Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 287 * 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 287 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -82050.727 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 -82050.727

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 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 287 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 173938,6347.368,-1319.500,38,1.0,38,-12.5 TGT_NAME JE

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.060,-0.230

_SM_DEPTHo 2.57 KALMAN_X 348039.4,428.7,634.0,-604606.0,-1683.3

_SM_ANGLEo -60.6 KALMAN_Y 30888.4,-2979.0,-1640.3,222391.9,23322.9

GPS2 174544,6347.385,-1319.653,10,1.3,10,-12.5 MHEAD_RNG_PITCHd_Wd 207.0,23256,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.8,1.027412 XPDR_PINGS 1

SM_CCo 18508,32.97,0.841,4,0,1654,300.00 _24V_AH 23.1,60.866

SM_GC 2.50,0.00,0.00,32.97,0.000,0.000,0.841,31,1893,1654,-11.33,-0.20,300.00 _10V_AH 10.1,29.544

IRIDIUM_FIX 6322.64,-1340.92,150108,161635 DATA_FILE_SIZE 44217,889

TT8_MAMPS 0.026078 CFSIZE 260165632,240656384

HUMID 2074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,4,0

INTERNAL_PRESSURE 9.2191 GPS 150108,225708,6346.053,-1323.241,31,1.2,31,-12.6

TCM_TEMP 18.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 135 81.62 SBE_CT 656 24 364.07

Roll_motor 190 79 351.85 SBE_O2 600 19 263.50

VBD_pump_during_apogee 354 1425 11669.14 WL_BB2F 492 105 1193.89

VBD_pump_during_surface 32 841 640.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 90.58 nil 0 0 0.00

Iridium_during_connect 35 160 131.26 nil 0 0 0.00

Iridium_during_xfer 180 223 929.10

Transponder_ping 8 420 77.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.08

TT8 1678 19 335.63

LPSleep 14035 2 310.45

TT8_Active 595 19 119.02

TT8_Sampling 2101 39 844.87

TT8_CF8 519 45 240.22

TT8_Kalman 33 81 27.57

Analog_circuits 1674 12 202.91

GPS_charging 0 0 0.00

Compass 2056 8 166.13

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.23 -146.6 0.0 0.0 0 106 0.00 0.00 -81.25 0.000 2 0.000 0.000 28 1887 2532

109 -1.23 -146.6 3.6 -1.6 4 172 11.55 2.62 -40.58 0.000 4 0.136 0.079 2225 499 3476

269 -1.23 -146.6 18.6 -12.8 11 273 0.00 2.47 0.00 0.000 6 0.000 0.042 2224 1896 3476

591 -1.23 -146.6 50.8 -11.6 27 595 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3297 3476

653 -1.23 -146.6 58.5 -11.8 30 657 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1899 3476

979 -1.23 -146.6 100.5 -11.5 46 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1899 3476

1288 -1.23 -146.6 132.0 -11.2 61 1292 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3300 3476

1343 -1.23 -146.6 137.1 -8.6 63 1349 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1898 3476

1658 -1.23 -146.6 163.9 -7.4 79 1663 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3306 3476

1691 -1.23 -146.6 165.9 -6.0 80 1698 0.00 2.53 0.00 0.000 6 0.000 0.044 2225 1902 3476

2008 -1.23 -146.6 192.4 -11.3 96 2012 0.00 2.53 0.00 0.000 4 0.000 0.048 2225 3301 3476

2057 -1.23 -146.6 197.0 -8.4 98 2061 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1892 3476

2381 -1.23 -146.6 225.1 -6.5 114 2382 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1892 3476

2688 -1.23 -146.6 257.4 -9.6 129 2692 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3302 3476

2798 -1.23 -146.6 273.7 -14.1 134 2802 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1900 3476

3125 -1.23 -146.6 324.5 -16.0 150 3126 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1900 3476

3435 -1.23 -146.6 362.4 -10.6 165 3436 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3476

3744 -1.23 -146.6 394.6 -9.2 180 3748 0.00 2.53 0.00 0.000 4 0.000 0.051 2225 3298 3476

3817 -1.23 -146.6 401.0 -7.8 183 3822 0.00 2.53 0.00 0.000 6 0.000 0.045 2224 1894 3476

4132 -1.23 -146.6 435.7 -12.4 198 4133 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1895 3476

4444 -1.23 -146.6 475.1 -12.9 213 4448 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3299 3476

4506 -1.23 -146.6 483.4 -11.6 216 4510 0.00 2.53 0.00 0.000 6 0.000 0.047 2224 1901 3476

4832 -1.23 -146.6 517.5 -10.8 232 4836 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3298 3476

4899 -1.23 -146.6 525.1 -11.0 235 4903 0.00 2.53 0.00 0.000 6 0.000 0.047 2225 1899 3476

5220 -1.23 -146.6 558.6 -9.6 251 5224 0.00 2.55 0.00 0.000 4 0.000 0.052 2224 3297 3476

5252 -1.23 -146.6 561.9 -9.3 252 5258 0.00 2.55 0.00 0.000 6 0.000 0.048 2225 1894 3476

5568 -1.23 -146.6 590.1 -9.1 268 5572 0.00 2.58 0.00 0.000 4 0.000 0.054 2225 3301 3476

5589 -1.23 -146.6 592.2 -9.4 269 5594 0.00 2.55 0.00 0.000 6 0.000 0.048 2224 1896 3476

5910 -1.23 -146.6 622.5 -8.6 285 5911 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1896 3476

6220 -1.23 -146.6 651.5 -10.1 300 6225 0.00 2.65 0.00 0.000 4 0.000 0.074 2225 489 3476

6282 -1.23 -146.6 657.2 -8.9 303 6286 0.00 2.50 0.00 0.000 6 0.000 0.047 2225 1897 3476

6607 -1.23 -146.6 687.0 -9.6 319 6612 0.00 2.58 0.00 0.000 4 0.000 0.060 2224 3301 3476

6783 -1.23 -146.6 706.7 -11.9 327 6788 0.00 2.58 0.00 0.000 6 0.000 0.054 2224 1897 3476

7110 -1.23 -146.6 743.6 -11.7 343 7114 0.00 2.60 0.00 0.000 4 0.000 0.061 2225 3304 3476

7148 -1.23 -146.6 748.2 -13.2 345 7153 0.00 2.58 0.00 0.000 6 0.000 0.054 2224 1902 3476

7475 -1.23 -146.6 785.8 -8.9 361 7480 0.00 2.65 0.00 0.000 4 0.000 0.077 2224 493 3476

7519 -1.23 -146.6 789.6 -8.6 363 7523 0.00 2.53 0.00 0.000 6 0.000 0.054 2225 1900 3476

7846 -1.23 -146.6 817.3 -9.3 379 7850 0.00 2.60 0.00 0.000 4 0.000 0.064 2224 3303 3475

7907 -1.23 -146.6 823.4 -10.4 382 7912 0.00 2.58 0.00 0.000 6 0.000 0.060 2224 1903 3475

8233 -1.23 -146.6 857.3 -10.7 398 8234 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3474

8543 -1.23 -146.6 885.4 -7.6 413 8544 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1903 3473

8852 -1.23 -146.6 912.9 -8.7 428 8856 0.00 2.60 0.00 0.000 4 0.000 0.067 2224 3303 3474

9111 -1.23 -146.6 917.6 0.2 439 9117 0.00 2.60 0.00 0.000 6 0.000 0.061 2224 1899 3473

9238 end dive: NO_VERTICAL_VELOCITY

state 9238 begin apogee

9244 -0.36 0.0 917.5 0.0 446 9374 0.88 0.00 126.65 1.425 6 0.060 0.000 2422 2101 2878

9375 end apogee: CONTROL_FINISHED_OK

state 9375 begin climb

9377 1.23 146.6 917.2 0.0 452 9512 1.50 2.80 124.82 1.394 4 0.047 0.080 2763 690 2279

9632 1.23 146.6 902.6 8.7 464 9637 0.00 2.60 0.00 0.000 6 0.000 0.054 2764 2104 2279

9959 1.25 169.0 880.0 7.2 480 9983 0.00 2.67 19.70 1.393 4 0.000 0.068 2763 3502 2189

10079 1.25 169.0 869.8 9.0 485 10084 0.00 2.62 0.00 0.000 6 0.000 0.058 2763 2095 2188

10395 1.29 197.1 846.6 6.9 500 10425 0.00 2.70 24.73 1.394 4 0.000 0.065 2763 3503 2074

10520 1.29 197.1 836.7 8.3 505 10527 0.00 2.60 0.00 0.000 6 0.000 0.056 2764 2097 2073

10836 1.29 197.1 803.7 11.5 521 10840 0.00 2.62 0.00 0.000 4 0.000 0.064 2763 3503 2073

10862 1.29 197.1 800.3 12.7 522 10867 0.00 2.58 0.00 0.000 6 0.000 0.055 2763 2102 2073

11184 1.29 197.1 763.6 9.6 538 11185 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2102 2073

11493 1.33 229.6 735.8 6.8 553 11527 0.00 2.70 27.80 1.353 4 0.000 0.061 2764 3499 1941

11590 1.33 229.6 726.5 10.6 557 11595 0.00 2.58 0.00 0.000 6 0.000 0.053 2763 2098 1941

11905 1.33 229.6 698.0 10.3 572 11906 0.00 0.00 0.00 0.000 6 0.000 0.000 2764 2098 1941

12214 1.33 229.6 668.3 9.2 587 12219 0.00 2.60 0.00 0.000 4 0.000 0.059 2763 3504 1940

12254 1.33 229.6 664.9 8.8 589 12259 0.00 2.58 0.00 0.000 6 0.000 0.050 2763 2093 1940

12580 1.37 265.6 641.4 6.6 605 12617 0.15 2.70 30.77 1.278 4 0.051 0.058 2804 3507 1794

12650 1.37 265.6 635.5 9.0 607 12654 0.00 2.58 0.00 0.000 6 0.000 0.050 2804 2100 1794

12966 1.37 265.6 610.1 8.8 622 12967 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2100 1794

13275 1.37 265.6 573.6 12.9 637 13279 0.00 2.60 0.00 0.000 4 0.000 0.055 2804 3510 1794

13325 1.37 265.6 566.5 14.9 639 13329 0.00 2.58 0.00 0.000 6 0.000 0.047 2804 2099 1795

13640 1.37 265.6 526.7 11.4 654 13645 0.00 2.58 0.00 0.000 4 0.000 0.054 2804 3506 1795

13695 1.37 265.6 519.9 11.9 656 13703 0.00 2.55 0.00 0.000 6 0.000 0.048 2805 2095 1795

14011 1.37 265.6 483.2 11.7 672 14016 0.00 2.60 0.00 0.000 4 0.000 0.054 2804 3506 1796

14061 1.37 265.6 477.0 11.8 674 14065 0.00 2.53 0.00 0.000 6 0.000 0.046 2804 2101 1796

14382 1.37 265.6 438.0 12.8 690 14386 0.00 2.60 0.00 0.000 4 0.000 0.054 2805 3510 1796

14436 1.37 265.6 431.3 11.8 692 14443 0.00 2.55 0.00 0.000 6 0.000 0.047 2804 2096 1796

14752 1.37 265.6 397.3 10.5 708 14757 0.00 2.60 0.00 0.000 4 0.000 0.054 2804 3509 1796

14815 1.37 265.6 390.7 10.0 711 14819 0.00 2.55 0.00 0.000 6 0.000 0.046 2804 2096 1797

15141 1.37 265.6 353.4 11.7 727 15145 0.00 2.60 0.00 0.000 4 0.000 0.052 2804 3512 1797

15161 1.37 265.6 350.8 11.6 728 15166 0.00 2.53 0.00 0.000 6 0.000 0.044 2804 2099 1797

15488 1.37 265.6 317.8 9.4 744 15489 0.00 0.00 0.00 0.000 6 0.000 0.000 2804 2099 1797

15797 1.37 265.6 282.6 12.1 759 15802 0.00 2.58 0.00 0.000 4 0.000 0.051 2804 3507 1797

15839 1.37 265.6 277.8 11.4 761 15844 0.00 2.53 0.00 0.000 6 0.000 0.043 2804 2095 1798

16165 1.37 265.6 243.4 9.1 777 16170 0.00 2.58 0.00 0.000 4 0.000 0.051 2804 3506 1798

16266 1.37 265.6 233.0 12.1 781 16272 0.00 2.50 0.00 0.000 6 0.000 0.043 2805 2100 1798

16581 1.37 265.6 202.7 9.8 797 16585 0.00 2.55 0.00 0.000 4 0.000 0.051 2805 3507 1798

16665 1.37 265.6 193.9 11.3 801 16669 0.00 2.53 0.00 0.000 6 0.000 0.043 2804 2092 1798

16991 1.37 265.6 162.6 10.5 817 16995 0.00 2.58 0.00 0.000 4 0.000 0.051 2805 3506 1798

17057 1.37 265.6 154.6 11.0 820 17061 0.00 2.50 0.00 0.000 6 0.000 0.042 2804 2098 1798

17386 1.37 265.6 118.2 11.3 836 17387 0.00 0.00 0.00 0.000 6 0.000 0.000 2805 2098 1799

17694 1.37 265.6 88.9 11.7 851 17698 0.00 2.58 0.00 0.000 4 0.000 0.050 2804 3510 1799

17726 1.37 265.6 85.0 11.3 852 17733 0.00 2.50 0.00 0.000 6 0.000 0.040 2804 2098 1799

18042 1.37 265.6 49.4 11.2 868 18046 0.00 2.55 0.00 0.000 4 0.000 0.049 2804 3506 1799

18097 1.37 265.6 44.1 9.4 870 18103 0.00 2.50 0.00 0.000 6 0.000 0.041 2804 2095 1799

18412 1.37 265.6 8.9 9.8 886 18417 0.00 2.58 0.00 0.000 4 0.000 0.049 2804 3512 1799

18477 end climb: SURFACE_DEPTH_REACHED

state 18477 begin surface coast

18483 end surface coast: CONTROL_FINISHED_OK

state 18483 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	287	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-82050.727	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	173938,6347.368,-1319.500,38,1.0,38,-12.5	TGT_NAME	JE
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.060,-0.230
_SM_DEPTHo	2.57	KALMAN_X	348039.4,428.7,634.0,-604606.0,-1683.3
_SM_ANGLEo	-60.6	KALMAN_Y	30888.4,-2979.0,-1640.3,222391.9,23322.9
GPS2	174544,6347.385,-1319.653,10,1.3,10,-12.5	MHEAD_RNG_PITCHd_Wd	207.0,23256,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	1.8,1.027412	XPDR_PINGS	1
SM_CCo	18508,32.97,0.841,4,0,1654,300.00	_24V_AH	23.1,60.866
SM_GC	2.50,0.00,0.00,32.97,0.000,0.000,0.841,31,1893,1654,-11.33,-0.20,300.00	_10V_AH	10.1,29.544
IRIDIUM_FIX	6322.64,-1340.92,150108,161635	DATA_FILE_SIZE	44217,889
TT8_MAMPS	0.026078	CFSIZE	260165632,240656384
HUMID	2074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,4,0
INTERNAL_PRESSURE	9.2191	GPS	150108,225708,6346.053,-1323.241,31,1.2,31,-12.6
TCM_TEMP	18.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	135	81.62	SBE_CT	656	24	364.07
Roll_motor	190	79	351.85	SBE_O2	600	19	263.50
VBD_pump_during_apogee	354	1425	11669.14	WL_BB2F	492	105	1193.89
VBD_pump_during_surface	32	841	640.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	90.58	nil	0	0	0.00
Iridium_during_connect	35	160	131.26	nil	0	0	0.00
Iridium_during_xfer	180	223	929.10
Transponder_ping	8	420	77.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.08
TT8	1678	19	335.63
LPSleep	14035	2	310.45
TT8_Active	595	19	119.02
TT8_Sampling	2101	39	844.87
TT8_CF8	519	45	240.22
TT8_Kalman	33	81	27.57
Analog_circuits	1674	12	202.91
GPS_charging	0	0	0.00
Compass	2056	8	166.13
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.23	-146.6	0.0	0.0	0	106	0.00	0.00	-81.25	0.000	2	0.000	0.000	28	1887	2532
109	-1.23	-146.6	3.6	-1.6	4	172	11.55	2.62	-40.58	0.000	4	0.136	0.079	2225	499	3476
269	-1.23	-146.6	18.6	-12.8	11	273	0.00	2.47	0.00	0.000	6	0.000	0.042	2224	1896	3476
591	-1.23	-146.6	50.8	-11.6	27	595	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3297	3476
653	-1.23	-146.6	58.5	-11.8	30	657	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1899	3476
979	-1.23	-146.6	100.5	-11.5	46	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1899	3476
1288	-1.23	-146.6	132.0	-11.2	61	1292	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3300	3476
1343	-1.23	-146.6	137.1	-8.6	63	1349	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1898	3476
1658	-1.23	-146.6	163.9	-7.4	79	1663	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3306	3476
1691	-1.23	-146.6	165.9	-6.0	80	1698	0.00	2.53	0.00	0.000	6	0.000	0.044	2225	1902	3476
2008	-1.23	-146.6	192.4	-11.3	96	2012	0.00	2.53	0.00	0.000	4	0.000	0.048	2225	3301	3476
2057	-1.23	-146.6	197.0	-8.4	98	2061	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1892	3476
2381	-1.23	-146.6	225.1	-6.5	114	2382	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1892	3476
2688	-1.23	-146.6	257.4	-9.6	129	2692	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3302	3476
2798	-1.23	-146.6	273.7	-14.1	134	2802	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1900	3476
3125	-1.23	-146.6	324.5	-16.0	150	3126	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1900	3476
3435	-1.23	-146.6	362.4	-10.6	165	3436	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3476
3744	-1.23	-146.6	394.6	-9.2	180	3748	0.00	2.53	0.00	0.000	4	0.000	0.051	2225	3298	3476
3817	-1.23	-146.6	401.0	-7.8	183	3822	0.00	2.53	0.00	0.000	6	0.000	0.045	2224	1894	3476
4132	-1.23	-146.6	435.7	-12.4	198	4133	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1895	3476
4444	-1.23	-146.6	475.1	-12.9	213	4448	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3299	3476
4506	-1.23	-146.6	483.4	-11.6	216	4510	0.00	2.53	0.00	0.000	6	0.000	0.047	2224	1901	3476
4832	-1.23	-146.6	517.5	-10.8	232	4836	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3298	3476
4899	-1.23	-146.6	525.1	-11.0	235	4903	0.00	2.53	0.00	0.000	6	0.000	0.047	2225	1899	3476
5220	-1.23	-146.6	558.6	-9.6	251	5224	0.00	2.55	0.00	0.000	4	0.000	0.052	2224	3297	3476
5252	-1.23	-146.6	561.9	-9.3	252	5258	0.00	2.55	0.00	0.000	6	0.000	0.048	2225	1894	3476
5568	-1.23	-146.6	590.1	-9.1	268	5572	0.00	2.58	0.00	0.000	4	0.000	0.054	2225	3301	3476
5589	-1.23	-146.6	592.2	-9.4	269	5594	0.00	2.55	0.00	0.000	6	0.000	0.048	2224	1896	3476
5910	-1.23	-146.6	622.5	-8.6	285	5911	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1896	3476
6220	-1.23	-146.6	651.5	-10.1	300	6225	0.00	2.65	0.00	0.000	4	0.000	0.074	2225	489	3476
6282	-1.23	-146.6	657.2	-8.9	303	6286	0.00	2.50	0.00	0.000	6	0.000	0.047	2225	1897	3476
6607	-1.23	-146.6	687.0	-9.6	319	6612	0.00	2.58	0.00	0.000	4	0.000	0.060	2224	3301	3476
6783	-1.23	-146.6	706.7	-11.9	327	6788	0.00	2.58	0.00	0.000	6	0.000	0.054	2224	1897	3476
7110	-1.23	-146.6	743.6	-11.7	343	7114	0.00	2.60	0.00	0.000	4	0.000	0.061	2225	3304	3476
7148	-1.23	-146.6	748.2	-13.2	345	7153	0.00	2.58	0.00	0.000	6	0.000	0.054	2224	1902	3476
7475	-1.23	-146.6	785.8	-8.9	361	7480	0.00	2.65	0.00	0.000	4	0.000	0.077	2224	493	3476
7519	-1.23	-146.6	789.6	-8.6	363	7523	0.00	2.53	0.00	0.000	6	0.000	0.054	2225	1900	3476
7846	-1.23	-146.6	817.3	-9.3	379	7850	0.00	2.60	0.00	0.000	4	0.000	0.064	2224	3303	3475
7907	-1.23	-146.6	823.4	-10.4	382	7912	0.00	2.58	0.00	0.000	6	0.000	0.060	2224	1903	3475
8233	-1.23	-146.6	857.3	-10.7	398	8234	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3474
8543	-1.23	-146.6	885.4	-7.6	413	8544	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1903	3473
8852	-1.23	-146.6	912.9	-8.7	428	8856	0.00	2.60	0.00	0.000	4	0.000	0.067	2224	3303	3474
9111	-1.23	-146.6	917.6	0.2	439	9117	0.00	2.60	0.00	0.000	6	0.000	0.061	2224	1899	3473
9238	end dive: NO_VERTICAL_VELOCITY
state	9238	begin apogee
9244	-0.36	0.0	917.5	0.0	446	9374	0.88	0.00	126.65	1.425	6	0.060	0.000	2422	2101	2878
9375	end apogee: CONTROL_FINISHED_OK
state	9375	begin climb
9377	1.23	146.6	917.2	0.0	452	9512	1.50	2.80	124.82	1.394	4	0.047	0.080	2763	690	2279
9632	1.23	146.6	902.6	8.7	464	9637	0.00	2.60	0.00	0.000	6	0.000	0.054	2764	2104	2279
9959	1.25	169.0	880.0	7.2	480	9983	0.00	2.67	19.70	1.393	4	0.000	0.068	2763	3502	2189
10079	1.25	169.0	869.8	9.0	485	10084	0.00	2.62	0.00	0.000	6	0.000	0.058	2763	2095	2188
10395	1.29	197.1	846.6	6.9	500	10425	0.00	2.70	24.73	1.394	4	0.000	0.065	2763	3503	2074
10520	1.29	197.1	836.7	8.3	505	10527	0.00	2.60	0.00	0.000	6	0.000	0.056	2764	2097	2073
10836	1.29	197.1	803.7	11.5	521	10840	0.00	2.62	0.00	0.000	4	0.000	0.064	2763	3503	2073
10862	1.29	197.1	800.3	12.7	522	10867	0.00	2.58	0.00	0.000	6	0.000	0.055	2763	2102	2073
11184	1.29	197.1	763.6	9.6	538	11185	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2102	2073
11493	1.33	229.6	735.8	6.8	553	11527	0.00	2.70	27.80	1.353	4	0.000	0.061	2764	3499	1941
11590	1.33	229.6	726.5	10.6	557	11595	0.00	2.58	0.00	0.000	6	0.000	0.053	2763	2098	1941
11905	1.33	229.6	698.0	10.3	572	11906	0.00	0.00	0.00	0.000	6	0.000	0.000	2764	2098	1941
12214	1.33	229.6	668.3	9.2	587	12219	0.00	2.60	0.00	0.000	4	0.000	0.059	2763	3504	1940
12254	1.33	229.6	664.9	8.8	589	12259	0.00	2.58	0.00	0.000	6	0.000	0.050	2763	2093	1940
12580	1.37	265.6	641.4	6.6	605	12617	0.15	2.70	30.77	1.278	4	0.051	0.058	2804	3507	1794
12650	1.37	265.6	635.5	9.0	607	12654	0.00	2.58	0.00	0.000	6	0.000	0.050	2804	2100	1794
12966	1.37	265.6	610.1	8.8	622	12967	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2100	1794
13275	1.37	265.6	573.6	12.9	637	13279	0.00	2.60	0.00	0.000	4	0.000	0.055	2804	3510	1794
13325	1.37	265.6	566.5	14.9	639	13329	0.00	2.58	0.00	0.000	6	0.000	0.047	2804	2099	1795
13640	1.37	265.6	526.7	11.4	654	13645	0.00	2.58	0.00	0.000	4	0.000	0.054	2804	3506	1795
13695	1.37	265.6	519.9	11.9	656	13703	0.00	2.55	0.00	0.000	6	0.000	0.048	2805	2095	1795
14011	1.37	265.6	483.2	11.7	672	14016	0.00	2.60	0.00	0.000	4	0.000	0.054	2804	3506	1796
14061	1.37	265.6	477.0	11.8	674	14065	0.00	2.53	0.00	0.000	6	0.000	0.046	2804	2101	1796
14382	1.37	265.6	438.0	12.8	690	14386	0.00	2.60	0.00	0.000	4	0.000	0.054	2805	3510	1796
14436	1.37	265.6	431.3	11.8	692	14443	0.00	2.55	0.00	0.000	6	0.000	0.047	2804	2096	1796
14752	1.37	265.6	397.3	10.5	708	14757	0.00	2.60	0.00	0.000	4	0.000	0.054	2804	3509	1796
14815	1.37	265.6	390.7	10.0	711	14819	0.00	2.55	0.00	0.000	6	0.000	0.046	2804	2096	1797
15141	1.37	265.6	353.4	11.7	727	15145	0.00	2.60	0.00	0.000	4	0.000	0.052	2804	3512	1797
15161	1.37	265.6	350.8	11.6	728	15166	0.00	2.53	0.00	0.000	6	0.000	0.044	2804	2099	1797
15488	1.37	265.6	317.8	9.4	744	15489	0.00	0.00	0.00	0.000	6	0.000	0.000	2804	2099	1797
15797	1.37	265.6	282.6	12.1	759	15802	0.00	2.58	0.00	0.000	4	0.000	0.051	2804	3507	1797
15839	1.37	265.6	277.8	11.4	761	15844	0.00	2.53	0.00	0.000	6	0.000	0.043	2804	2095	1798
16165	1.37	265.6	243.4	9.1	777	16170	0.00	2.58	0.00	0.000	4	0.000	0.051	2804	3506	1798
16266	1.37	265.6	233.0	12.1	781	16272	0.00	2.50	0.00	0.000	6	0.000	0.043	2805	2100	1798
16581	1.37	265.6	202.7	9.8	797	16585	0.00	2.55	0.00	0.000	4	0.000	0.051	2805	3507	1798
16665	1.37	265.6	193.9	11.3	801	16669	0.00	2.53	0.00	0.000	6	0.000	0.043	2804	2092	1798
16991	1.37	265.6	162.6	10.5	817	16995	0.00	2.58	0.00	0.000	4	0.000	0.051	2805	3506	1798
17057	1.37	265.6	154.6	11.0	820	17061	0.00	2.50	0.00	0.000	6	0.000	0.042	2804	2098	1798
17386	1.37	265.6	118.2	11.3	836	17387	0.00	0.00	0.00	0.000	6	0.000	0.000	2805	2098	1799
17694	1.37	265.6	88.9	11.7	851	17698	0.00	2.58	0.00	0.000	4	0.000	0.050	2804	3510	1799
17726	1.37	265.6	85.0	11.3	852	17733	0.00	2.50	0.00	0.000	6	0.000	0.040	2804	2098	1799
18042	1.37	265.6	49.4	11.2	868	18046	0.00	2.55	0.00	0.000	4	0.000	0.049	2804	3506	1799
18097	1.37	265.6	44.1	9.4	870	18103	0.00	2.50	0.00	0.000	6	0.000	0.041	2804	2095	1799
18412	1.37	265.6	8.9	9.8	886	18417	0.00	2.58	0.00	0.000	4	0.000	0.049	2804	3512	1799
18477	end climb: SURFACE_DEPTH_REACHED
state	18477	begin surface coast
18483	end surface coast: CONTROL_FINISHED_OK
state	18483	begin surface