Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 291 * 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 291 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 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 -82112.477 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 -82112.477

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 440

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 57

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 23 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 291 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 160125,6343.523,-1327.210,54,1.8,54,-12.6 TGT_NAME JE

_CALLS 1 TGT_LATLONG 6335.000,-1315.000

_XMS_NAKs 6 TGT_RADIUS 5000.000

_XMS_TOUTs 2 KALMAN_CONTROL 0.054,-0.231

_SM_DEPTHo 2.43 KALMAN_X 345465.9,1271.6,920.9,-609723.6,-2956.3

_SM_ANGLEo -57.9 KALMAN_Y 39527.2,-1733.9,-731.1,204466.4,8110.9

GPS2 160803,6343.516,-1327.082,12,2.0,12,-12.6 MHEAD_RNG_PITCHd_Wd 179.4,18651,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.8,1.027423 XPDR_PINGS 1

SM_CCo 18759,26.00,0.822,3,0,1655,300.00 _24V_AH 23.1,61.560

SM_GC 2.26,0.00,0.00,26.00,0.000,0.000,0.822,29,1884,1655,-11.34,-0.45,300.00 _10V_AH 10.1,29.907

IRIDIUM_FIX 6317.84,-1333.90,160108,141429 DATA_FILE_SIZE 47513,899

TT8_MAMPS 0.026845 CFSIZE 260165632,240369664

HUMID 2063 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,30,3,0

INTERNAL_PRESSURE 9.20934 GPS 160108,212402,6341.937,-1319.326,66,0.9,66,-12.5

TCM_TEMP 16.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 136 81.84 SBE_CT 673 24 373.57

Roll_motor 222 79 409.71 SBE_O2 607 19 266.46

VBD_pump_during_apogee 359 1438 11962.50 WL_BB2F 500 105 1214.14

VBD_pump_during_surface 26 822 493.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.08 nil 0 0 0.00

Iridium_during_connect 34 160 125.93 nil 0 0 0.00

Iridium_during_xfer 204 223 1055.06

Transponder_ping 8 420 77.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 1740 19 348.02

LPSleep 14068 2 311.19

TT8_Active 573 19 114.69

TT8_Sampling 2250 39 904.55

TT8_CF8 566 45 261.87

TT8_Kalman 33 81 27.57

Analog_circuits 1735 12 210.30

GPS_charging 0 0 0.00

Compass 2202 8 177.92

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

22 -1.23 -146.4 0.0 0.0 0 66 0.00 0.00 -41.28 0.000 2 0.000 0.000 33 1889 2399

69 -1.23 -146.6 3.1 -2.9 2 140 11.52 2.62 -52.67 0.000 4 0.137 0.063 2225 3308 3476

259 -1.23 -146.6 20.4 -10.4 10 265 0.00 2.55 0.00 0.000 6 0.000 0.046 2225 1903 3477

574 -1.23 -146.6 54.2 -12.8 26 578 0.00 2.55 0.00 0.000 4 0.000 0.048 2225 3309 3477

606 -1.23 -146.6 58.2 -11.0 27 613 0.00 2.55 0.00 0.000 6 0.000 0.044 2225 1898 3477

924 -1.23 -146.6 92.1 -11.6 43 928 0.00 2.58 0.00 0.000 4 0.000 0.048 2225 3315 3476

956 -1.23 -146.6 96.5 -12.2 44 963 0.00 2.55 0.00 0.000 6 0.000 0.044 2225 1900 3477

1273 -1.23 -146.6 131.0 -10.0 60 1274 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1900 3477

1581 -1.23 -146.6 164.1 -11.1 75 1585 0.00 2.55 0.00 0.000 4 0.000 0.049 2225 3309 3476

1620 -1.23 -146.6 168.9 -12.7 77 1624 0.00 2.55 0.00 0.000 6 0.000 0.044 2225 1895 3477

1946 -1.23 -146.6 209.5 -12.7 93 1950 0.00 2.58 0.00 0.000 4 0.000 0.049 2225 3314 3477

1980 -1.23 -146.6 213.4 -11.7 94 1986 0.00 2.55 0.00 0.000 6 0.000 0.045 2225 1898 3477

2295 -1.23 -146.6 251.1 -11.8 110 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1898 3477

2604 -1.23 -146.6 288.5 -11.8 125 2609 0.00 2.58 0.00 0.000 4 0.000 0.051 2225 3314 3477

2644 -1.23 -146.6 293.4 -12.3 127 2648 0.00 2.55 0.00 0.000 6 0.000 0.045 2225 1900 3476

2970 -1.23 -146.6 332.3 -12.6 143 2974 0.00 2.62 0.00 0.000 4 0.000 0.070 2225 492 3476

2996 -1.23 -146.6 335.9 -12.9 144 3001 0.00 2.47 0.00 0.000 6 0.000 0.044 2225 1910 3477

3318 -1.23 -146.6 371.9 -10.4 160 3322 0.00 2.53 0.00 0.000 4 0.000 0.053 2225 3297 3476

3383 -1.23 -146.6 379.9 -11.4 163 3388 0.00 2.53 0.00 0.000 6 0.000 0.048 2225 1902 3476

3711 -1.23 -146.6 415.3 -9.9 179 3712 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1902 3477

4019 -1.23 -146.6 445.6 -9.8 194 4021 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1899 3476

4330 -1.23 -146.6 475.7 -9.0 209 4334 0.00 2.55 0.00 0.000 4 0.000 0.051 2225 3299 3476

4379 -1.23 -146.6 480.2 -8.5 211 4383 0.00 2.50 0.00 0.000 6 0.000 0.046 2225 1899 3476

4700 -1.23 -146.6 508.9 -8.9 227 4704 0.00 2.55 0.00 0.000 4 0.000 0.052 2225 3298 3476

4818 -1.23 -146.6 520.0 -9.8 232 4822 0.00 2.53 0.00 0.000 6 0.000 0.048 2225 1900 3476

5133 -1.23 -146.6 549.4 -9.7 247 5137 0.00 2.62 0.00 0.000 4 0.000 0.069 2225 493 3476

5154 -1.23 -146.6 551.6 -10.0 248 5158 0.00 2.50 0.00 0.000 6 0.000 0.046 2225 1908 3476

5481 -1.23 -146.6 583.6 -10.0 264 5485 0.00 2.55 0.00 0.000 4 0.000 0.057 2225 3298 3476

5575 -1.23 -146.6 593.1 -10.1 268 5579 0.00 2.55 0.00 0.000 6 0.000 0.051 2225 1899 3476

5891 -1.23 -146.6 625.3 -9.7 283 5895 0.00 2.62 0.00 0.000 4 0.000 0.074 2225 492 3476

5917 -1.23 -146.6 628.1 -9.8 284 5921 0.00 2.50 0.00 0.000 6 0.000 0.047 2225 1901 3476

6239 -1.23 -146.6 656.6 -8.7 300 6243 0.00 2.60 0.00 0.000 4 0.000 0.061 2225 3303 3476

6349 -1.23 -146.6 666.7 -9.6 305 6354 0.00 2.58 0.00 0.000 6 0.000 0.054 2225 1898 3476

6677 -1.23 -146.6 698.1 -10.7 321 6681 0.00 2.60 0.00 0.000 4 0.000 0.059 2225 3302 3476

6698 -1.23 -146.6 700.6 -11.1 322 6702 0.00 2.58 0.00 0.000 6 0.000 0.054 2225 1898 3476

7024 -1.23 -146.6 735.5 -10.4 338 7026 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 1898 3476

7334 -1.23 -146.6 765.3 -9.3 353 7338 0.00 2.60 0.00 0.000 4 0.000 0.061 2225 3301 3475

7366 -1.23 -146.6 768.5 -10.1 354 7373 0.00 2.58 0.00 0.000 6 0.000 0.054 2225 1899 3475

7682 -1.23 -146.6 798.5 -8.7 370 7686 0.00 2.65 0.00 0.000 4 0.000 0.079 2225 489 3475

7760 -1.23 -146.6 806.1 -10.0 373 7766 0.00 2.55 0.00 0.000 6 0.000 0.054 2225 1899 3475

8075 -1.23 -146.6 835.2 -9.5 389 8079 0.00 2.67 0.00 0.000 4 0.000 0.080 2225 492 3474

8131 -1.23 -146.6 841.3 -11.2 391 8137 0.00 2.55 0.00 0.000 6 0.000 0.055 2225 1900 3474

8446 -1.23 -146.6 871.5 -8.9 407 8451 0.00 2.62 0.00 0.000 4 0.000 0.067 2225 3301 3474

8615 -1.23 -146.6 888.4 -10.7 414 8621 0.00 2.60 0.00 0.000 6 0.000 0.063 2225 1903 3473

8930 -1.23 -146.6 919.4 -8.5 430 8935 0.00 2.62 0.00 0.000 4 0.000 0.067 2225 3303 3472

9188 -1.23 -146.6 921.1 0.3 441 9194 0.00 2.60 0.00 0.000 6 0.000 0.062 2225 1897 3472

9275 end dive: NO_VERTICAL_VELOCITY

state 9275 begin apogee

9281 -0.36 0.0 921.0 0.0 446 9412 0.88 0.00 127.15 1.439 6 0.058 0.000 2425 2101 2877

9412 end apogee: CONTROL_FINISHED_OK

state 9412 begin climb

9415 1.23 146.6 921.0 0.0 452 9550 1.50 2.83 125.78 1.382 4 0.050 0.077 2761 687 2281

9807 1.23 146.6 898.8 10.1 470 9812 0.00 2.60 0.00 0.000 6 0.000 0.054 2761 2103 2280

10134 1.23 146.6 867.7 11.1 486 10138 0.00 2.72 0.00 0.000 4 0.000 0.078 2761 690 2279

10311 1.31 211.0 853.8 5.5 494 10373 0.00 2.58 55.38 1.374 6 0.000 0.054 2761 2101 2017

10685 1.31 211.0 817.8 9.9 512 10690 0.00 2.65 0.00 0.000 4 0.000 0.067 2761 3506 2017

10740 1.31 211.0 812.5 8.1 514 10747 0.00 2.62 0.00 0.000 6 0.000 0.058 2761 2094 2017

11056 1.35 240.6 787.2 6.9 530 11088 0.12 2.78 25.88 1.359 4 0.054 0.080 2798 685 1896

11127 1.35 240.6 780.0 12.0 533 11132 0.00 2.60 0.00 0.000 6 0.000 0.053 2798 2103 1897

11442 1.35 240.6 748.8 9.5 548 11447 0.00 2.70 0.00 0.000 4 0.000 0.077 2798 690 1896

11481 1.35 240.6 744.8 10.2 550 11485 0.00 2.55 0.00 0.000 6 0.000 0.052 2798 2101 1896

11807 1.35 240.6 711.6 10.4 566 11812 0.00 2.60 0.00 0.000 4 0.000 0.063 2797 3500 1895

11971 1.35 240.6 693.1 10.8 573 11975 0.00 2.58 0.00 0.000 6 0.000 0.054 2797 2097 1895

12286 1.35 240.6 661.0 9.8 588 12290 0.00 2.62 0.00 0.000 4 0.000 0.060 2797 3507 1895

12313 1.35 240.6 658.2 10.3 589 12317 0.00 2.58 0.00 0.000 6 0.000 0.051 2798 2097 1895

12628 1.35 240.6 628.3 9.9 604 12632 0.00 2.62 0.00 0.000 4 0.000 0.059 2797 3507 1894

12694 1.35 240.6 621.3 11.1 607 12698 0.00 2.58 0.00 0.000 6 0.000 0.051 2798 2095 1895

13014 1.35 240.6 590.7 9.3 623 13018 0.00 2.62 0.00 0.000 4 0.000 0.058 2798 3508 1895

13085 1.35 240.6 583.6 10.3 626 13089 0.00 2.55 0.00 0.000 6 0.000 0.050 2798 2100 1894

13407 1.35 240.6 554.0 9.3 642 13411 0.00 2.60 0.00 0.000 4 0.000 0.056 2798 3504 1895

13428 1.35 240.6 551.6 11.2 643 13432 0.00 2.55 0.00 0.000 6 0.000 0.048 2798 2092 1895

13755 1.35 240.6 515.1 11.2 659 13759 0.00 2.60 0.00 0.000 4 0.000 0.055 2798 3501 1895

13817 1.35 240.6 507.8 11.4 662 13821 0.00 2.53 0.00 0.000 6 0.000 0.048 2798 2100 1895

14142 1.35 240.6 472.5 10.5 678 14147 0.00 2.58 0.00 0.000 4 0.000 0.054 2798 3502 1895

14231 1.35 240.6 462.6 10.1 682 14235 0.00 2.53 0.00 0.000 6 0.000 0.047 2798 2098 1895

14553 1.35 240.6 429.3 10.4 698 14557 0.00 2.58 0.00 0.000 4 0.000 0.054 2798 3503 1896

14596 1.35 240.6 424.3 11.7 700 14600 0.00 2.53 0.00 0.000 6 0.000 0.045 2798 2098 1896

14923 1.35 240.6 388.7 11.0 716 14927 0.00 2.58 0.00 0.000 4 0.000 0.054 2798 3508 1896

15000 1.35 240.6 379.6 10.5 719 15006 0.00 2.55 0.00 0.000 6 0.000 0.046 2798 2092 1897

15315 1.35 240.6 346.1 10.3 735 15320 0.00 2.58 0.00 0.000 4 0.000 0.054 2798 3506 1897

15393 1.35 240.6 337.7 10.4 738 15399 0.00 2.53 0.00 0.000 6 0.000 0.044 2798 2095 1897

15709 1.35 240.6 304.6 10.4 754 15713 0.00 2.58 0.00 0.000 4 0.000 0.053 2798 3509 1898

15758 1.35 240.6 299.1 11.0 756 15762 0.00 2.53 0.00 0.000 6 0.000 0.044 2798 2100 1897

16079 1.35 240.6 266.1 9.9 772 16083 0.00 2.58 0.00 0.000 4 0.000 0.053 2798 3506 1898

16150 1.35 240.6 259.0 9.6 775 16155 0.00 2.53 0.00 0.000 6 0.000 0.044 2798 2092 1898

16472 1.35 240.6 227.3 9.7 791 16476 0.00 2.58 0.00 0.000 4 0.000 0.052 2798 3503 1898

16521 1.35 240.6 222.1 9.6 793 16526 0.00 2.50 0.00 0.000 6 0.000 0.043 2798 2097 1897

16836 1.35 240.6 191.1 9.4 808 16841 0.00 2.55 0.00 0.000 4 0.000 0.051 2798 3504 1898

16887 1.35 240.6 186.2 9.6 810 16892 0.00 2.53 0.00 0.000 6 0.000 0.043 2798 2095 1898

17203 1.35 240.6 155.7 9.9 825 17207 0.00 2.58 0.00 0.000 4 0.000 0.051 2798 3506 1898

17274 1.35 240.6 148.1 9.6 828 17278 0.00 2.50 0.00 0.000 6 0.000 0.042 2798 2099 1898

17597 1.35 240.6 116.3 10.1 844 17601 0.00 2.58 0.00 0.000 4 0.000 0.051 2798 3509 1899

17653 1.35 240.6 110.1 10.9 846 17659 0.00 2.53 0.00 0.000 6 0.000 0.043 2798 2092 1899

17970 1.38 271.5 84.7 6.8 862 18001 0.00 2.65 25.73 0.885 4 0.000 0.051 2798 3505 1770

18056 1.38 271.5 75.8 10.5 866 18061 0.00 2.53 0.00 0.000 6 0.000 0.042 2798 2101 1770

18384 1.38 271.5 34.9 11.7 882 18388 0.00 2.58 0.00 0.000 4 0.000 0.049 2798 3505 1770

18472 1.38 271.5 24.4 9.9 886 18476 0.00 2.50 0.00 0.000 6 0.000 0.041 2798 2098 1770

18715 end climb: SURFACE_DEPTH_REACHED

state 18715 begin surface coast

18737 end surface coast: CONTROL_FINISHED_OK

state 18737 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	291	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	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	-82112.477	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	160125,6343.523,-1327.210,54,1.8,54,-12.6	TGT_NAME	JE
_CALLS	1	TGT_LATLONG	6335.000,-1315.000
_XMS_NAKs	6	TGT_RADIUS	5000.000
_XMS_TOUTs	2	KALMAN_CONTROL	0.054,-0.231
_SM_DEPTHo	2.43	KALMAN_X	345465.9,1271.6,920.9,-609723.6,-2956.3
_SM_ANGLEo	-57.9	KALMAN_Y	39527.2,-1733.9,-731.1,204466.4,8110.9
GPS2	160803,6343.516,-1327.082,12,2.0,12,-12.6	MHEAD_RNG_PITCHd_Wd	179.4,18651,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	990

FINISH	1.8,1.027423	XPDR_PINGS	1
SM_CCo	18759,26.00,0.822,3,0,1655,300.00	_24V_AH	23.1,61.560
SM_GC	2.26,0.00,0.00,26.00,0.000,0.000,0.822,29,1884,1655,-11.34,-0.45,300.00	_10V_AH	10.1,29.907
IRIDIUM_FIX	6317.84,-1333.90,160108,141429	DATA_FILE_SIZE	47513,899
TT8_MAMPS	0.026845	CFSIZE	260165632,240369664
HUMID	2063	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,30,3,0
INTERNAL_PRESSURE	9.20934	GPS	160108,212402,6341.937,-1319.326,66,0.9,66,-12.5
TCM_TEMP	16.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	136	81.84	SBE_CT	673	24	373.57
Roll_motor	222	79	409.71	SBE_O2	607	19	266.46
VBD_pump_during_apogee	359	1438	11962.50	WL_BB2F	500	105	1214.14
VBD_pump_during_surface	26	822	493.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.08	nil	0	0	0.00
Iridium_during_connect	34	160	125.93	nil	0	0	0.00
Iridium_during_xfer	204	223	1055.06
Transponder_ping	8	420	77.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	1740	19	348.02
LPSleep	14068	2	311.19
TT8_Active	573	19	114.69
TT8_Sampling	2250	39	904.55
TT8_CF8	566	45	261.87
TT8_Kalman	33	81	27.57
Analog_circuits	1735	12	210.30
GPS_charging	0	0	0.00
Compass	2202	8	177.92
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
22	-1.23	-146.4	0.0	0.0	0	66	0.00	0.00	-41.28	0.000	2	0.000	0.000	33	1889	2399
69	-1.23	-146.6	3.1	-2.9	2	140	11.52	2.62	-52.67	0.000	4	0.137	0.063	2225	3308	3476
259	-1.23	-146.6	20.4	-10.4	10	265	0.00	2.55	0.00	0.000	6	0.000	0.046	2225	1903	3477
574	-1.23	-146.6	54.2	-12.8	26	578	0.00	2.55	0.00	0.000	4	0.000	0.048	2225	3309	3477
606	-1.23	-146.6	58.2	-11.0	27	613	0.00	2.55	0.00	0.000	6	0.000	0.044	2225	1898	3477
924	-1.23	-146.6	92.1	-11.6	43	928	0.00	2.58	0.00	0.000	4	0.000	0.048	2225	3315	3476
956	-1.23	-146.6	96.5	-12.2	44	963	0.00	2.55	0.00	0.000	6	0.000	0.044	2225	1900	3477
1273	-1.23	-146.6	131.0	-10.0	60	1274	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1900	3477
1581	-1.23	-146.6	164.1	-11.1	75	1585	0.00	2.55	0.00	0.000	4	0.000	0.049	2225	3309	3476
1620	-1.23	-146.6	168.9	-12.7	77	1624	0.00	2.55	0.00	0.000	6	0.000	0.044	2225	1895	3477
1946	-1.23	-146.6	209.5	-12.7	93	1950	0.00	2.58	0.00	0.000	4	0.000	0.049	2225	3314	3477
1980	-1.23	-146.6	213.4	-11.7	94	1986	0.00	2.55	0.00	0.000	6	0.000	0.045	2225	1898	3477
2295	-1.23	-146.6	251.1	-11.8	110	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1898	3477
2604	-1.23	-146.6	288.5	-11.8	125	2609	0.00	2.58	0.00	0.000	4	0.000	0.051	2225	3314	3477
2644	-1.23	-146.6	293.4	-12.3	127	2648	0.00	2.55	0.00	0.000	6	0.000	0.045	2225	1900	3476
2970	-1.23	-146.6	332.3	-12.6	143	2974	0.00	2.62	0.00	0.000	4	0.000	0.070	2225	492	3476
2996	-1.23	-146.6	335.9	-12.9	144	3001	0.00	2.47	0.00	0.000	6	0.000	0.044	2225	1910	3477
3318	-1.23	-146.6	371.9	-10.4	160	3322	0.00	2.53	0.00	0.000	4	0.000	0.053	2225	3297	3476
3383	-1.23	-146.6	379.9	-11.4	163	3388	0.00	2.53	0.00	0.000	6	0.000	0.048	2225	1902	3476
3711	-1.23	-146.6	415.3	-9.9	179	3712	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1902	3477
4019	-1.23	-146.6	445.6	-9.8	194	4021	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1899	3476
4330	-1.23	-146.6	475.7	-9.0	209	4334	0.00	2.55	0.00	0.000	4	0.000	0.051	2225	3299	3476
4379	-1.23	-146.6	480.2	-8.5	211	4383	0.00	2.50	0.00	0.000	6	0.000	0.046	2225	1899	3476
4700	-1.23	-146.6	508.9	-8.9	227	4704	0.00	2.55	0.00	0.000	4	0.000	0.052	2225	3298	3476
4818	-1.23	-146.6	520.0	-9.8	232	4822	0.00	2.53	0.00	0.000	6	0.000	0.048	2225	1900	3476
5133	-1.23	-146.6	549.4	-9.7	247	5137	0.00	2.62	0.00	0.000	4	0.000	0.069	2225	493	3476
5154	-1.23	-146.6	551.6	-10.0	248	5158	0.00	2.50	0.00	0.000	6	0.000	0.046	2225	1908	3476
5481	-1.23	-146.6	583.6	-10.0	264	5485	0.00	2.55	0.00	0.000	4	0.000	0.057	2225	3298	3476
5575	-1.23	-146.6	593.1	-10.1	268	5579	0.00	2.55	0.00	0.000	6	0.000	0.051	2225	1899	3476
5891	-1.23	-146.6	625.3	-9.7	283	5895	0.00	2.62	0.00	0.000	4	0.000	0.074	2225	492	3476
5917	-1.23	-146.6	628.1	-9.8	284	5921	0.00	2.50	0.00	0.000	6	0.000	0.047	2225	1901	3476
6239	-1.23	-146.6	656.6	-8.7	300	6243	0.00	2.60	0.00	0.000	4	0.000	0.061	2225	3303	3476
6349	-1.23	-146.6	666.7	-9.6	305	6354	0.00	2.58	0.00	0.000	6	0.000	0.054	2225	1898	3476
6677	-1.23	-146.6	698.1	-10.7	321	6681	0.00	2.60	0.00	0.000	4	0.000	0.059	2225	3302	3476
6698	-1.23	-146.6	700.6	-11.1	322	6702	0.00	2.58	0.00	0.000	6	0.000	0.054	2225	1898	3476
7024	-1.23	-146.6	735.5	-10.4	338	7026	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	1898	3476
7334	-1.23	-146.6	765.3	-9.3	353	7338	0.00	2.60	0.00	0.000	4	0.000	0.061	2225	3301	3475
7366	-1.23	-146.6	768.5	-10.1	354	7373	0.00	2.58	0.00	0.000	6	0.000	0.054	2225	1899	3475
7682	-1.23	-146.6	798.5	-8.7	370	7686	0.00	2.65	0.00	0.000	4	0.000	0.079	2225	489	3475
7760	-1.23	-146.6	806.1	-10.0	373	7766	0.00	2.55	0.00	0.000	6	0.000	0.054	2225	1899	3475
8075	-1.23	-146.6	835.2	-9.5	389	8079	0.00	2.67	0.00	0.000	4	0.000	0.080	2225	492	3474
8131	-1.23	-146.6	841.3	-11.2	391	8137	0.00	2.55	0.00	0.000	6	0.000	0.055	2225	1900	3474
8446	-1.23	-146.6	871.5	-8.9	407	8451	0.00	2.62	0.00	0.000	4	0.000	0.067	2225	3301	3474
8615	-1.23	-146.6	888.4	-10.7	414	8621	0.00	2.60	0.00	0.000	6	0.000	0.063	2225	1903	3473
8930	-1.23	-146.6	919.4	-8.5	430	8935	0.00	2.62	0.00	0.000	4	0.000	0.067	2225	3303	3472
9188	-1.23	-146.6	921.1	0.3	441	9194	0.00	2.60	0.00	0.000	6	0.000	0.062	2225	1897	3472
9275	end dive: NO_VERTICAL_VELOCITY
state	9275	begin apogee
9281	-0.36	0.0	921.0	0.0	446	9412	0.88	0.00	127.15	1.439	6	0.058	0.000	2425	2101	2877
9412	end apogee: CONTROL_FINISHED_OK
state	9412	begin climb
9415	1.23	146.6	921.0	0.0	452	9550	1.50	2.83	125.78	1.382	4	0.050	0.077	2761	687	2281
9807	1.23	146.6	898.8	10.1	470	9812	0.00	2.60	0.00	0.000	6	0.000	0.054	2761	2103	2280
10134	1.23	146.6	867.7	11.1	486	10138	0.00	2.72	0.00	0.000	4	0.000	0.078	2761	690	2279
10311	1.31	211.0	853.8	5.5	494	10373	0.00	2.58	55.38	1.374	6	0.000	0.054	2761	2101	2017
10685	1.31	211.0	817.8	9.9	512	10690	0.00	2.65	0.00	0.000	4	0.000	0.067	2761	3506	2017
10740	1.31	211.0	812.5	8.1	514	10747	0.00	2.62	0.00	0.000	6	0.000	0.058	2761	2094	2017
11056	1.35	240.6	787.2	6.9	530	11088	0.12	2.78	25.88	1.359	4	0.054	0.080	2798	685	1896
11127	1.35	240.6	780.0	12.0	533	11132	0.00	2.60	0.00	0.000	6	0.000	0.053	2798	2103	1897
11442	1.35	240.6	748.8	9.5	548	11447	0.00	2.70	0.00	0.000	4	0.000	0.077	2798	690	1896
11481	1.35	240.6	744.8	10.2	550	11485	0.00	2.55	0.00	0.000	6	0.000	0.052	2798	2101	1896
11807	1.35	240.6	711.6	10.4	566	11812	0.00	2.60	0.00	0.000	4	0.000	0.063	2797	3500	1895
11971	1.35	240.6	693.1	10.8	573	11975	0.00	2.58	0.00	0.000	6	0.000	0.054	2797	2097	1895
12286	1.35	240.6	661.0	9.8	588	12290	0.00	2.62	0.00	0.000	4	0.000	0.060	2797	3507	1895
12313	1.35	240.6	658.2	10.3	589	12317	0.00	2.58	0.00	0.000	6	0.000	0.051	2798	2097	1895
12628	1.35	240.6	628.3	9.9	604	12632	0.00	2.62	0.00	0.000	4	0.000	0.059	2797	3507	1894
12694	1.35	240.6	621.3	11.1	607	12698	0.00	2.58	0.00	0.000	6	0.000	0.051	2798	2095	1895
13014	1.35	240.6	590.7	9.3	623	13018	0.00	2.62	0.00	0.000	4	0.000	0.058	2798	3508	1895
13085	1.35	240.6	583.6	10.3	626	13089	0.00	2.55	0.00	0.000	6	0.000	0.050	2798	2100	1894
13407	1.35	240.6	554.0	9.3	642	13411	0.00	2.60	0.00	0.000	4	0.000	0.056	2798	3504	1895
13428	1.35	240.6	551.6	11.2	643	13432	0.00	2.55	0.00	0.000	6	0.000	0.048	2798	2092	1895
13755	1.35	240.6	515.1	11.2	659	13759	0.00	2.60	0.00	0.000	4	0.000	0.055	2798	3501	1895
13817	1.35	240.6	507.8	11.4	662	13821	0.00	2.53	0.00	0.000	6	0.000	0.048	2798	2100	1895
14142	1.35	240.6	472.5	10.5	678	14147	0.00	2.58	0.00	0.000	4	0.000	0.054	2798	3502	1895
14231	1.35	240.6	462.6	10.1	682	14235	0.00	2.53	0.00	0.000	6	0.000	0.047	2798	2098	1895
14553	1.35	240.6	429.3	10.4	698	14557	0.00	2.58	0.00	0.000	4	0.000	0.054	2798	3503	1896
14596	1.35	240.6	424.3	11.7	700	14600	0.00	2.53	0.00	0.000	6	0.000	0.045	2798	2098	1896
14923	1.35	240.6	388.7	11.0	716	14927	0.00	2.58	0.00	0.000	4	0.000	0.054	2798	3508	1896
15000	1.35	240.6	379.6	10.5	719	15006	0.00	2.55	0.00	0.000	6	0.000	0.046	2798	2092	1897
15315	1.35	240.6	346.1	10.3	735	15320	0.00	2.58	0.00	0.000	4	0.000	0.054	2798	3506	1897
15393	1.35	240.6	337.7	10.4	738	15399	0.00	2.53	0.00	0.000	6	0.000	0.044	2798	2095	1897
15709	1.35	240.6	304.6	10.4	754	15713	0.00	2.58	0.00	0.000	4	0.000	0.053	2798	3509	1898
15758	1.35	240.6	299.1	11.0	756	15762	0.00	2.53	0.00	0.000	6	0.000	0.044	2798	2100	1897
16079	1.35	240.6	266.1	9.9	772	16083	0.00	2.58	0.00	0.000	4	0.000	0.053	2798	3506	1898
16150	1.35	240.6	259.0	9.6	775	16155	0.00	2.53	0.00	0.000	6	0.000	0.044	2798	2092	1898
16472	1.35	240.6	227.3	9.7	791	16476	0.00	2.58	0.00	0.000	4	0.000	0.052	2798	3503	1898
16521	1.35	240.6	222.1	9.6	793	16526	0.00	2.50	0.00	0.000	6	0.000	0.043	2798	2097	1897
16836	1.35	240.6	191.1	9.4	808	16841	0.00	2.55	0.00	0.000	4	0.000	0.051	2798	3504	1898
16887	1.35	240.6	186.2	9.6	810	16892	0.00	2.53	0.00	0.000	6	0.000	0.043	2798	2095	1898
17203	1.35	240.6	155.7	9.9	825	17207	0.00	2.58	0.00	0.000	4	0.000	0.051	2798	3506	1898
17274	1.35	240.6	148.1	9.6	828	17278	0.00	2.50	0.00	0.000	6	0.000	0.042	2798	2099	1898
17597	1.35	240.6	116.3	10.1	844	17601	0.00	2.58	0.00	0.000	4	0.000	0.051	2798	3509	1899
17653	1.35	240.6	110.1	10.9	846	17659	0.00	2.53	0.00	0.000	6	0.000	0.043	2798	2092	1899
17970	1.38	271.5	84.7	6.8	862	18001	0.00	2.65	25.73	0.885	4	0.000	0.051	2798	3505	1770
18056	1.38	271.5	75.8	10.5	866	18061	0.00	2.53	0.00	0.000	6	0.000	0.042	2798	2101	1770
18384	1.38	271.5	34.9	11.7	882	18388	0.00	2.58	0.00	0.000	4	0.000	0.049	2798	3505	1770
18472	1.38	271.5	24.4	9.9	886	18476	0.00	2.50	0.00	0.000	6	0.000	0.041	2798	2098	1770
18715	end climb: SURFACE_DEPTH_REACHED
state	18715	begin surface coast
18737	end surface coast: CONTROL_FINISHED_OK
state	18737	begin surface