Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 86 * 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 86 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -77900.977 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 -77900.977

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 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 86 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 024938,6144.870,-854.750,37,1.2,37,-9.3 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,0.116

_SM_DEPTHo 2.11 KALMAN_X 87845.7,1194.5,185.3,-110964.2,-102.2

_SM_ANGLEo -62.4 KALMAN_Y 174831.2,801.6,-12281.6,-141684.8,-11595.7

GPS2 025439,6144.837,-854.698,11,1.2,11,-9.3 MHEAD_RNG_PITCHd_Wd 313.0,17799,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.3,1.027467 XPDR_PINGS 0

SM_CCo 20722,55.78,0.789,7,0,1654,300.00 ALTIM_BOTTOM_PING 676.2,83.0

SM_GC 2.10,0.00,0.00,55.78,0.000,0.000,0.789,35,1886,1654,-11.32,-0.40,300.00 _24V_AH 23.3,24.680

IRIDIUM_FIX 6121.73,-858.59,271107,010154 _10V_AH 10.1,10.671

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50653,999

HUMID 2041 CFSIZE 260165632,253603840

INTERNAL_PRESSURE 9.23864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,35,7,0

TCM_TEMP 16.90 GPS 271107,084337,6146.287,-857.589,35,0.9,35,-9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 81.65 SBE_CT 727 24 406.62

Roll_motor 145 74 251.79 SBE_O2 676 19 299.50

VBD_pump_during_apogee 323 1366 10306.05 WL_BB2F 601 105 1472.17

VBD_pump_during_surface 55 789 1025.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.02 nil 0 0 0.00

Iridium_during_connect 27 160 103.53 nil 0 0 0.00

Iridium_during_xfer 145 223 754.86

Transponder_ping 5 420 56.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.45

TT8 1831 19 366.31

LPSleep 16063 2 355.32

TT8_Active 560 19 112.09

TT8_Sampling 2304 39 926.38

TT8_CF8 357 45 165.16

TT8_Kalman 33 81 27.57

Analog_circuits 1681 12 203.74

GPS_charging 0 0 0.00

Compass 2261 8 182.72

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 63 0.00 0.00 -41.35 0.000 2 0.000 0.000 35 1882 2508

65 -0.95 -146.6 3.2 -4.9 2 128 11.85 2.58 -41.85 0.000 4 0.137 0.074 2284 505 3476

219 -0.95 -146.6 13.1 -7.2 9 223 0.00 2.47 0.00 0.000 6 0.000 0.040 2284 1915 3476

544 -0.95 -146.6 39.3 -8.5 25 545 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1917 3476

854 -0.95 -146.6 62.9 -7.0 40 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1918 3476

1163 -0.95 -146.6 86.8 -8.6 55 1164 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1918 3476

1472 -0.95 -146.6 111.0 -7.7 70 1473 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1918 3476

1781 -0.95 -146.6 135.9 -8.1 85 1783 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1918 3477

2090 -0.95 -146.6 159.6 -7.7 100 2092 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1918 3476

2400 -0.95 -146.6 185.3 -8.3 115 2401 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1918 3477

2709 -0.95 -146.6 211.0 -8.1 130 2710 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1918 3477

3018 -0.95 -146.6 234.2 -7.1 145 3022 0.00 2.47 0.00 0.000 4 0.000 0.046 2284 3303 3477

3084 -0.95 -146.6 239.1 -7.1 148 3089 0.00 2.53 0.00 0.000 6 0.000 0.043 2284 1907 3477

3411 -0.95 -146.6 262.3 -7.3 164 3412 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3477

3720 -0.95 -146.6 284.1 -6.8 179 3721 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3476

4029 -0.95 -146.6 305.6 -6.9 194 4030 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1906 3477

4338 -0.95 -146.6 327.1 -6.8 209 4340 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3477

4648 -0.95 -146.6 348.8 -7.2 224 4649 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3477

4957 -0.95 -146.6 374.6 -8.5 239 4961 0.00 2.50 0.00 0.000 4 0.000 0.048 2284 3301 3477

5028 -0.95 -146.6 381.1 -8.8 242 5033 0.00 2.55 0.00 0.000 6 0.000 0.044 2284 1898 3477

5355 -0.95 -146.6 409.1 -8.3 258 5356 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1899 3477

5664 -0.95 -146.6 433.7 -7.6 273 5665 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1898 3477

5974 -0.95 -146.6 455.9 -7.2 288 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1899 3477

6283 -0.95 -146.6 479.5 -7.6 303 6284 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1898 3477

6592 -0.95 -146.6 503.5 -8.2 318 6593 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3477

6901 -0.95 -146.6 528.3 -7.3 333 6903 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1898 3477

7212 -0.95 -146.6 550.9 -7.3 348 7213 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3476

7520 -0.95 -146.6 574.6 -7.7 363 7521 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1898 3476

7829 -0.95 -146.6 596.7 -6.7 378 7833 0.00 2.50 0.00 0.000 4 0.000 0.055 2284 3294 3476

8002 -0.95 -146.6 608.3 -6.4 385 8009 0.00 2.55 0.00 0.000 6 0.000 0.048 2284 1883 3476

8320 -0.95 -146.6 625.2 -5.2 401 8321 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1883 3477

8628 -0.95 -146.6 641.7 -5.8 416 8632 0.00 2.60 0.00 0.000 4 0.000 0.059 2284 3298 3476

8698 -0.95 -146.6 646.5 -6.9 419 8703 0.00 2.55 0.00 0.000 6 0.000 0.051 2284 1908 3476

9020 -0.95 -146.6 666.5 -5.5 435 9021 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3476

9329 -0.95 -146.6 686.2 -6.8 450 9330 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3475

9638 -0.95 -146.6 705.3 -6.1 465 9639 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1908 3475

9948 -0.95 -146.6 723.0 -5.3 480 9952 0.00 2.58 0.00 0.000 4 0.000 0.063 2284 3301 3472

10009 -0.95 -146.6 726.6 -5.8 483 10013 0.00 2.58 0.00 0.000 6 0.000 0.055 2284 1894 3472

10334 -0.95 -146.6 745.6 -5.8 499 10338 0.00 2.60 0.00 0.000 4 0.000 0.063 2284 3301 3471

10382 -0.95 -146.6 749.1 -8.1 501 10387 0.00 2.60 0.00 0.000 6 0.000 0.057 2284 1900 3470

10392 end dive: BOTTOM_OBSTACLE_DETECTED

state 10392 begin apogee

10397 -0.36 0.0 749.7 6.5 502 10523 0.62 0.00 122.88 1.361 6 0.088 0.000 2415 2338 2878

10524 end apogee: CONTROL_FINISHED_OK

state 10524 begin climb

10525 0.95 146.6 754.4 0.0 508 10657 1.27 2.75 121.85 1.312 4 0.058 0.071 2696 3749 2280

10909 0.95 146.6 738.0 6.8 525 10916 0.00 2.58 0.00 0.000 6 0.000 0.050 2697 2351 2279

11225 0.95 146.6 717.8 6.2 541 11226 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2352 2279

11534 1.02 207.9 702.5 4.2 556 11591 0.00 2.75 50.95 1.366 4 0.000 0.072 2696 941 2029

11703 1.02 207.9 692.9 6.6 563 11707 0.00 2.60 0.00 0.000 6 0.000 0.052 2696 2359 2030

12028 1.02 207.9 674.6 6.9 579 12032 0.00 2.67 0.00 0.000 4 0.000 0.069 2696 941 2028

12126 1.02 207.9 667.2 7.8 583 12133 0.00 2.60 0.00 0.000 6 0.000 0.051 2696 2353 2028

12442 1.02 207.9 646.3 6.8 599 12446 0.00 2.65 0.00 0.000 4 0.000 0.069 2696 942 2027

12491 1.02 207.9 642.7 7.6 601 12496 0.00 2.58 0.00 0.000 6 0.000 0.050 2696 2348 2027

12812 1.02 207.9 619.5 7.8 617 12816 0.00 2.62 0.00 0.000 4 0.000 0.067 2696 942 2026

12986 1.02 207.9 607.8 6.5 625 12990 0.00 2.55 0.00 0.000 6 0.000 0.048 2696 2353 2026

13311 1.02 207.9 588.9 6.3 641 13312 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2353 2025

13621 1.02 207.9 567.4 7.0 656 13622 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2353 2025

13930 1.06 238.4 549.5 5.1 671 13961 0.12 2.70 25.27 1.266 4 0.049 0.059 2739 938 1905

14094 1.06 238.4 536.5 8.5 678 14101 0.00 2.55 0.00 0.000 6 0.000 0.042 2739 2351 1905

14410 1.06 238.4 510.1 8.4 694 14414 0.00 2.58 0.00 0.000 4 0.000 0.060 2739 942 1906

14475 1.06 238.4 504.5 8.4 697 14480 0.00 2.53 0.00 0.000 6 0.000 0.041 2739 2351 1906

14802 1.06 238.4 476.9 8.5 713 14806 0.00 2.60 0.00 0.000 4 0.000 0.060 2739 938 1906

14889 1.06 238.4 468.9 8.6 717 14894 0.00 2.53 0.00 0.000 6 0.000 0.040 2739 2348 1906

15216 1.06 238.4 442.7 7.6 733 15220 0.00 2.60 0.00 0.000 4 0.000 0.059 2739 934 1908

15282 1.06 238.4 437.2 8.1 736 15287 0.00 2.50 0.00 0.000 6 0.000 0.040 2739 2352 1908

15608 1.06 238.4 412.3 7.4 752 15613 0.00 2.60 0.00 0.000 4 0.000 0.058 2739 932 1909

15693 1.06 238.4 405.8 8.2 756 15697 0.00 2.50 0.00 0.000 6 0.000 0.040 2738 2351 1909

16017 1.06 238.4 379.3 8.3 772 16022 0.00 2.58 0.00 0.000 4 0.000 0.058 2739 940 1910

16083 1.06 238.4 373.5 8.9 775 16088 0.00 2.50 0.00 0.000 6 0.000 0.039 2739 2343 1910

16410 1.06 238.4 345.5 8.7 791 16415 0.00 2.58 0.00 0.000 4 0.000 0.057 2739 940 1911

16472 1.06 238.4 340.5 8.9 794 16476 0.00 2.50 0.00 0.000 6 0.000 0.040 2739 2356 1911

16797 1.06 238.4 312.8 8.3 810 16801 0.00 2.58 0.00 0.000 4 0.000 0.054 2738 940 1911

16884 1.06 238.4 305.5 8.3 814 16889 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 2349 1911

17211 1.06 238.4 278.8 8.3 830 17215 0.00 2.58 0.00 0.000 4 0.000 0.056 2739 939 1911

17317 1.06 238.4 269.1 9.7 835 17321 0.00 2.47 0.00 0.000 6 0.000 0.039 2739 2351 1912

17642 1.06 238.4 239.7 9.3 851 17647 0.00 2.58 0.00 0.000 4 0.000 0.056 2739 941 1912

17735 1.06 238.4 231.6 8.0 855 17740 0.00 2.50 0.00 0.000 6 0.000 0.038 2738 2350 1912

18057 1.06 238.4 203.7 8.7 871 18062 0.00 2.60 0.00 0.000 4 0.000 0.055 2739 934 1913

18157 1.06 238.4 194.8 8.7 875 18164 0.00 2.53 0.00 0.000 6 0.000 0.038 2739 2349 1913

18473 1.06 238.4 168.9 8.3 891 18477 0.00 2.58 0.00 0.000 4 0.000 0.055 2739 939 1913

18538 1.06 238.4 163.4 8.8 894 18542 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 2357 1913

18865 1.06 238.4 139.6 7.8 910 18869 0.00 2.60 0.00 0.000 4 0.000 0.054 2739 934 1914

18948 1.06 238.4 132.6 7.1 914 18952 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 2353 1914

19273 1.06 238.4 107.6 7.5 930 19282 0.00 2.62 2.85 0.883 4 0.000 0.054 2739 936 1906

19355 1.06 238.4 101.2 6.9 933 19363 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 2348 1906

19671 1.06 238.4 77.9 7.3 949 19675 0.00 2.58 0.00 0.000 4 0.000 0.055 2739 939 1906

19754 1.06 238.4 71.7 8.0 953 19759 0.00 2.47 0.00 0.000 6 0.000 0.038 2739 2354 1906

20080 1.06 238.4 46.6 8.9 969 20081 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2354 1907

20390 1.06 238.4 21.7 7.6 984 20394 0.00 2.60 0.00 0.000 4 0.000 0.055 2739 934 1907

20477 1.06 238.4 14.6 9.5 988 20482 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 2350 1907

20679 end climb: SURFACE_DEPTH_REACHED

state 20679 begin surface coast

20702 end surface coast: CONTROL_FINISHED_OK

state 20703 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	86	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-77900.977	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	024938,6144.870,-854.750,37,1.2,37,-9.3	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,0.116
_SM_DEPTHo	2.11	KALMAN_X	87845.7,1194.5,185.3,-110964.2,-102.2
_SM_ANGLEo	-62.4	KALMAN_Y	174831.2,801.6,-12281.6,-141684.8,-11595.7
GPS2	025439,6144.837,-854.698,11,1.2,11,-9.3	MHEAD_RNG_PITCHd_Wd	313.0,17799,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.3,1.027467	XPDR_PINGS	0
SM_CCo	20722,55.78,0.789,7,0,1654,300.00	ALTIM_BOTTOM_PING	676.2,83.0
SM_GC	2.10,0.00,0.00,55.78,0.000,0.000,0.789,35,1886,1654,-11.32,-0.40,300.00	_24V_AH	23.3,24.680
IRIDIUM_FIX	6121.73,-858.59,271107,010154	_10V_AH	10.1,10.671
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50653,999
HUMID	2041	CFSIZE	260165632,253603840
INTERNAL_PRESSURE	9.23864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,35,7,0
TCM_TEMP	16.90	GPS	271107,084337,6146.287,-857.589,35,0.9,35,-9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	81.65	SBE_CT	727	24	406.62
Roll_motor	145	74	251.79	SBE_O2	676	19	299.50
VBD_pump_during_apogee	323	1366	10306.05	WL_BB2F	601	105	1472.17
VBD_pump_during_surface	55	789	1025.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.02	nil	0	0	0.00
Iridium_during_connect	27	160	103.53	nil	0	0	0.00
Iridium_during_xfer	145	223	754.86
Transponder_ping	5	420	56.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.45
TT8	1831	19	366.31
LPSleep	16063	2	355.32
TT8_Active	560	19	112.09
TT8_Sampling	2304	39	926.38
TT8_CF8	357	45	165.16
TT8_Kalman	33	81	27.57
Analog_circuits	1681	12	203.74
GPS_charging	0	0	0.00
Compass	2261	8	182.72
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	63	0.00	0.00	-41.35	0.000	2	0.000	0.000	35	1882	2508
65	-0.95	-146.6	3.2	-4.9	2	128	11.85	2.58	-41.85	0.000	4	0.137	0.074	2284	505	3476
219	-0.95	-146.6	13.1	-7.2	9	223	0.00	2.47	0.00	0.000	6	0.000	0.040	2284	1915	3476
544	-0.95	-146.6	39.3	-8.5	25	545	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1917	3476
854	-0.95	-146.6	62.9	-7.0	40	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1918	3476
1163	-0.95	-146.6	86.8	-8.6	55	1164	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1918	3476
1472	-0.95	-146.6	111.0	-7.7	70	1473	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1918	3476
1781	-0.95	-146.6	135.9	-8.1	85	1783	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1918	3477
2090	-0.95	-146.6	159.6	-7.7	100	2092	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1918	3476
2400	-0.95	-146.6	185.3	-8.3	115	2401	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1918	3477
2709	-0.95	-146.6	211.0	-8.1	130	2710	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1918	3477
3018	-0.95	-146.6	234.2	-7.1	145	3022	0.00	2.47	0.00	0.000	4	0.000	0.046	2284	3303	3477
3084	-0.95	-146.6	239.1	-7.1	148	3089	0.00	2.53	0.00	0.000	6	0.000	0.043	2284	1907	3477
3411	-0.95	-146.6	262.3	-7.3	164	3412	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3477
3720	-0.95	-146.6	284.1	-6.8	179	3721	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3476
4029	-0.95	-146.6	305.6	-6.9	194	4030	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1906	3477
4338	-0.95	-146.6	327.1	-6.8	209	4340	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3477
4648	-0.95	-146.6	348.8	-7.2	224	4649	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3477
4957	-0.95	-146.6	374.6	-8.5	239	4961	0.00	2.50	0.00	0.000	4	0.000	0.048	2284	3301	3477
5028	-0.95	-146.6	381.1	-8.8	242	5033	0.00	2.55	0.00	0.000	6	0.000	0.044	2284	1898	3477
5355	-0.95	-146.6	409.1	-8.3	258	5356	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1899	3477
5664	-0.95	-146.6	433.7	-7.6	273	5665	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1898	3477
5974	-0.95	-146.6	455.9	-7.2	288	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1899	3477
6283	-0.95	-146.6	479.5	-7.6	303	6284	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1898	3477
6592	-0.95	-146.6	503.5	-8.2	318	6593	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3477
6901	-0.95	-146.6	528.3	-7.3	333	6903	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1898	3477
7212	-0.95	-146.6	550.9	-7.3	348	7213	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3476
7520	-0.95	-146.6	574.6	-7.7	363	7521	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1898	3476
7829	-0.95	-146.6	596.7	-6.7	378	7833	0.00	2.50	0.00	0.000	4	0.000	0.055	2284	3294	3476
8002	-0.95	-146.6	608.3	-6.4	385	8009	0.00	2.55	0.00	0.000	6	0.000	0.048	2284	1883	3476
8320	-0.95	-146.6	625.2	-5.2	401	8321	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1883	3477
8628	-0.95	-146.6	641.7	-5.8	416	8632	0.00	2.60	0.00	0.000	4	0.000	0.059	2284	3298	3476
8698	-0.95	-146.6	646.5	-6.9	419	8703	0.00	2.55	0.00	0.000	6	0.000	0.051	2284	1908	3476
9020	-0.95	-146.6	666.5	-5.5	435	9021	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3476
9329	-0.95	-146.6	686.2	-6.8	450	9330	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3475
9638	-0.95	-146.6	705.3	-6.1	465	9639	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1908	3475
9948	-0.95	-146.6	723.0	-5.3	480	9952	0.00	2.58	0.00	0.000	4	0.000	0.063	2284	3301	3472
10009	-0.95	-146.6	726.6	-5.8	483	10013	0.00	2.58	0.00	0.000	6	0.000	0.055	2284	1894	3472
10334	-0.95	-146.6	745.6	-5.8	499	10338	0.00	2.60	0.00	0.000	4	0.000	0.063	2284	3301	3471
10382	-0.95	-146.6	749.1	-8.1	501	10387	0.00	2.60	0.00	0.000	6	0.000	0.057	2284	1900	3470
10392	end dive: BOTTOM_OBSTACLE_DETECTED
state	10392	begin apogee
10397	-0.36	0.0	749.7	6.5	502	10523	0.62	0.00	122.88	1.361	6	0.088	0.000	2415	2338	2878
10524	end apogee: CONTROL_FINISHED_OK
state	10524	begin climb
10525	0.95	146.6	754.4	0.0	508	10657	1.27	2.75	121.85	1.312	4	0.058	0.071	2696	3749	2280
10909	0.95	146.6	738.0	6.8	525	10916	0.00	2.58	0.00	0.000	6	0.000	0.050	2697	2351	2279
11225	0.95	146.6	717.8	6.2	541	11226	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2352	2279
11534	1.02	207.9	702.5	4.2	556	11591	0.00	2.75	50.95	1.366	4	0.000	0.072	2696	941	2029
11703	1.02	207.9	692.9	6.6	563	11707	0.00	2.60	0.00	0.000	6	0.000	0.052	2696	2359	2030
12028	1.02	207.9	674.6	6.9	579	12032	0.00	2.67	0.00	0.000	4	0.000	0.069	2696	941	2028
12126	1.02	207.9	667.2	7.8	583	12133	0.00	2.60	0.00	0.000	6	0.000	0.051	2696	2353	2028
12442	1.02	207.9	646.3	6.8	599	12446	0.00	2.65	0.00	0.000	4	0.000	0.069	2696	942	2027
12491	1.02	207.9	642.7	7.6	601	12496	0.00	2.58	0.00	0.000	6	0.000	0.050	2696	2348	2027
12812	1.02	207.9	619.5	7.8	617	12816	0.00	2.62	0.00	0.000	4	0.000	0.067	2696	942	2026
12986	1.02	207.9	607.8	6.5	625	12990	0.00	2.55	0.00	0.000	6	0.000	0.048	2696	2353	2026
13311	1.02	207.9	588.9	6.3	641	13312	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2353	2025
13621	1.02	207.9	567.4	7.0	656	13622	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2353	2025
13930	1.06	238.4	549.5	5.1	671	13961	0.12	2.70	25.27	1.266	4	0.049	0.059	2739	938	1905
14094	1.06	238.4	536.5	8.5	678	14101	0.00	2.55	0.00	0.000	6	0.000	0.042	2739	2351	1905
14410	1.06	238.4	510.1	8.4	694	14414	0.00	2.58	0.00	0.000	4	0.000	0.060	2739	942	1906
14475	1.06	238.4	504.5	8.4	697	14480	0.00	2.53	0.00	0.000	6	0.000	0.041	2739	2351	1906
14802	1.06	238.4	476.9	8.5	713	14806	0.00	2.60	0.00	0.000	4	0.000	0.060	2739	938	1906
14889	1.06	238.4	468.9	8.6	717	14894	0.00	2.53	0.00	0.000	6	0.000	0.040	2739	2348	1906
15216	1.06	238.4	442.7	7.6	733	15220	0.00	2.60	0.00	0.000	4	0.000	0.059	2739	934	1908
15282	1.06	238.4	437.2	8.1	736	15287	0.00	2.50	0.00	0.000	6	0.000	0.040	2739	2352	1908
15608	1.06	238.4	412.3	7.4	752	15613	0.00	2.60	0.00	0.000	4	0.000	0.058	2739	932	1909
15693	1.06	238.4	405.8	8.2	756	15697	0.00	2.50	0.00	0.000	6	0.000	0.040	2738	2351	1909
16017	1.06	238.4	379.3	8.3	772	16022	0.00	2.58	0.00	0.000	4	0.000	0.058	2739	940	1910
16083	1.06	238.4	373.5	8.9	775	16088	0.00	2.50	0.00	0.000	6	0.000	0.039	2739	2343	1910
16410	1.06	238.4	345.5	8.7	791	16415	0.00	2.58	0.00	0.000	4	0.000	0.057	2739	940	1911
16472	1.06	238.4	340.5	8.9	794	16476	0.00	2.50	0.00	0.000	6	0.000	0.040	2739	2356	1911
16797	1.06	238.4	312.8	8.3	810	16801	0.00	2.58	0.00	0.000	4	0.000	0.054	2738	940	1911
16884	1.06	238.4	305.5	8.3	814	16889	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	2349	1911
17211	1.06	238.4	278.8	8.3	830	17215	0.00	2.58	0.00	0.000	4	0.000	0.056	2739	939	1911
17317	1.06	238.4	269.1	9.7	835	17321	0.00	2.47	0.00	0.000	6	0.000	0.039	2739	2351	1912
17642	1.06	238.4	239.7	9.3	851	17647	0.00	2.58	0.00	0.000	4	0.000	0.056	2739	941	1912
17735	1.06	238.4	231.6	8.0	855	17740	0.00	2.50	0.00	0.000	6	0.000	0.038	2738	2350	1912
18057	1.06	238.4	203.7	8.7	871	18062	0.00	2.60	0.00	0.000	4	0.000	0.055	2739	934	1913
18157	1.06	238.4	194.8	8.7	875	18164	0.00	2.53	0.00	0.000	6	0.000	0.038	2739	2349	1913
18473	1.06	238.4	168.9	8.3	891	18477	0.00	2.58	0.00	0.000	4	0.000	0.055	2739	939	1913
18538	1.06	238.4	163.4	8.8	894	18542	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	2357	1913
18865	1.06	238.4	139.6	7.8	910	18869	0.00	2.60	0.00	0.000	4	0.000	0.054	2739	934	1914
18948	1.06	238.4	132.6	7.1	914	18952	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	2353	1914
19273	1.06	238.4	107.6	7.5	930	19282	0.00	2.62	2.85	0.883	4	0.000	0.054	2739	936	1906
19355	1.06	238.4	101.2	6.9	933	19363	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	2348	1906
19671	1.06	238.4	77.9	7.3	949	19675	0.00	2.58	0.00	0.000	4	0.000	0.055	2739	939	1906
19754	1.06	238.4	71.7	8.0	953	19759	0.00	2.47	0.00	0.000	6	0.000	0.038	2739	2354	1906
20080	1.06	238.4	46.6	8.9	969	20081	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2354	1907
20390	1.06	238.4	21.7	7.6	984	20394	0.00	2.60	0.00	0.000	4	0.000	0.055	2739	934	1907
20477	1.06	238.4	14.6	9.5	988	20482	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	2350	1907
20679	end climb: SURFACE_DEPTH_REACHED
state	20679	begin surface coast
20702	end surface coast: CONTROL_FINISHED_OK
state	20703	begin surface