0.00 2.50 0.00 0.000 3 0.000 0.049 2224 1908 3477

8922 end dive: TARGET_DEPTH_EXCEEDED

state 8922 begin apogee

8929 -0.36 0.0 810.7 9.9 427 9061 0.88 0.00 127.82 1.299 6 0.084 0.000 2412 2099 2878

9062 end apogee: CONTROL_FINISHED_OK

state 9062 begin climb

9065 1.23 146.6 818.5 0.0 434 9201 1.58 2.75 126.07 1.270 4 0.051 0.067 2764 700 2280

9210 1.33 227.1 823.1 4.9 441 9285 0.00 2.53 69.18 1.252 6 0.000 0.043 2764 2095 1952

9601 1.33 227.1 759.3 16.9 460 9603 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2100 1950

9911 1.33 227.1 716.2 12.1 475 9912 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2100 1950

10220 1.33 227.1 681.9 8.5 490 10221 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2100 1949

10529 1.33 227.1 656.9 9.6 505 10534 0.00 2.58 0.00 0.000 4 0.000 0.053 2764 3508 1950

10570 1.33 227.1 653.0 10.2 507 10574 0.00 2.53 0.00 0.000 6 0.000 0.044 2764 2104 1949

10896 1.34 238.2 631.1 7.6 523 10912 0.10 2.60 10.15 1.203 4 0.058 0.048 2796 3502 1905

11021 1.34 238.2 617.9 11.5 527 11027 0.00 2.55 0.00 0.000 6 0.000 0.043 2796 2094 1905

11337 1.34 238.2 588.6 8.3 543 11341 0.00 2.58 0.00 0.000 4 0.000 0.050 2796 3502 1904

11443 1.34 238.2 578.3 10.2 548 11448 0.00 2.55 0.00 0.000 6 0.000 0.043 2796 2092 1905

11770 1.34 238.2 543.0 11.3 564 11775 0.00 2.58 0.00 0.000 4 0.000 0.050 2796 3508 1905

11855 1.34 238.2 533.3 11.8 568 11860 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2098 1905

12182 1.34 238.2 497.9 11.7 584 12186 0.00 2.58 0.00 0.000 4 0.000 0.049 2796 3507 1904

12277 1.34 238.2 486.6 11.3 588 12281 0.00 2.53 0.00 0.000 6 0.000 0.041 2796 2099 1905

12592 1.34 238.2 454.8 9.2 603 12597 0.00 2.58 0.00 0.000 4 0.000 0.049 2796 3510 1904

12648 1.34 238.2 449.2 9.7 605 12655 0.00 2.53 0.00 0.000 6 0.000 0.041 2797 2099 1905

12965 1.34 238.2 417.0 10.2 621 12969 0.00 2.55 0.00 0.000 4 0.000 0.048 2796 3502 1905

13026 1.34 238.2 410.8 8.4 624 13031 0.00 2.53 0.00 0.000 6 0.000 0.040 2796 2094 1904

13354 1.34 238.2 378.2 11.2 640 13358 0.00 2.55 0.00 0.000 4 0.000 0.048 2796 3505 1905

13483 1.34 238.2 360.6 12.2 646 13488 0.00 2.50 0.00 0.000 6 0.000 0.039 2796 2094 1905

13810 1.34 238.2 326.8 9.6 662 13814 0.00 2.55 0.00 0.000 4 0.000 0.048 2797 3503 1905

13837 1.34 238.2 324.2 8.9 663 13842 0.00 2.50 0.00 0.000 6 0.000 0.040 2797 2100 1905

14153 1.34 238.2 296.6 10.1 678 14157 0.00 2.55 0.00 0.000 4 0.000 0.049 2796 3508 1905

14225 1.34 238.2 289.3 10.0 681 14229 0.00 2.50 0.00 0.000 6 0.000 0.038 2796 2098 1905

14542 1.35 243.3 260.6 7.8 696 14552 0.00 2.58 5.00 0.977 4 0.000 0.048 2797 3504 1885

14591 1.35 243.3 256.5 8.1 698 14595 0.00 2.50 0.00 0.000 6 0.000 0.038 2796 2098 1885

14907 1.35 243.3 231.2 8.9 713 14911 0.00 2.55 0.00 0.000 4 0.000 0.049 2796 3503 1885

14970 1.35 243.3 224.6 9.8 716 14974 0.00 2.50 0.00 0.000 6 0.000 0.037 2796 2095 1886

15296 1.35 243.3 189.4 11.0 732 15300 0.00 2.55 0.00 0.000 4 0.000 0.050 2796 3505 1885

15328 1.35 243.3 185.3 11.8 733 15334 0.00 2.50 0.00 0.000 6 0.000 0.037 2797 2093 1886

15644 1.35 243.3 150.2 10.2 749 15649 0.00 2.55 0.00 0.000 4 0.000 0.048 2796 3504 1886

15711 1.35 243.3 142.7 10.2 752 15716 0.00 2.47 0.00 0.000 6 0.000 0.037 2797 2100 1886

16033 1.35 243.3 109.0 12.5 768 16038 0.00 2.55 0.00 0.000 4 0.000 0.048 2797 3507 1886

16129 1.35 243.3 95.7 10.7 772 16133 0.00 2.50 0.00 0.000 6 0.000 0.037 2796 2090 1886

16445 1.47 339.9 78.2 4.3 787 16528 0.00 2.62 75.93 0.825 4 0.000 0.046 2797 3503 1491

16646 1.48 350.3 63.0 7.6 796 16663 0.00 2.50 9.30 0.845 6 0.000 0.037 2797 2101 1448

16974 1.48 350.3 29.8 14.3 812 16978 0.00 2.60 0.00 0.000 4 0.000 0.063 2797 698 1448

17014 1.48 350.3 23.6 13.5 814 17019 0.00 2.47 0.00 0.000 6 0.000 0.037 2797 2114 1448

17256 end climb: SURFACE_DEPTH_REACHED

state 17256 begin surface coast

17277 end surface coast: CONTROL_FINISHED_OK

state 17277 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	426	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-86950.602	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	161101,6136.818,-918.663,37,1.0,42,-9.4	TGT_NAME	AW
_CALLS	3	TGT_LATLONG	6120.000,-900.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.159,-0.177
_SM_DEPTHo	1.82	KALMAN_X	600194.0,-97.6,-696.0,-642228.7,-2769.6
_SM_ANGLEo	-51.4	KALMAN_Y	134775.3,222.6,-1107.1,-127150.1,2724.7
GPS2	162503,6136.784,-918.612,12,1.2,12,-9.4	MHEAD_RNG_PITCHd_Wd	147.4,35208,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	810

FINISH	1.5,1.027334	XPDR_PINGS	3
SM_CCo	17361,0.00,0.000,0,0,1446,350.78	ALTIM_TOP_PING	18.9,999.0
SM_GC	2.49,11.95,0.00,0.00,0.031,0.000,0.000,35,1883,1446,-11.26,-0.42,350.78	_24V_AH	23.0,82.892
IRIDIUM_FIX	6112.75,-846.83,050597,161656	_10V_AH	10.1,39.924
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41020,827
HUMID	2066	CFSIZE	260165632,233041920
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.60	GPS	090208,211738,6134.501,-915.747,56,1.0,56,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	133	79.73	SBE_CT	610	24	336.97
Roll_motor	198	71	324.96	SBE_O2	557	19	243.63
VBD_pump_during_apogee	423	1299	12654.32	WL_BB2F	498	105	1204.68
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	113	103	267.90	nil	0	0	0.00
Iridium_during_connect	112	160	412.52	nil	0	0	0.00
Iridium_during_xfer	347	223	1779.92
Transponder_ping	7	420	74.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.78
TT8	1583	19	316.74
LPSleep	13135	2	290.55
TT8_Active	561	19	112.35
TT8_Sampling	2000	39	803.97
TT8_CF8	967	45	447.65
TT8_Kalman	33	81	27.57
Analog_circuits	1614	12	195.65
GPS_charging	0	0	0.00
Compass	1953	8	157.83
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.23	-146.6	0.0	0.0	0	105	0.00	0.00	-76.12	0.000	2	0.000	0.000	33	1891	2862
109	-1.23	-146.6	3.3	-2.2	4	152	11.48	2.55	-20.38	0.000	4	0.133	0.058	2224	3293	3477
288	-1.23	-146.6	20.4	-11.0	12	292	0.00	2.50	0.00	0.000	6	0.000	0.040	2224	1901	3477
615	-1.23	-146.6	51.3	-9.8	28	619	0.00	2.53	0.00	0.000	4	0.000	0.045	2224	3298	3477
679	-1.23	-146.6	58.3	-13.7	31	683	0.00	2.50	0.00	0.000	6	0.000	0.038	2224	1895	3478
1005	-1.23	-146.6	81.1	-9.6	47	1010	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3297	3477
1107	-1.23	-146.6	91.3	-4.9	51	1113	0.00	2.50	0.00	0.000	6	0.000	0.040	2224	1894	3477
1424	-1.23	-146.6	123.9	-10.9	67	1428	0.00	2.53	0.00	0.000	4	0.000	0.045	2224	3297	3477
1480	-1.23	-146.6	130.0	-10.4	69	1486	0.00	2.47	0.00	0.000	6	0.000	0.040	2224	1898	3478
1795	-1.23	-146.6	158.6	-9.1	85	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1898	3477
2104	-1.23	-146.6	193.3	-11.4	100	2109	0.00	2.53	0.00	0.000	4	0.000	0.045	2224	3304	3478
2132	-1.23	-146.6	196.7	-12.0	101	2136	0.00	2.50	0.00	0.000	6	0.000	0.039	2224	1900	3478
2450	-1.23	-146.6	225.7	-8.9	116	2454	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3301	3478
2477	-1.23	-146.6	228.0	-8.0	117	2482	0.00	2.50	0.00	0.000	6	0.000	0.040	2224	1895	3477
2793	-1.23	-146.6	251.7	-8.9	132	2797	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3296	3478
2838	-1.23	-146.6	255.3	-7.0	134	2842	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1895	3477
3159	-1.23	-146.6	279.2	-8.4	150	3160	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1895	3478
3469	-1.23	-146.6	298.5	-5.8	165	3473	0.00	2.53	0.00	0.000	4	0.000	0.046	2224	3296	3477
3513	-1.23	-146.6	301.5	-6.8	167	3517	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1896	3477
3834	-1.23	-146.6	320.9	-6.4	183	3838	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3297	3478
3858	-1.23	-146.6	322.3	-6.6	184	3862	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1898	3477
4179	-1.23	-146.6	346.6	-7.9	200	4180	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
4488	-1.23	-146.6	371.2	-8.3	215	4492	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3297	3477
4515	-1.23	-146.6	373.7	-9.2	216	4520	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1895	3477
4837	-1.23	-146.6	402.0	-8.6	232	4841	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3296	3477
4864	-1.23	-146.6	404.7	-9.2	233	4868	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1899	3477
5180	-1.23	-146.6	439.1	-11.2	248	5184	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3295	3477
5242	-1.23	-146.6	446.7	-12.2	251	5247	0.00	2.50	0.00	0.000	6	0.000	0.042	2224	1899	3477
5569	-1.23	-146.6	490.6	-12.8	267	5574	0.00	2.62	0.00	0.000	4	0.000	0.070	2224	491	3477
5603	-1.23	-146.6	494.8	-12.3	268	5609	0.00	2.47	0.00	0.000	6	0.000	0.039	2224	1909	3477
5919	-1.23	-146.6	527.9	-9.8	284	5923	0.00	2.50	0.00	0.000	4	0.000	0.050	2224	3291	3477
5975	-1.23	-146.6	534.6	-12.6	286	5981	0.00	2.50	0.00	0.000	6	0.000	0.044	2224	1898	3477
6291	-1.23	-146.6	567.8	-10.2	302	6296	0.00	2.53	0.00	0.000	4	0.000	0.049	2225	3293	3477
6319	-1.23	-146.6	570.8	-10.8	303	6323	0.00	2.50	0.00	0.000	6	0.000	0.043	2224	1897	3477
6637	-1.23	-146.6	601.5	-9.4	318	6641	0.00	2.53	0.00	0.000	4	0.000	0.050	2224	3293	3477
6681	-1.23	-146.6	605.9	-9.3	320	6685	0.00	2.50	0.00	0.000	6	0.000	0.043	2224	1896	3477
7002	-1.23	-146.6	634.3	-8.8	336	7007	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3299	3477
7030	-1.23	-146.6	637.0	-9.7	337	7034	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1896	3477
7346	-1.23	-146.6	667.4	-10.2	352	7350	0.00	2.55	0.00	0.000	4	0.000	0.052	2224	3296	3477
7395	-1.23	-146.6	672.5	-10.1	354	7399	0.00	2.53	0.00	0.000	6	0.000	0.046	2224	1896	3477
7711	-1.23	-146.6	706.4	-11.5	369	7712	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1896	3477
8020	-1.23	-146.6	735.7	-9.1	384	8025	0.00	2.53	0.00	0.000	4	0.000	0.051	2224	3293	3477
8054	-1.23	-146.6	738.7	-8.2	385	8060	0.00	2.50	0.00	0.000	6	0.000	0.046	2224	1900	3477
8370	-1.23	-146.6	768.0	-9.3	401	8374	0.00	2.62	0.00	0.000	4	0.000	0.071	2224	496	3477
8437	-1.23	-146.6	773.9	-8.9	404	8441	0.00	2.45	0.00	0.000	6	0.000	0.042	2224	1894	3477
8758	-1.23	-146.6	797.5	-7.1	420	8762	0.00	2.55	0.00	0.000	4	0.000	0.054	2224	3298	3476
8917	-1.23	-146.6	809.9	-9.3	427	8921	0.00	2.50	0.00	0.000	3	0.000	0.049	2224	1908	3477
8922	end dive: TARGET_DEPTH_EXCEEDED
state	8922	begin apogee
8929	-0.36	0.0	810.7	9.9	427	9061	0.88	0.00	127.82	1.299	6	0.084	0.000	2412	2099	2878
9062	end apogee: CONTROL_FINISHED_OK
state	9062	begin climb
9065	1.23	146.6	818.5	0.0	434	9201	1.58	2.75	126.07	1.270	4	0.051	0.067	2764	700	2280
9210	1.33	227.1	823.1	4.9	441	9285	0.00	2.53	69.18	1.252	6	0.000	0.043	2764	2095	1952
9601	1.33	227.1	759.3	16.9	460	9603	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2100	1950
9911	1.33	227.1	716.2	12.1	475	9912	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2100	1950
10220	1.33	227.1	681.9	8.5	490	10221	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2100	1949
10529	1.33	227.1	656.9	9.6	505	10534	0.00	2.58	0.00	0.000	4	0.000	0.053	2764	3508	1950
10570	1.33	227.1	653.0	10.2	507	10574	0.00	2.53	0.00	0.000	6	0.000	0.044	2764	2104	1949
10896	1.34	238.2	631.1	7.6	523	10912	0.10	2.60	10.15	1.203	4	0.058	0.048	2796	3502	1905
11021	1.34	238.2	617.9	11.5	527	11027	0.00	2.55	0.00	0.000	6	0.000	0.043	2796	2094	1905
11337	1.34	238.2	588.6	8.3	543	11341	0.00	2.58	0.00	0.000	4	0.000	0.050	2796	3502	1904
11443	1.34	238.2	578.3	10.2	548	11448	0.00	2.55	0.00	0.000	6	0.000	0.043	2796	2092	1905
11770	1.34	238.2	543.0	11.3	564	11775	0.00	2.58	0.00	0.000	4	0.000	0.050	2796	3508	1905
11855	1.34	238.2	533.3	11.8	568	11860	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2098	1905
12182	1.34	238.2	497.9	11.7	584	12186	0.00	2.58	0.00	0.000	4	0.000	0.049	2796	3507	1904
12277	1.34	238.2	486.6	11.3	588	12281	0.00	2.53	0.00	0.000	6	0.000	0.041	2796	2099	1905
12592	1.34	238.2	454.8	9.2	603	12597	0.00	2.58	0.00	0.000	4	0.000	0.049	2796	3510	1904
12648	1.34	238.2	449.2	9.7	605	12655	0.00	2.53	0.00	0.000	6	0.000	0.041	2797	2099	1905
12965	1.34	238.2	417.0	10.2	621	12969	0.00	2.55	0.00	0.000	4	0.000	0.048	2796	3502	1905
13026	1.34	238.2	410.8	8.4	624	13031	0.00	2.53	0.00	0.000	6	0.000	0.040	2796	2094	1904
13354	1.34	238.2	378.2	11.2	640	13358	0.00	2.55	0.00	0.000	4	0.000	0.048	2796	3505	1905
13483	1.34	238.2	360.6	12.2	646	13488	0.00	2.50	0.00	0.000	6	0.000	0.039	2796	2094	1905
13810	1.34	238.2	326.8	9.6	662	13814	0.00	2.55	0.00	0.000	4	0.000	0.048	2797	3503	1905
13837	1.34	238.2	324.2	8.9	663	13842	0.00	2.50	0.00	0.000	6	0.000	0.040	2797	2100	1905
14153	1.34	238.2	296.6	10.1	678	14157	0.00	2.55	0.00	0.000	4	0.000	0.049	2796	3508	1905
14225	1.34	238.2	289.3	10.0	681	14229	0.00	2.50	0.00	0.000	6	0.000	0.038	2796	2098	1905
14542	1.35	243.3	260.6	7.8	696	14552	0.00	2.58	5.00	0.977	4	0.000	0.048	2797	3504	1885
14591	1.35	243.3	256.5	8.1	698	14595	0.00	2.50	0.00	0.000	6	0.000	0.038	2796	2098	1885
14907	1.35	243.3	231.2	8.9	713	14911	0.00	2.55	0.00	0.000	4	0.000	0.049	2796	3503	1885
14970	1.35	243.3	224.6	9.8	716	14974	0.00	2.50	0.00	0.000	6	0.000	0.037	2796	2095	1886
15296	1.35	243.3	189.4	11.0	732	15300	0.00	2.55	0.00	0.000	4	0.000	0.050	2796	3505	1885
15328	1.35	243.3	185.3	11.8	733	15334	0.00	2.50	0.00	0.000	6	0.000	0.037	2797	2093	1886
15644	1.35	243.3	150.2	10.2	749	15649	0.00	2.55	0.00	0.000	4	0.000	0.048	2796	3504	1886
15711	1.35	243.3	142.7	10.2	752	15716	0.00	2.47	0.00	0.000	6	0.000	0.037	2797	2100	1886
16033	1.35	243.3	109.0	12.5	768	16038	0.00	2.55	0.00	0.000	4	0.000	0.048	2797	3507	1886
16129	1.35	243.3	95.7	10.7	772	16133	0.00	2.50	0.00	0.000	6	0.000	0.037	2796	2090	1886
16445	1.47	339.9	78.2	4.3	787	16528	0.00	2.62	75.93	0.825	4	0.000	0.046	2797	3503	1491
16646	1.48	350.3	63.0	7.6	796	16663	0.00	2.50	9.30	0.845	6	0.000	0.037	2797	2101	1448
16974	1.48	350.3	29.8	14.3	812	16978	0.00	2.60	0.00	0.000	4	0.000	0.063	2797	698	1448
17014	1.48	350.3	23.6	13.5	814	17019	0.00	2.47	0.00	0.000	6	0.000	0.037	2797	2114	1448
17256	end climb: SURFACE_DEPTH_REACHED
state	17256	begin surface coast
17277	end surface coast: CONTROL_FINISHED_OK
state	17277	begin surface