Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 268 * 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 268 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 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 -81737.398 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 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 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 -81737.398

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 21 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 268 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 034525,6355.110,-1319.725,24,1.2,41,-12.6 TGT_NAME KE

_CALLS 3 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.218,-0.094

_SM_DEPTHo 2.71 KALMAN_X 302090.9,606.7,1518.1,-559730.3,-6922.9

_SM_ANGLEo -52.4 KALMAN_Y -34697.8,1647.9,1087.6,294936.2,-2848.7

GPS2 040714,6355.157,-1319.544,13,1.4,13,-12.6 MHEAD_RNG_PITCHd_Wd 125.9,12327,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 2.1,1.016295 XPDR_PINGS 3

SM_CCo 17808,101.12,0.754,0,0,603,558.06 _24V_AH 23.2,57.554

SM_GC 2.91,12.23,0.00,0.00,0.028,0.000,0.000,32,1881,602,-11.25,-0.54,558.06 _10V_AH 10.1,28.070

IRIDIUM_FIX 6332.30,-1314.71,120108,070723 DATA_FILE_SIZE 44313,859

TT8_MAMPS 0.026845 CFSIZE 260165632,241696768

HUMID 2028 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,35,0,0

INTERNAL_PRESSURE 9.12144 GPS 120108,091426,6355.077,-1315.989,38,1.0,38,-12.5

TCM_TEMP 16.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 126 77.22 SBE_CT 631 24 351.38

Roll_motor 205 82 392.13 SBE_O2 579 19 255.28

VBD_pump_during_apogee 429 1343 13375.97 WL_BB2F 523 105 1274.05

VBD_pump_during_surface 101 753 1768.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 270.12 nil 0 0 0.00

Iridium_during_connect 109 160 408.17 nil 0 0 0.00

Iridium_during_xfer 832 223 4307.37

Transponder_ping 7 420 70.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.76

TT8 1660 19 332.12

LPSleep 13677 2 302.54

TT8_Active 733 19 146.64

TT8_Sampling 2216 39 891.02

TT8_CF8 1323 45 612.20

TT8_Kalman 33 81 27.56

Analog_circuits 1894 12 229.64

GPS_charging 0 0 0.00

Compass 2164 8 174.91

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.23 -146.6 0.0 0.0 0 100 0.00 0.00 -76.78 0.000 2 0.000 0.000 34 1896 2147

103 -1.23 -146.6 3.0 -0.4 4 220 11.30 2.65 -98.68 0.000 4 0.127 0.077 2223 496 3476

361 -1.23 -146.6 12.2 -9.2 16 366 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1916 3476

688 -1.23 -146.6 49.4 -8.5 32 692 0.00 2.50 0.00 0.000 4 0.000 0.048 2224 3301 3476

743 -1.23 -146.6 56.6 -14.0 34 749 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1899 3476

1058 -1.23 -146.6 85.8 -9.3 50 1063 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3301 3476

1091 -1.23 -146.6 88.8 -8.8 51 1098 0.00 2.55 0.00 0.000 6 0.000 0.044 2224 1903 3476

1409 -1.23 -146.6 116.3 -11.0 67 1413 0.00 2.62 0.00 0.000 4 0.000 0.067 2223 492 3476

1431 -1.23 -146.6 119.1 -11.6 68 1435 0.00 2.47 0.00 0.000 6 0.000 0.041 2224 1904 3476

1751 -1.23 -146.6 155.4 -13.3 84 1755 0.00 2.50 0.00 0.000 4 0.000 0.048 2224 3294 3476

1835 -1.23 -146.6 168.3 -16.1 88 1839 0.00 2.53 0.00 0.000 6 0.000 0.046 2224 1898 3476

2161 -1.23 -146.6 208.5 -8.7 104 2165 0.00 2.55 0.00 0.000 4 0.000 0.050 2224 3300 3476

2228 -1.23 -146.6 214.7 -9.9 107 2232 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1898 3475

2548 -1.23 -146.6 248.3 -10.3 123 2552 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3300 3476

2570 -1.23 -146.6 250.7 -10.6 124 2574 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1895 3475

2890 -1.23 -146.6 281.6 -9.6 140 2894 0.00 2.60 0.00 0.000 4 0.000 0.067 2224 494 3476

2922 -1.23 -146.6 285.2 -10.2 141 2928 0.00 2.47 0.00 0.000 6 0.000 0.043 2223 1907 3475

3237 -1.23 -146.6 313.5 -8.9 157 3241 0.00 2.53 0.00 0.000 4 0.000 0.051 2223 3297 3475

3280 -1.23 -146.6 317.7 -9.8 159 3285 0.00 2.53 0.00 0.000 6 0.000 0.048 2223 1902 3475

3607 -1.23 -146.6 350.0 -10.1 175 3612 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3300 3475

3634 -1.23 -146.6 352.9 -10.6 176 3638 0.00 2.53 0.00 0.000 6 0.000 0.046 2223 1899 3475

3960 -1.23 -146.6 388.3 -11.1 192 3965 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3297 3475

3994 -1.23 -146.6 392.0 -11.5 193 4000 0.00 2.53 0.00 0.000 6 0.000 0.047 2223 1899 3475

4309 -1.23 -146.6 428.6 -11.4 209 4313 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3295 3475

4421 -1.23 -146.6 442.1 -12.0 214 4426 0.00 2.53 0.00 0.000 6 0.000 0.048 2223 1899 3475

4742 -1.23 -146.6 478.0 -11.0 230 4746 0.00 2.55 0.00 0.000 4 0.000 0.052 2223 3300 3474

4786 -1.23 -146.6 482.9 -11.2 232 4790 0.00 2.55 0.00 0.000 6 0.000 0.048 2223 1894 3474

5106 -1.23 -146.6 517.5 -10.6 248 5111 0.00 2.62 0.00 0.000 4 0.000 0.071 2223 489 3475

5139 -1.23 -146.6 521.0 -10.6 249 5146 0.00 2.47 0.00 0.000 6 0.000 0.045 2223 1896 3475

5454 -1.23 -146.6 549.7 -8.6 265 5459 0.00 2.55 0.00 0.000 4 0.000 0.055 2223 3297 3474

5572 -1.23 -146.6 559.1 -6.9 270 5576 0.00 2.55 0.00 0.000 6 0.000 0.051 2223 1896 3475

5893 -1.23 -146.6 588.6 -7.6 286 5897 0.00 2.58 0.00 0.000 4 0.000 0.056 2223 3295 3475

6068 -1.23 -146.6 606.6 -10.1 294 6072 0.00 2.53 0.00 0.000 6 0.000 0.051 2224 1901 3475

6393 -1.23 -146.6 633.4 -8.1 310 6398 0.00 2.58 0.00 0.000 4 0.000 0.061 2223 3303 3474

6459 -1.23 -146.6 639.9 -9.6 313 6464 0.00 2.55 0.00 0.000 6 0.000 0.054 2223 1901 3474

6787 -1.23 -146.6 662.7 -7.0 329 6788 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3473

7096 -1.23 -146.6 682.8 -6.2 344 7100 0.00 2.58 0.00 0.000 4 0.000 0.061 2223 3297 3474

7190 -1.23 -146.6 689.6 -7.1 348 7194 0.00 2.58 0.00 0.000 6 0.000 0.054 2223 1896 3473

7506 -1.23 -146.6 713.7 -7.9 363 7510 0.00 2.60 0.00 0.000 4 0.000 0.062 2223 3297 3472

7568 -1.23 -146.6 720.1 -10.3 366 7572 0.00 2.55 0.00 0.000 6 0.000 0.057 2223 1901 3472

7894 -1.23 -146.6 758.1 -12.4 382 7898 0.00 2.60 0.00 0.000 4 0.000 0.064 2223 3295 3472

7933 -1.23 -146.6 761.7 -8.2 384 7937 0.00 2.55 0.00 0.000 6 0.000 0.057 2223 1901 3472

8259 -1.23 -146.6 785.1 -0.7 400 8263 0.00 2.67 0.00 0.000 4 0.000 0.082 2223 495 3471

8516 -1.23 -146.6 785.0 0.1 411 8522 0.00 2.53 0.00 0.000 6 0.000 0.056 2223 1899 3471

8664 end dive: NO_VERTICAL_VELOCITY

state 8664 begin apogee

8670 -0.36 0.0 785.0 0.0 419 8798 0.88 0.00 124.62 1.344 6 0.056 0.000 2423 2104 2877

8799 end apogee: CONTROL_FINISHED_OK

state 8799 begin climb

8801 1.23 146.6 784.9 0.0 425 8933 1.50 2.70 123.12 1.296 4 0.047 0.068 2765 3503 2280

9188 1.23 149.6 761.0 7.9 442 9198 0.00 2.62 3.90 1.179 6 0.000 0.058 2765 2097 2266

9525 1.23 149.6 737.2 8.9 459 9529 0.00 2.65 0.00 0.000 4 0.000 0.065 2765 3499 2266

9782 1.26 173.3 715.8 7.1 470 9809 0.00 2.58 20.27 1.305 6 0.000 0.055 2765 2098 2171

10118 1.30 204.9 692.0 6.8 487 10153 0.00 2.72 27.35 1.288 4 0.000 0.064 2765 3499 2042

10362 1.30 204.9 672.2 9.0 498 10366 0.00 2.58 0.00 0.000 6 0.000 0.053 2765 2100 2041

10688 1.31 213.9 647.5 7.7 514 10702 0.00 2.67 8.43 1.267 4 0.000 0.061 2765 3495 2006

10804 1.31 213.9 637.7 8.3 519 10809 0.00 2.58 0.00 0.000 6 0.000 0.052 2765 2099 2006

11125 1.33 226.9 613.7 7.5 535 11139 0.00 0.00 12.02 1.257 6 0.000 0.000 2765 2099 1952

11434 1.33 229.5 587.3 7.9 550 11443 0.00 2.65 3.45 1.142 4 0.000 0.059 2765 3498 1942

11461 1.33 229.5 584.3 10.3 551 11465 0.00 2.55 0.00 0.000 6 0.000 0.048 2765 2099 1942

11788 1.35 246.1 560.6 7.4 567 11810 0.10 2.65 14.60 1.213 4 0.063 0.058 2796 3500 1873

11878 1.35 246.1 551.0 10.0 571 11883 0.00 2.58 0.00 0.000 6 0.000 0.050 2795 2095 1874

12205 1.38 268.0 521.5 7.2 587 12229 0.00 2.65 19.12 1.178 4 0.000 0.057 2795 3499 1785

12324 1.38 268.0 510.8 9.3 592 12329 0.00 2.55 0.00 0.000 6 0.000 0.048 2795 2098 1785

12645 1.38 268.0 482.3 8.5 608 12650 0.00 2.58 0.00 0.000 4 0.000 0.056 2795 3499 1785

12730 1.38 268.0 475.0 9.1 612 12734 0.00 2.55 0.00 0.000 6 0.000 0.048 2795 2093 1785

13056 1.38 268.0 444.7 10.4 628 13060 0.00 2.60 0.00 0.000 4 0.000 0.055 2795 3500 1785

13155 1.38 268.0 433.8 10.7 632 13162 0.00 2.53 0.00 0.000 6 0.000 0.046 2795 2096 1785

13471 1.38 268.0 402.0 9.9 648 13475 0.00 2.55 0.00 0.000 4 0.000 0.054 2795 3500 1785

13532 1.38 268.0 395.1 11.4 651 13537 0.00 2.53 0.00 0.000 6 0.000 0.046 2795 2098 1785

13859 1.38 268.0 359.1 10.7 667 13860 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2098 1786

14168 1.38 268.0 327.1 10.3 682 14172 0.00 2.58 0.00 0.000 4 0.000 0.052 2795 3504 1786

14200 1.38 268.0 323.8 9.8 683 14206 0.00 2.53 0.00 0.000 6 0.000 0.044 2795 2098 1787

14516 1.38 268.0 294.5 8.8 699 14517 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2098 1787

14825 1.38 268.0 264.9 10.0 714 14830 0.00 2.55 0.00 0.000 4 0.000 0.052 2796 3501 1787

14858 1.38 268.0 261.5 10.7 715 14865 0.00 2.53 0.00 0.000 6 0.000 0.044 2795 2105 1787

15174 1.38 268.0 230.2 10.4 731 15178 0.00 2.55 0.00 0.000 4 0.000 0.051 2795 3500 1788

15196 1.38 268.0 227.9 10.7 732 15200 0.00 2.53 0.00 0.000 6 0.000 0.042 2795 2092 1788

15516 1.44 320.2 203.8 6.0 748 15566 0.00 2.67 42.65 0.935 4 0.000 0.051 2795 3500 1572

15601 1.46 331.1 196.9 7.6 752 15615 0.00 2.55 9.27 0.933 6 0.000 0.044 2795 2094 1528

15931 1.46 331.1 161.8 10.6 768 15936 0.00 2.60 0.00 0.000 4 0.000 0.065 2795 694 1528

15958 1.46 331.1 158.8 10.8 769 15963 0.00 2.47 0.00 0.000 6 0.000 0.041 2795 2105 1528

16280 1.46 331.1 126.4 11.2 785 16284 0.00 2.65 0.00 0.000 4 0.000 0.064 2795 689 1528

16301 1.46 331.1 123.7 11.9 786 16305 0.00 2.50 0.00 0.000 6 0.000 0.041 2795 2103 1528

16622 1.46 331.1 86.9 11.8 802 16627 0.00 2.62 0.00 0.000 4 0.000 0.064 2795 693 1529

16650 1.46 331.1 83.7 11.4 803 16654 0.00 2.50 0.00 0.000 6 0.000 0.041 2795 2107 1528

16966 1.46 331.1 50.0 11.0 818 16970 0.00 2.62 0.00 0.000 4 0.000 0.063 2795 694 1528

16975 1.46 331.1 48.4 11.2 818 16982 0.00 2.50 0.00 0.000 6 0.000 0.041 2795 2099 1529

17291 1.46 331.1 15.4 12.7 834 17295 0.00 2.62 0.00 0.000 4 0.000 0.064 2795 694 1528

17312 1.46 331.1 13.4 9.1 835 17316 0.00 2.47 0.00 0.000 6 0.000 0.041 2795 2103 1529

17640 1.71 539.2 2.1 0.1 851 17663 0.30 0.00 20.23 0.825 2 0.058 0.000 2868 2111 1418

17664 end climb: SURFACE_DEPTH_REACHED

state 17664 begin surface coast

17804 end surface coast: NO_VERTICAL_VELOCITY

state 17804 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	268	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	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	-81737.398	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	034525,6355.110,-1319.725,24,1.2,41,-12.6	TGT_NAME	KE
_CALLS	3	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.218,-0.094
_SM_DEPTHo	2.71	KALMAN_X	302090.9,606.7,1518.1,-559730.3,-6922.9
_SM_ANGLEo	-52.4	KALMAN_Y	-34697.8,1647.9,1087.6,294936.2,-2848.7
GPS2	040714,6355.157,-1319.544,13,1.4,13,-12.6	MHEAD_RNG_PITCHd_Wd	125.9,12327,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	2.1,1.016295	XPDR_PINGS	3
SM_CCo	17808,101.12,0.754,0,0,603,558.06	_24V_AH	23.2,57.554
SM_GC	2.91,12.23,0.00,0.00,0.028,0.000,0.000,32,1881,602,-11.25,-0.54,558.06	_10V_AH	10.1,28.070
IRIDIUM_FIX	6332.30,-1314.71,120108,070723	DATA_FILE_SIZE	44313,859
TT8_MAMPS	0.026845	CFSIZE	260165632,241696768
HUMID	2028	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,35,0,0
INTERNAL_PRESSURE	9.12144	GPS	120108,091426,6355.077,-1315.989,38,1.0,38,-12.5
TCM_TEMP	16.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	126	77.22	SBE_CT	631	24	351.38
Roll_motor	205	82	392.13	SBE_O2	579	19	255.28
VBD_pump_during_apogee	429	1343	13375.97	WL_BB2F	523	105	1274.05
VBD_pump_during_surface	101	753	1768.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	270.12	nil	0	0	0.00
Iridium_during_connect	109	160	408.17	nil	0	0	0.00
Iridium_during_xfer	832	223	4307.37
Transponder_ping	7	420	70.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.76
TT8	1660	19	332.12
LPSleep	13677	2	302.54
TT8_Active	733	19	146.64
TT8_Sampling	2216	39	891.02
TT8_CF8	1323	45	612.20
TT8_Kalman	33	81	27.56
Analog_circuits	1894	12	229.64
GPS_charging	0	0	0.00
Compass	2164	8	174.91
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.23	-146.6	0.0	0.0	0	100	0.00	0.00	-76.78	0.000	2	0.000	0.000	34	1896	2147
103	-1.23	-146.6	3.0	-0.4	4	220	11.30	2.65	-98.68	0.000	4	0.127	0.077	2223	496	3476
361	-1.23	-146.6	12.2	-9.2	16	366	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1916	3476
688	-1.23	-146.6	49.4	-8.5	32	692	0.00	2.50	0.00	0.000	4	0.000	0.048	2224	3301	3476
743	-1.23	-146.6	56.6	-14.0	34	749	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1899	3476
1058	-1.23	-146.6	85.8	-9.3	50	1063	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3301	3476
1091	-1.23	-146.6	88.8	-8.8	51	1098	0.00	2.55	0.00	0.000	6	0.000	0.044	2224	1903	3476
1409	-1.23	-146.6	116.3	-11.0	67	1413	0.00	2.62	0.00	0.000	4	0.000	0.067	2223	492	3476
1431	-1.23	-146.6	119.1	-11.6	68	1435	0.00	2.47	0.00	0.000	6	0.000	0.041	2224	1904	3476
1751	-1.23	-146.6	155.4	-13.3	84	1755	0.00	2.50	0.00	0.000	4	0.000	0.048	2224	3294	3476
1835	-1.23	-146.6	168.3	-16.1	88	1839	0.00	2.53	0.00	0.000	6	0.000	0.046	2224	1898	3476
2161	-1.23	-146.6	208.5	-8.7	104	2165	0.00	2.55	0.00	0.000	4	0.000	0.050	2224	3300	3476
2228	-1.23	-146.6	214.7	-9.9	107	2232	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1898	3475
2548	-1.23	-146.6	248.3	-10.3	123	2552	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3300	3476
2570	-1.23	-146.6	250.7	-10.6	124	2574	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1895	3475
2890	-1.23	-146.6	281.6	-9.6	140	2894	0.00	2.60	0.00	0.000	4	0.000	0.067	2224	494	3476
2922	-1.23	-146.6	285.2	-10.2	141	2928	0.00	2.47	0.00	0.000	6	0.000	0.043	2223	1907	3475
3237	-1.23	-146.6	313.5	-8.9	157	3241	0.00	2.53	0.00	0.000	4	0.000	0.051	2223	3297	3475
3280	-1.23	-146.6	317.7	-9.8	159	3285	0.00	2.53	0.00	0.000	6	0.000	0.048	2223	1902	3475
3607	-1.23	-146.6	350.0	-10.1	175	3612	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3300	3475
3634	-1.23	-146.6	352.9	-10.6	176	3638	0.00	2.53	0.00	0.000	6	0.000	0.046	2223	1899	3475
3960	-1.23	-146.6	388.3	-11.1	192	3965	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3297	3475
3994	-1.23	-146.6	392.0	-11.5	193	4000	0.00	2.53	0.00	0.000	6	0.000	0.047	2223	1899	3475
4309	-1.23	-146.6	428.6	-11.4	209	4313	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3295	3475
4421	-1.23	-146.6	442.1	-12.0	214	4426	0.00	2.53	0.00	0.000	6	0.000	0.048	2223	1899	3475
4742	-1.23	-146.6	478.0	-11.0	230	4746	0.00	2.55	0.00	0.000	4	0.000	0.052	2223	3300	3474
4786	-1.23	-146.6	482.9	-11.2	232	4790	0.00	2.55	0.00	0.000	6	0.000	0.048	2223	1894	3474
5106	-1.23	-146.6	517.5	-10.6	248	5111	0.00	2.62	0.00	0.000	4	0.000	0.071	2223	489	3475
5139	-1.23	-146.6	521.0	-10.6	249	5146	0.00	2.47	0.00	0.000	6	0.000	0.045	2223	1896	3475
5454	-1.23	-146.6	549.7	-8.6	265	5459	0.00	2.55	0.00	0.000	4	0.000	0.055	2223	3297	3474
5572	-1.23	-146.6	559.1	-6.9	270	5576	0.00	2.55	0.00	0.000	6	0.000	0.051	2223	1896	3475
5893	-1.23	-146.6	588.6	-7.6	286	5897	0.00	2.58	0.00	0.000	4	0.000	0.056	2223	3295	3475
6068	-1.23	-146.6	606.6	-10.1	294	6072	0.00	2.53	0.00	0.000	6	0.000	0.051	2224	1901	3475
6393	-1.23	-146.6	633.4	-8.1	310	6398	0.00	2.58	0.00	0.000	4	0.000	0.061	2223	3303	3474
6459	-1.23	-146.6	639.9	-9.6	313	6464	0.00	2.55	0.00	0.000	6	0.000	0.054	2223	1901	3474
6787	-1.23	-146.6	662.7	-7.0	329	6788	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3473
7096	-1.23	-146.6	682.8	-6.2	344	7100	0.00	2.58	0.00	0.000	4	0.000	0.061	2223	3297	3474
7190	-1.23	-146.6	689.6	-7.1	348	7194	0.00	2.58	0.00	0.000	6	0.000	0.054	2223	1896	3473
7506	-1.23	-146.6	713.7	-7.9	363	7510	0.00	2.60	0.00	0.000	4	0.000	0.062	2223	3297	3472
7568	-1.23	-146.6	720.1	-10.3	366	7572	0.00	2.55	0.00	0.000	6	0.000	0.057	2223	1901	3472
7894	-1.23	-146.6	758.1	-12.4	382	7898	0.00	2.60	0.00	0.000	4	0.000	0.064	2223	3295	3472
7933	-1.23	-146.6	761.7	-8.2	384	7937	0.00	2.55	0.00	0.000	6	0.000	0.057	2223	1901	3472
8259	-1.23	-146.6	785.1	-0.7	400	8263	0.00	2.67	0.00	0.000	4	0.000	0.082	2223	495	3471
8516	-1.23	-146.6	785.0	0.1	411	8522	0.00	2.53	0.00	0.000	6	0.000	0.056	2223	1899	3471
8664	end dive: NO_VERTICAL_VELOCITY
state	8664	begin apogee
8670	-0.36	0.0	785.0	0.0	419	8798	0.88	0.00	124.62	1.344	6	0.056	0.000	2423	2104	2877
8799	end apogee: CONTROL_FINISHED_OK
state	8799	begin climb
8801	1.23	146.6	784.9	0.0	425	8933	1.50	2.70	123.12	1.296	4	0.047	0.068	2765	3503	2280
9188	1.23	149.6	761.0	7.9	442	9198	0.00	2.62	3.90	1.179	6	0.000	0.058	2765	2097	2266
9525	1.23	149.6	737.2	8.9	459	9529	0.00	2.65	0.00	0.000	4	0.000	0.065	2765	3499	2266
9782	1.26	173.3	715.8	7.1	470	9809	0.00	2.58	20.27	1.305	6	0.000	0.055	2765	2098	2171
10118	1.30	204.9	692.0	6.8	487	10153	0.00	2.72	27.35	1.288	4	0.000	0.064	2765	3499	2042
10362	1.30	204.9	672.2	9.0	498	10366	0.00	2.58	0.00	0.000	6	0.000	0.053	2765	2100	2041
10688	1.31	213.9	647.5	7.7	514	10702	0.00	2.67	8.43	1.267	4	0.000	0.061	2765	3495	2006
10804	1.31	213.9	637.7	8.3	519	10809	0.00	2.58	0.00	0.000	6	0.000	0.052	2765	2099	2006
11125	1.33	226.9	613.7	7.5	535	11139	0.00	0.00	12.02	1.257	6	0.000	0.000	2765	2099	1952
11434	1.33	229.5	587.3	7.9	550	11443	0.00	2.65	3.45	1.142	4	0.000	0.059	2765	3498	1942
11461	1.33	229.5	584.3	10.3	551	11465	0.00	2.55	0.00	0.000	6	0.000	0.048	2765	2099	1942
11788	1.35	246.1	560.6	7.4	567	11810	0.10	2.65	14.60	1.213	4	0.063	0.058	2796	3500	1873
11878	1.35	246.1	551.0	10.0	571	11883	0.00	2.58	0.00	0.000	6	0.000	0.050	2795	2095	1874
12205	1.38	268.0	521.5	7.2	587	12229	0.00	2.65	19.12	1.178	4	0.000	0.057	2795	3499	1785
12324	1.38	268.0	510.8	9.3	592	12329	0.00	2.55	0.00	0.000	6	0.000	0.048	2795	2098	1785
12645	1.38	268.0	482.3	8.5	608	12650	0.00	2.58	0.00	0.000	4	0.000	0.056	2795	3499	1785
12730	1.38	268.0	475.0	9.1	612	12734	0.00	2.55	0.00	0.000	6	0.000	0.048	2795	2093	1785
13056	1.38	268.0	444.7	10.4	628	13060	0.00	2.60	0.00	0.000	4	0.000	0.055	2795	3500	1785
13155	1.38	268.0	433.8	10.7	632	13162	0.00	2.53	0.00	0.000	6	0.000	0.046	2795	2096	1785
13471	1.38	268.0	402.0	9.9	648	13475	0.00	2.55	0.00	0.000	4	0.000	0.054	2795	3500	1785
13532	1.38	268.0	395.1	11.4	651	13537	0.00	2.53	0.00	0.000	6	0.000	0.046	2795	2098	1785
13859	1.38	268.0	359.1	10.7	667	13860	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2098	1786
14168	1.38	268.0	327.1	10.3	682	14172	0.00	2.58	0.00	0.000	4	0.000	0.052	2795	3504	1786
14200	1.38	268.0	323.8	9.8	683	14206	0.00	2.53	0.00	0.000	6	0.000	0.044	2795	2098	1787
14516	1.38	268.0	294.5	8.8	699	14517	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2098	1787
14825	1.38	268.0	264.9	10.0	714	14830	0.00	2.55	0.00	0.000	4	0.000	0.052	2796	3501	1787
14858	1.38	268.0	261.5	10.7	715	14865	0.00	2.53	0.00	0.000	6	0.000	0.044	2795	2105	1787
15174	1.38	268.0	230.2	10.4	731	15178	0.00	2.55	0.00	0.000	4	0.000	0.051	2795	3500	1788
15196	1.38	268.0	227.9	10.7	732	15200	0.00	2.53	0.00	0.000	6	0.000	0.042	2795	2092	1788
15516	1.44	320.2	203.8	6.0	748	15566	0.00	2.67	42.65	0.935	4	0.000	0.051	2795	3500	1572
15601	1.46	331.1	196.9	7.6	752	15615	0.00	2.55	9.27	0.933	6	0.000	0.044	2795	2094	1528
15931	1.46	331.1	161.8	10.6	768	15936	0.00	2.60	0.00	0.000	4	0.000	0.065	2795	694	1528
15958	1.46	331.1	158.8	10.8	769	15963	0.00	2.47	0.00	0.000	6	0.000	0.041	2795	2105	1528
16280	1.46	331.1	126.4	11.2	785	16284	0.00	2.65	0.00	0.000	4	0.000	0.064	2795	689	1528
16301	1.46	331.1	123.7	11.9	786	16305	0.00	2.50	0.00	0.000	6	0.000	0.041	2795	2103	1528
16622	1.46	331.1	86.9	11.8	802	16627	0.00	2.62	0.00	0.000	4	0.000	0.064	2795	693	1529
16650	1.46	331.1	83.7	11.4	803	16654	0.00	2.50	0.00	0.000	6	0.000	0.041	2795	2107	1528
16966	1.46	331.1	50.0	11.0	818	16970	0.00	2.62	0.00	0.000	4	0.000	0.063	2795	694	1528
16975	1.46	331.1	48.4	11.2	818	16982	0.00	2.50	0.00	0.000	6	0.000	0.041	2795	2099	1529
17291	1.46	331.1	15.4	12.7	834	17295	0.00	2.62	0.00	0.000	4	0.000	0.064	2795	694	1528
17312	1.46	331.1	13.4	9.1	835	17316	0.00	2.47	0.00	0.000	6	0.000	0.041	2795	2103	1529
17640	1.71	539.2	2.1	0.1	851	17663	0.30	0.00	20.23	0.825	2	0.058	0.000	2868	2111	1418
17664	end climb: SURFACE_DEPTH_REACHED
state	17664	begin surface coast
17804	end surface coast: NO_VERTICAL_VELOCITY
state	17804	begin surface