Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 78 * 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 0

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 78 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 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 27 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 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 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 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 -77735.539 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 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 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 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 0 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 550

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 -77735.539

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

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 2350 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 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 78 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 005808,6131.391,-845.688,46,1.1,46,-9.1 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.175,0.114

_SM_DEPTHo 1.87 KALMAN_X 79567.2,-2490.5,-1645.5,-89008.0,37634.7

_SM_ANGLEo -59.7 KALMAN_Y 128525.0,1654.2,718.2,-134307.8,-16335.8

GPS2 010315,6131.321,-845.547,11,1.1,11,-9.1 MHEAD_RNG_PITCHd_Wd 312.3,36171,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.2,1.027298 XPDR_PINGS 0

SM_CCo 20304,55.83,0.782,7,0,1654,300.00 ALTIM_BOTTOM_PING 626.0,82.4

SM_GC 1.76,0.00,0.00,55.83,0.000,0.000,0.782,35,1883,1654,-11.32,-0.48,300.00 _24V_AH 23.4,23.418

IRIDIUM_FIX 6108.28,-854.37,241107,232303 _10V_AH 10.1,9.895

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50542,976

HUMID 2024 CFSIZE 260165632,254173184

INTERNAL_PRESSURE 9.25817 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,32,7,0

TCM_TEMP 17.00 GPS 251107,064508,6132.584,-840.339,30,1.0,30,-9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.39 SBE_CT 711 24 399.81

Roll_motor 154 66 240.82 SBE_O2 661 19 293.97

VBD_pump_during_apogee 319 1236 9239.39 WL_BB2F 586 105 1440.77

VBD_pump_during_surface 55 782 1021.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.13 nil 0 0 0.00

Iridium_during_connect 24 160 91.19 nil 0 0 0.00

Iridium_during_xfer 154 223 808.40

Transponder_ping 5 420 54.05

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.76

TT8 1826 19 365.26

LPSleep 15542 2 343.79

TT8_Active 560 19 112.06

TT8_Sampling 2416 39 971.54

TT8_CF8 361 45 167.05

TT8_Kalman 33 81 27.57

Analog_circuits 1723 12 208.90

GPS_charging 0 0 0.00

Compass 2370 8 191.54

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 82 0.00 0.00 -61.28 0.000 2 0.000 0.000 28 1872 2939

84 -0.95 -146.6 3.6 -4.7 3 119 11.80 2.58 -14.80 0.000 4 0.137 0.059 2283 3305 3476

270 -0.95 -146.6 19.3 -10.5 11 275 0.00 2.53 0.00 0.000 6 0.000 0.043 2283 1911 3476

591 -0.95 -146.6 49.2 -8.2 27 592 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1911 3475

901 -0.95 -146.6 74.1 -4.0 42 902 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1911 3476

1210 -0.95 -146.6 90.8 -6.9 57 1211 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1911 3476

1519 -0.95 -146.6 111.2 -6.3 72 1523 0.00 2.50 0.00 0.000 4 0.000 0.046 2283 3307 3476

1775 -0.95 -146.6 131.2 -8.2 83 1783 0.00 2.53 0.00 0.000 6 0.000 0.041 2283 1904 3476

2090 -0.95 -146.6 160.8 -10.1 99 2095 0.00 2.50 0.00 0.000 4 0.000 0.046 2283 3305 3476

2244 -0.95 -146.6 175.2 -9.2 106 2249 0.00 2.50 0.00 0.000 6 0.000 0.041 2283 1900 3476

2570 -0.95 -146.6 203.8 -7.7 122 2574 0.00 2.58 0.00 0.000 4 0.000 0.064 2283 496 3476

2826 -0.95 -146.6 225.8 -6.7 133 2833 0.00 2.50 0.00 0.000 6 0.000 0.041 2283 1910 3476

3141 -0.95 -146.6 246.5 -6.6 149 3146 0.00 2.47 0.00 0.000 4 0.000 0.049 2283 3295 3476

3398 -0.95 -146.6 266.0 -7.6 160 3406 0.00 2.50 0.00 0.000 6 0.000 0.042 2283 1904 3476

3715 -0.95 -146.6 285.0 -4.6 176 3716 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1904 3476

4024 -0.95 -146.6 302.6 -6.0 191 4028 0.00 2.60 0.00 0.000 4 0.000 0.065 2283 492 3476

4279 -0.95 -146.6 321.9 -7.9 202 4286 0.00 2.47 0.00 0.000 6 0.000 0.041 2283 1896 3476

4595 -0.95 -146.6 343.7 -7.1 218 4599 0.00 2.58 0.00 0.000 4 0.000 0.065 2283 492 3476

4657 -0.95 -146.6 348.2 -7.1 221 4661 0.00 2.47 0.00 0.000 6 0.000 0.043 2283 1902 3476

4981 -0.95 -146.6 369.5 -6.5 237 4982 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 1905 3476

5291 -0.95 -146.6 388.9 -6.3 252 5292 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1905 3476

5600 -0.95 -146.6 408.1 -6.3 267 5601 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1905 3476

5910 -0.95 -146.6 425.0 -5.2 282 5914 0.00 2.50 0.00 0.000 4 0.000 0.051 2283 3298 3476

5964 -0.95 -146.6 428.1 -5.5 284 5968 0.00 2.50 0.00 0.000 6 0.000 0.047 2283 1903 3476

6285 -0.95 -146.6 445.2 -5.5 300 6286 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

6594 -0.95 -146.6 461.8 -5.3 315 6595 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

6903 -0.95 -146.6 478.0 -5.4 330 6905 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

7212 -0.95 -146.6 492.1 -4.7 345 7214 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3475

7521 -0.95 -146.6 510.1 -6.0 360 7523 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

7831 -0.95 -146.6 528.2 -6.6 375 7832 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

8140 -0.95 -146.6 548.9 -6.4 390 8141 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3476

8449 -0.95 -146.6 570.1 -7.0 405 8454 0.00 2.53 0.00 0.000 4 0.000 0.058 2283 3298 3476

8522 -0.95 -146.6 575.4 -8.8 408 8526 0.00 2.53 0.00 0.000 6 0.000 0.048 2283 1898 3476

8836 -0.95 -146.6 598.9 -7.6 423 8837 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3476

9145 -0.95 -146.6 621.3 -7.9 438 9147 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3475

9455 -0.95 -146.6 642.2 -6.6 453 9456 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3475

9764 -0.95 -146.6 666.2 -10.1 468 9765 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3475

10073 -0.95 -146.6 693.0 -9.1 483 10078 0.00 2.55 0.00 0.000 4 0.000 0.055 2283 3298 3474

10122 -0.95 -146.6 698.1 -10.8 485 10127 0.00 2.55 0.00 0.000 6 0.000 0.048 2283 1903 3474

10134 end dive: BOTTOM_OBSTACLE_DETECTED

state 10134 begin apogee

10138 -0.36 0.0 699.0 10.1 486 10264 0.62 0.00 122.12 1.236 6 0.084 0.000 2416 2338 2878

10265 end apogee: CONTROL_FINISHED_OK

state 10265 begin climb

10266 0.95 146.6 703.9 0.0 492 10397 1.27 2.75 121.07 1.195 4 0.054 0.067 2700 3759 2280

10615 0.95 146.6 690.7 7.7 508 10620 0.00 2.55 0.00 0.000 6 0.000 0.043 2700 2355 2280

10942 0.95 146.6 668.2 8.9 524 10943 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2355 2280

11251 0.95 146.6 646.4 6.9 539 11256 0.00 2.62 0.00 0.000 4 0.000 0.062 2700 942 2280

11319 0.95 146.6 642.5 6.3 542 11323 0.00 2.53 0.00 0.000 6 0.000 0.043 2700 2352 2280

11638 0.95 146.6 614.7 8.1 558 11639 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2353 2279

11947 0.95 146.6 590.8 7.0 573 11948 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2353 2279

12257 1.00 188.3 573.8 4.8 588 12298 0.00 2.70 34.60 1.170 4 0.000 0.060 2700 934 2110

12343 1.00 188.3 568.8 6.6 592 12347 0.00 2.55 0.00 0.000 6 0.000 0.042 2700 2358 2110

12673 1.00 188.3 548.0 6.5 608 12675 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2359 2110

12983 1.00 188.3 528.2 6.3 623 12987 0.00 2.60 0.00 0.000 4 0.000 0.057 2700 941 2109

13115 1.00 189.8 519.6 6.0 629 13120 0.00 2.53 0.00 0.000 6 0.000 0.040 2700 2353 2109

13442 1.00 189.8 498.5 7.2 645 13446 0.00 2.60 0.00 0.000 4 0.000 0.058 2700 932 2109

13548 1.00 189.8 490.6 7.2 650 13552 0.00 2.50 0.00 0.000 6 0.000 0.042 2700 2350 2109

13880 1.00 189.8 466.2 7.2 666 13884 0.00 2.58 0.00 0.000 4 0.000 0.057 2700 942 2109

13973 1.00 189.8 459.1 7.9 670 13978 0.00 2.50 0.00 0.000 6 0.000 0.041 2700 2347 2109

14294 1.00 189.8 438.4 6.5 686 14299 0.00 2.60 0.00 0.000 4 0.000 0.058 2700 934 2109

14365 1.00 189.8 433.5 7.1 689 14370 0.00 2.53 0.00 0.000 6 0.000 0.041 2701 2348 2109

14687 1.00 189.8 412.7 6.2 705 14691 0.00 2.58 0.00 0.000 4 0.000 0.057 2700 939 2109

14752 1.00 189.8 408.5 6.1 708 14756 0.00 2.53 0.00 0.000 6 0.000 0.041 2700 2346 2109

15078 1.00 189.8 386.8 6.6 724 15083 0.00 2.58 0.00 0.000 4 0.000 0.057 2700 934 2109

15133 1.00 189.8 383.0 6.9 726 15140 0.00 2.53 0.00 0.000 6 0.000 0.041 2700 2351 2109

15448 1.00 189.8 363.5 6.0 742 15453 0.00 2.58 0.00 0.000 4 0.000 0.056 2700 933 2109

15514 1.04 219.1 359.3 5.1 745 15545 0.00 2.53 25.35 1.043 6 0.000 0.041 2700 2357 1984

15860 1.04 219.1 338.5 6.0 762 15865 0.00 2.60 0.00 0.000 4 0.000 0.055 2700 934 1984

15966 1.04 219.1 331.5 6.7 767 15970 0.00 2.50 0.00 0.000 6 0.000 0.040 2700 2352 1984

16292 1.04 219.1 311.3 6.3 783 16296 0.00 2.58 0.00 0.000 4 0.000 0.056 2700 939 1984

16379 1.04 219.1 305.1 7.4 787 16384 0.00 2.50 0.00 0.000 6 0.000 0.040 2700 2343 1984

16706 1.04 219.1 282.1 7.5 803 16710 0.00 2.55 0.00 0.000 4 0.000 0.056 2700 941 1984

16812 1.04 219.1 273.4 7.9 808 16817 0.00 2.47 0.00 0.000 6 0.000 0.040 2700 2352 1984

17138 1.04 219.1 245.5 8.9 824 17142 0.00 2.55 0.00 0.000 4 0.000 0.055 2700 940 1985

17227 1.04 219.1 237.2 8.6 828 17232 0.00 2.47 0.00 0.000 6 0.000 0.040 2701 2351 1985

17553 1.04 219.1 211.9 7.0 844 17557 0.00 2.58 0.00 0.000 4 0.000 0.055 2700 935 1985

17658 1.04 219.1 204.2 6.7 849 17663 0.00 2.50 0.00 0.000 6 0.000 0.040 2700 2351 1985

17984 1.04 219.1 181.8 6.8 865 17988 0.00 2.58 0.00 0.000 4 0.000 0.055 2700 937 1985

18083 1.04 219.1 174.1 8.0 869 18088 0.00 2.50 0.00 0.000 6 0.000 0.039 2700 2350 1985

18404 1.04 219.1 151.9 6.0 885 18409 0.00 2.58 0.00 0.000 4 0.000 0.054 2701 939 1985

18498 1.04 219.1 146.3 6.0 889 18503 0.00 2.50 0.00 0.000 6 0.000 0.038 2700 2345 1985

18820 1.04 219.1 127.3 6.0 905 18824 0.00 2.58 0.00 0.000 4 0.000 0.054 2700 936 1985

18913 1.06 238.5 121.9 5.4 909 18935 0.12 2.50 16.20 0.907 6 0.052 0.039 2742 2354 1905

19250 1.06 238.5 92.5 9.4 926 19252 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2354 1905

19559 1.06 238.5 67.4 7.4 941 19564 0.00 2.58 0.00 0.000 4 0.000 0.054 2742 939 1905

19653 1.06 238.5 59.7 9.8 945 19657 0.00 2.50 0.00 0.000 6 0.000 0.038 2742 2353 1905

19974 1.06 238.5 28.8 9.2 961 19979 0.00 2.60 0.00 0.000 4 0.000 0.054 2742 931 1905

20051 1.06 238.5 20.6 9.4 964 20058 0.00 2.53 0.00 0.000 6 0.000 0.038 2742 2350 1905

20263 end climb: SURFACE_DEPTH_REACHED

state 20263 begin surface coast

20284 end surface coast: CONTROL_FINISHED_OK

state 20284 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	78	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	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	27	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	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	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	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	-77735.539	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	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	005808,6131.391,-845.688,46,1.1,46,-9.1	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.175,0.114
_SM_DEPTHo	1.87	KALMAN_X	79567.2,-2490.5,-1645.5,-89008.0,37634.7
_SM_ANGLEo	-59.7	KALMAN_Y	128525.0,1654.2,718.2,-134307.8,-16335.8
GPS2	010315,6131.321,-845.547,11,1.1,11,-9.1	MHEAD_RNG_PITCHd_Wd	312.3,36171,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.2,1.027298	XPDR_PINGS	0
SM_CCo	20304,55.83,0.782,7,0,1654,300.00	ALTIM_BOTTOM_PING	626.0,82.4
SM_GC	1.76,0.00,0.00,55.83,0.000,0.000,0.782,35,1883,1654,-11.32,-0.48,300.00	_24V_AH	23.4,23.418
IRIDIUM_FIX	6108.28,-854.37,241107,232303	_10V_AH	10.1,9.895
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50542,976
HUMID	2024	CFSIZE	260165632,254173184
INTERNAL_PRESSURE	9.25817	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,32,7,0
TCM_TEMP	17.00	GPS	251107,064508,6132.584,-840.339,30,1.0,30,-9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.39	SBE_CT	711	24	399.81
Roll_motor	154	66	240.82	SBE_O2	661	19	293.97
VBD_pump_during_apogee	319	1236	9239.39	WL_BB2F	586	105	1440.77
VBD_pump_during_surface	55	782	1021.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.13	nil	0	0	0.00
Iridium_during_connect	24	160	91.19	nil	0	0	0.00
Iridium_during_xfer	154	223	808.40
Transponder_ping	5	420	54.05
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.76
TT8	1826	19	365.26
LPSleep	15542	2	343.79
TT8_Active	560	19	112.06
TT8_Sampling	2416	39	971.54
TT8_CF8	361	45	167.05
TT8_Kalman	33	81	27.57
Analog_circuits	1723	12	208.90
GPS_charging	0	0	0.00
Compass	2370	8	191.54
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	82	0.00	0.00	-61.28	0.000	2	0.000	0.000	28	1872	2939
84	-0.95	-146.6	3.6	-4.7	3	119	11.80	2.58	-14.80	0.000	4	0.137	0.059	2283	3305	3476
270	-0.95	-146.6	19.3	-10.5	11	275	0.00	2.53	0.00	0.000	6	0.000	0.043	2283	1911	3476
591	-0.95	-146.6	49.2	-8.2	27	592	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1911	3475
901	-0.95	-146.6	74.1	-4.0	42	902	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1911	3476
1210	-0.95	-146.6	90.8	-6.9	57	1211	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1911	3476
1519	-0.95	-146.6	111.2	-6.3	72	1523	0.00	2.50	0.00	0.000	4	0.000	0.046	2283	3307	3476
1775	-0.95	-146.6	131.2	-8.2	83	1783	0.00	2.53	0.00	0.000	6	0.000	0.041	2283	1904	3476
2090	-0.95	-146.6	160.8	-10.1	99	2095	0.00	2.50	0.00	0.000	4	0.000	0.046	2283	3305	3476
2244	-0.95	-146.6	175.2	-9.2	106	2249	0.00	2.50	0.00	0.000	6	0.000	0.041	2283	1900	3476
2570	-0.95	-146.6	203.8	-7.7	122	2574	0.00	2.58	0.00	0.000	4	0.000	0.064	2283	496	3476
2826	-0.95	-146.6	225.8	-6.7	133	2833	0.00	2.50	0.00	0.000	6	0.000	0.041	2283	1910	3476
3141	-0.95	-146.6	246.5	-6.6	149	3146	0.00	2.47	0.00	0.000	4	0.000	0.049	2283	3295	3476
3398	-0.95	-146.6	266.0	-7.6	160	3406	0.00	2.50	0.00	0.000	6	0.000	0.042	2283	1904	3476
3715	-0.95	-146.6	285.0	-4.6	176	3716	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1904	3476
4024	-0.95	-146.6	302.6	-6.0	191	4028	0.00	2.60	0.00	0.000	4	0.000	0.065	2283	492	3476
4279	-0.95	-146.6	321.9	-7.9	202	4286	0.00	2.47	0.00	0.000	6	0.000	0.041	2283	1896	3476
4595	-0.95	-146.6	343.7	-7.1	218	4599	0.00	2.58	0.00	0.000	4	0.000	0.065	2283	492	3476
4657	-0.95	-146.6	348.2	-7.1	221	4661	0.00	2.47	0.00	0.000	6	0.000	0.043	2283	1902	3476
4981	-0.95	-146.6	369.5	-6.5	237	4982	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	1905	3476
5291	-0.95	-146.6	388.9	-6.3	252	5292	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1905	3476
5600	-0.95	-146.6	408.1	-6.3	267	5601	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1905	3476
5910	-0.95	-146.6	425.0	-5.2	282	5914	0.00	2.50	0.00	0.000	4	0.000	0.051	2283	3298	3476
5964	-0.95	-146.6	428.1	-5.5	284	5968	0.00	2.50	0.00	0.000	6	0.000	0.047	2283	1903	3476
6285	-0.95	-146.6	445.2	-5.5	300	6286	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
6594	-0.95	-146.6	461.8	-5.3	315	6595	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
6903	-0.95	-146.6	478.0	-5.4	330	6905	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
7212	-0.95	-146.6	492.1	-4.7	345	7214	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3475
7521	-0.95	-146.6	510.1	-6.0	360	7523	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
7831	-0.95	-146.6	528.2	-6.6	375	7832	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
8140	-0.95	-146.6	548.9	-6.4	390	8141	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3476
8449	-0.95	-146.6	570.1	-7.0	405	8454	0.00	2.53	0.00	0.000	4	0.000	0.058	2283	3298	3476
8522	-0.95	-146.6	575.4	-8.8	408	8526	0.00	2.53	0.00	0.000	6	0.000	0.048	2283	1898	3476
8836	-0.95	-146.6	598.9	-7.6	423	8837	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3476
9145	-0.95	-146.6	621.3	-7.9	438	9147	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3475
9455	-0.95	-146.6	642.2	-6.6	453	9456	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3475
9764	-0.95	-146.6	666.2	-10.1	468	9765	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3475
10073	-0.95	-146.6	693.0	-9.1	483	10078	0.00	2.55	0.00	0.000	4	0.000	0.055	2283	3298	3474
10122	-0.95	-146.6	698.1	-10.8	485	10127	0.00	2.55	0.00	0.000	6	0.000	0.048	2283	1903	3474
10134	end dive: BOTTOM_OBSTACLE_DETECTED
state	10134	begin apogee
10138	-0.36	0.0	699.0	10.1	486	10264	0.62	0.00	122.12	1.236	6	0.084	0.000	2416	2338	2878
10265	end apogee: CONTROL_FINISHED_OK
state	10265	begin climb
10266	0.95	146.6	703.9	0.0	492	10397	1.27	2.75	121.07	1.195	4	0.054	0.067	2700	3759	2280
10615	0.95	146.6	690.7	7.7	508	10620	0.00	2.55	0.00	0.000	6	0.000	0.043	2700	2355	2280
10942	0.95	146.6	668.2	8.9	524	10943	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2355	2280
11251	0.95	146.6	646.4	6.9	539	11256	0.00	2.62	0.00	0.000	4	0.000	0.062	2700	942	2280
11319	0.95	146.6	642.5	6.3	542	11323	0.00	2.53	0.00	0.000	6	0.000	0.043	2700	2352	2280
11638	0.95	146.6	614.7	8.1	558	11639	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2353	2279
11947	0.95	146.6	590.8	7.0	573	11948	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2353	2279
12257	1.00	188.3	573.8	4.8	588	12298	0.00	2.70	34.60	1.170	4	0.000	0.060	2700	934	2110
12343	1.00	188.3	568.8	6.6	592	12347	0.00	2.55	0.00	0.000	6	0.000	0.042	2700	2358	2110
12673	1.00	188.3	548.0	6.5	608	12675	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2359	2110
12983	1.00	188.3	528.2	6.3	623	12987	0.00	2.60	0.00	0.000	4	0.000	0.057	2700	941	2109
13115	1.00	189.8	519.6	6.0	629	13120	0.00	2.53	0.00	0.000	6	0.000	0.040	2700	2353	2109
13442	1.00	189.8	498.5	7.2	645	13446	0.00	2.60	0.00	0.000	4	0.000	0.058	2700	932	2109
13548	1.00	189.8	490.6	7.2	650	13552	0.00	2.50	0.00	0.000	6	0.000	0.042	2700	2350	2109
13880	1.00	189.8	466.2	7.2	666	13884	0.00	2.58	0.00	0.000	4	0.000	0.057	2700	942	2109
13973	1.00	189.8	459.1	7.9	670	13978	0.00	2.50	0.00	0.000	6	0.000	0.041	2700	2347	2109
14294	1.00	189.8	438.4	6.5	686	14299	0.00	2.60	0.00	0.000	4	0.000	0.058	2700	934	2109
14365	1.00	189.8	433.5	7.1	689	14370	0.00	2.53	0.00	0.000	6	0.000	0.041	2701	2348	2109
14687	1.00	189.8	412.7	6.2	705	14691	0.00	2.58	0.00	0.000	4	0.000	0.057	2700	939	2109
14752	1.00	189.8	408.5	6.1	708	14756	0.00	2.53	0.00	0.000	6	0.000	0.041	2700	2346	2109
15078	1.00	189.8	386.8	6.6	724	15083	0.00	2.58	0.00	0.000	4	0.000	0.057	2700	934	2109
15133	1.00	189.8	383.0	6.9	726	15140	0.00	2.53	0.00	0.000	6	0.000	0.041	2700	2351	2109
15448	1.00	189.8	363.5	6.0	742	15453	0.00	2.58	0.00	0.000	4	0.000	0.056	2700	933	2109
15514	1.04	219.1	359.3	5.1	745	15545	0.00	2.53	25.35	1.043	6	0.000	0.041	2700	2357	1984
15860	1.04	219.1	338.5	6.0	762	15865	0.00	2.60	0.00	0.000	4	0.000	0.055	2700	934	1984
15966	1.04	219.1	331.5	6.7	767	15970	0.00	2.50	0.00	0.000	6	0.000	0.040	2700	2352	1984
16292	1.04	219.1	311.3	6.3	783	16296	0.00	2.58	0.00	0.000	4	0.000	0.056	2700	939	1984
16379	1.04	219.1	305.1	7.4	787	16384	0.00	2.50	0.00	0.000	6	0.000	0.040	2700	2343	1984
16706	1.04	219.1	282.1	7.5	803	16710	0.00	2.55	0.00	0.000	4	0.000	0.056	2700	941	1984
16812	1.04	219.1	273.4	7.9	808	16817	0.00	2.47	0.00	0.000	6	0.000	0.040	2700	2352	1984
17138	1.04	219.1	245.5	8.9	824	17142	0.00	2.55	0.00	0.000	4	0.000	0.055	2700	940	1985
17227	1.04	219.1	237.2	8.6	828	17232	0.00	2.47	0.00	0.000	6	0.000	0.040	2701	2351	1985
17553	1.04	219.1	211.9	7.0	844	17557	0.00	2.58	0.00	0.000	4	0.000	0.055	2700	935	1985
17658	1.04	219.1	204.2	6.7	849	17663	0.00	2.50	0.00	0.000	6	0.000	0.040	2700	2351	1985
17984	1.04	219.1	181.8	6.8	865	17988	0.00	2.58	0.00	0.000	4	0.000	0.055	2700	937	1985
18083	1.04	219.1	174.1	8.0	869	18088	0.00	2.50	0.00	0.000	6	0.000	0.039	2700	2350	1985
18404	1.04	219.1	151.9	6.0	885	18409	0.00	2.58	0.00	0.000	4	0.000	0.054	2701	939	1985
18498	1.04	219.1	146.3	6.0	889	18503	0.00	2.50	0.00	0.000	6	0.000	0.038	2700	2345	1985
18820	1.04	219.1	127.3	6.0	905	18824	0.00	2.58	0.00	0.000	4	0.000	0.054	2700	936	1985
18913	1.06	238.5	121.9	5.4	909	18935	0.12	2.50	16.20	0.907	6	0.052	0.039	2742	2354	1905
19250	1.06	238.5	92.5	9.4	926	19252	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2354	1905
19559	1.06	238.5	67.4	7.4	941	19564	0.00	2.58	0.00	0.000	4	0.000	0.054	2742	939	1905
19653	1.06	238.5	59.7	9.8	945	19657	0.00	2.50	0.00	0.000	6	0.000	0.038	2742	2353	1905
19974	1.06	238.5	28.8	9.2	961	19979	0.00	2.60	0.00	0.000	4	0.000	0.054	2742	931	1905
20051	1.06	238.5	20.6	9.4	964	20058	0.00	2.53	0.00	0.000	6	0.000	0.038	2742	2350	1905
20263	end climb: SURFACE_DEPTH_REACHED
state	20263	begin surface coast
20284	end surface coast: CONTROL_FINISHED_OK
state	20284	begin surface