Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 347 * 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 20

MISSION 4 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 347 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 558.0575 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 41 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 -2 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 -84055.531 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 558.0575

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 20 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 -84055.531

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 41 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 347 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 212602,6240.714,-1216.173,54,1.1,54,-11.5 TGT_NAME FE

_CALLS 5 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,-0.163

_SM_DEPTHo 1.64 KALMAN_X 496012.2,-309.4,-1853.4,-692593.6,7334.6

_SM_ANGLEo -54.7 KALMAN_Y 52356.8,606.3,836.3,71484.0,-3678.0

GPS2 215113,6240.808,-1215.386,11,1.8,28,-11.5 MHEAD_RNG_PITCHd_Wd 144.9,36282,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 776

Post-dive calculations and measurements:

FINISH 0.9,1.018620 XPDR_PINGS 5

SM_CCo 16498,214.77,0.755,17,0,603,558.06 ALTIM_TOP_PING 20.0,999.0

SM_GC 1.29,0.00,0.00,214.77,0.000,0.000,0.755,30,1881,603,-11.33,-0.54,558.06 _24V_AH 23.1,69.868

IRIDIUM_FIX 6216.53,-1210.92,200497,212124 _10V_AH 10.1,33.761

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41089,787

HUMID 1975 CFSIZE 260165632,237539328

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,17,0

TCM_TEMP 16.40 GPS 260108,023408,6240.378,-1210.203,34,1.7,34,-11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 138 83.40 SBE_CT 580 24 322.01

Roll_motor 195 82 373.13 SBE_O2 531 19 233.22

VBD_pump_during_apogee 345 1325 10571.00 WL_BB2F 455 105 1106.03

VBD_pump_during_surface 214 755 3748.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 191 103 456.50 nil 0 0 0.00

Iridium_during_connect 260 160 961.50 nil 0 0 0.00

Iridium_during_xfer 648 223 3339.51

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.13

TT8 1549 19 309.78

LPSleep 12505 2 276.61

TT8_Active 799 19 159.93

TT8_Sampling 2051 39 824.60

TT8_CF8 1454 45 672.95

TT8_Kalman 33 81 27.57

Analog_circuits 1838 12 222.86

GPS_charging 0 0 0.00

Compass 1986 8 160.50

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.23 -146.6 0.0 0.0 0 88 0.00 0.00 -61.45 0.000 2 0.000 0.000 27 1872 2853

92 -1.23 -146.6 3.6 -4.5 3 128 11.55 2.60 -18.33 0.000 4 0.138 0.061 2222 3302 3477

379 -1.23 -146.6 44.2 -11.6 15 384 0.00 2.50 0.00 0.000 6 0.000 0.043 2223 1910 3478

701 -1.23 -146.6 78.0 -14.2 31 706 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3310 3478

858 -1.23 -146.6 94.9 -10.0 38 862 0.00 2.53 0.00 0.000 6 0.000 0.043 2223 1901 3478

1185 -1.23 -146.6 132.1 -11.5 54 1189 0.00 2.53 0.00 0.000 4 0.000 0.046 2223 3306 3478

1211 -1.23 -146.6 135.8 -13.6 55 1216 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1897 3478

1528 -1.23 -146.6 175.5 -11.6 70 1529 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1898 3478

1837 -1.23 -146.6 217.1 -13.6 85 1841 0.00 2.53 0.00 0.000 4 0.000 0.047 2223 3305 3478

1869 -1.23 -146.6 221.9 -14.3 86 1875 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1896 3478

2184 -1.23 -146.6 265.1 -13.1 102 2189 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3309 3478

2217 -1.23 -146.6 269.2 -11.8 103 2223 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1901 3478

2533 -1.23 -146.6 304.9 -10.8 119 2537 0.00 2.53 0.00 0.000 4 0.000 0.048 2223 3305 3478

2560 -1.23 -146.6 307.9 -10.6 120 2564 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1896 3478

2875 -1.23 -146.6 343.2 -11.6 135 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1896 3478

3187 -1.23 -146.6 376.8 -10.3 150 3192 0.00 2.55 0.00 0.000 4 0.000 0.049 2223 3311 3478

3237 -1.23 -146.6 382.4 -10.3 152 3241 0.00 2.53 0.00 0.000 6 0.000 0.044 2223 1900 3478

3553 -1.23 -146.6 415.2 -10.3 167 3557 0.00 2.53 0.00 0.000 4 0.000 0.049 2223 3305 3478

3592 -1.23 -146.6 419.5 -11.2 169 3597 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1896 3478

3919 -1.23 -146.6 455.6 -11.1 185 3923 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3305 3478

3945 -1.23 -146.6 458.5 -10.6 186 3950 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1900 3478

4262 -1.23 -146.6 491.4 -10.6 201 4266 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3311 3478

4284 -1.23 -146.6 493.8 -10.1 202 4288 0.00 2.53 0.00 0.000 6 0.000 0.045 2223 1900 3478

4605 -1.23 -146.6 525.7 -9.2 218 4609 0.00 2.55 0.00 0.000 4 0.000 0.050 2223 3309 3478

4632 -1.23 -146.6 528.4 -9.6 219 4637 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1901 3478

4947 -1.23 -146.6 558.3 -10.0 234 4952 0.00 2.55 0.00 0.000 4 0.000 0.051 2223 3303 3478

4987 -1.23 -146.6 562.5 -10.8 236 4992 0.00 2.53 0.00 0.000 6 0.000 0.046 2223 1899 3478

5315 -1.23 -146.6 591.0 -7.1 252 5319 0.00 2.62 0.00 0.000 4 0.000 0.073 2223 495 3478

5336 -1.23 -146.6 593.1 -9.3 253 5340 0.00 2.47 0.00 0.000 6 0.000 0.044 2223 1909 3478

5656 -1.23 -146.6 622.3 -9.3 269 5660 0.00 2.53 0.00 0.000 4 0.000 0.058 2223 3298 3478

5826 -1.23 -146.6 637.8 -9.4 276 5832 0.00 2.53 0.00 0.000 6 0.000 0.050 2223 1901 3478

6141 -1.23 -146.6 668.0 -9.6 292 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 1901 3478

6451 -1.23 -146.6 697.5 -9.7 307 6455 0.00 2.58 0.00 0.000 4 0.000 0.058 2223 3302 3478

6562 -1.23 -146.6 708.1 -9.5 312 6566 0.00 2.58 0.00 0.000 6 0.000 0.054 2223 1898 3478

6883 -1.23 -146.6 735.5 -8.6 328 6887 0.00 2.58 0.00 0.000 4 0.000 0.060 2223 3298 3478

6982 -1.23 -146.6 744.6 -8.5 332 6989 0.00 2.58 0.00 0.000 6 0.000 0.056 2223 1896 3477

7298 -1.23 -146.6 771.3 -6.5 348 7303 0.00 2.67 0.00 0.000 4 0.000 0.083 2223 488 3477

7556 -1.23 -146.6 771.3 -0.3 359 7562 0.00 2.53 0.00 0.000 6 0.000 0.051 2223 1896 3475

7622 end dive: NO_VERTICAL_VELOCITY

state 7622 begin apogee

7628 -0.36 0.0 771.3 0.0 363 7758 0.90 0.00 126.85 1.325 6 0.064 0.000 2424 2108 2878

7759 end apogee: CONTROL_FINISHED_OK

state 7759 begin climb

7762 1.23 146.6 771.1 0.0 369 7897 1.52 2.80 125.18 1.282 4 0.057 0.077 2761 690 2280

8156 1.28 187.1 754.7 6.5 387 8198 0.00 2.55 35.20 1.285 6 0.000 0.051 2761 2097 2115

8507 1.28 187.1 729.0 8.1 404 8511 0.00 2.62 0.00 0.000 4 0.000 0.064 2761 3506 2114

8624 1.28 187.1 719.5 8.4 409 8628 0.00 2.60 0.00 0.000 6 0.000 0.056 2761 2099 2113

8939 1.29 193.1 695.2 7.8 424 8952 0.00 2.67 6.15 1.276 4 0.000 0.062 2761 3503 2090

8970 1.29 193.6 692.5 8.0 425 8975 0.00 2.60 0.00 0.000 6 0.000 0.054 2762 2096 2090

9286 1.29 195.5 666.9 7.9 440 9291 0.00 2.62 0.00 0.000 4 0.000 0.061 2762 3505 2088

9343 1.29 195.5 662.2 8.1 442 9349 0.00 2.60 0.00 0.000 6 0.000 0.054 2762 2094 2089

9659 1.29 198.2 638.6 7.9 458 9669 0.00 2.67 4.93 1.245 4 0.000 0.061 2761 3507 2070

9702 1.29 198.2 634.8 8.4 460 9706 0.00 2.60 0.00 0.000 6 0.000 0.051 2761 2097 2070

10023 1.29 198.2 606.8 8.6 476 10028 0.00 2.60 0.00 0.000 4 0.000 0.058 2761 3503 2070

10141 1.29 198.2 596.1 9.4 481 10145 0.00 2.55 0.00 0.000 6 0.000 0.048 2761 2093 2070

10457 1.29 198.2 569.5 8.2 496 10461 0.00 2.60 0.00 0.000 4 0.000 0.056 2761 3503 2070

10567 1.29 198.2 559.0 9.7 501 10572 0.00 2.53 0.00 0.000 6 0.000 0.047 2761 2101 2070

10889 1.30 204.7 533.2 7.8 517 10903 0.00 2.62 6.62 1.202 4 0.000 0.054 2762 3505 2043

10915 1.30 204.7 531.0 9.4 518 10919 0.00 2.55 0.00 0.000 6 0.000 0.044 2761 2093 2043

11235 1.30 204.7 505.3 8.1 534 11240 0.00 2.60 0.00 0.000 4 0.000 0.054 2761 3507 2043

11285 1.30 204.7 501.0 9.0 536 11290 0.00 2.53 0.00 0.000 6 0.000 0.044 2761 2100 2043

11602 1.34 234.7 477.5 6.9 551 11630 0.10 0.00 26.15 1.145 6 0.058 0.000 2794 2100 1921

11932 1.34 234.7 449.0 8.7 567 11937 0.00 2.58 0.00 0.000 4 0.000 0.052 2794 3505 1921

11994 1.34 234.7 443.5 8.9 570 11999 0.00 2.53 0.00 0.000 6 0.000 0.044 2794 2101 1921

12321 1.34 234.7 414.6 9.3 586 12325 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3508 1921

12393 1.34 234.7 407.3 10.5 589 12397 0.00 2.55 0.00 0.000 6 0.000 0.044 2794 2094 1921

12708 1.34 234.7 375.9 10.6 604 12713 0.00 2.58 0.00 0.000 4 0.000 0.052 2794 3504 1922

12786 1.34 234.7 366.4 12.3 607 12792 0.00 2.53 0.00 0.000 6 0.000 0.043 2794 2099 1922

13102 1.34 234.7 329.2 11.4 623 13106 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3505 1922

13208 1.34 234.7 316.3 11.6 628 13213 0.00 2.53 0.00 0.000 6 0.000 0.043 2794 2099 1922

13535 1.34 234.7 278.8 10.9 644 13539 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3510 1922

13598 1.34 234.7 272.3 9.7 647 13603 0.00 2.53 0.00 0.000 6 0.000 0.041 2794 2098 1922

13924 1.34 234.7 242.0 9.1 663 13928 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3511 1923

13990 1.34 234.7 236.2 8.1 666 13995 0.00 2.53 0.00 0.000 6 0.000 0.041 2794 2096 1923

14311 1.34 234.7 206.2 8.7 682 14315 0.00 2.58 0.00 0.000 4 0.000 0.051 2794 3509 1923

14366 1.34 234.7 200.8 10.0 684 14372 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2096 1923

14682 1.34 234.7 171.1 9.6 700 14686 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3504 1924

14703 1.34 234.7 169.2 8.7 701 14707 0.00 2.47 0.00 0.000 6 0.000 0.041 2794 2100 1924

15024 1.34 234.7 140.1 8.3 717 15028 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3505 1924

15124 1.34 234.7 131.6 8.6 721 15130 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2099 1924

15439 1.34 234.7 104.8 8.7 737 15444 0.00 2.55 0.00 0.000 4 0.000 0.051 2794 3504 1924

15528 1.34 234.7 94.7 11.4 741 15532 0.00 2.50 0.00 0.000 6 0.000 0.041 2794 2100 1924

15856 1.34 234.7 65.0 10.4 757 15860 0.00 2.55 0.00 0.000 4 0.000 0.049 2794 3507 1924

15963 1.36 250.5 54.1 7.4 762 15985 0.00 2.53 14.20 0.882 6 0.000 0.041 2794 2092 1855

16296 1.36 250.5 21.5 9.9 778 16300 0.00 2.58 0.00 0.000 4 0.000 0.049 2794 3507 1855

16362 1.36 250.5 12.9 12.3 781 16366 0.00 2.53 0.00 0.000 6 0.000 0.040 2793 2093 1855

16454 end climb: SURFACE_DEPTH_REACHED

state 16454 begin surface coast

16476 end surface coast: CONTROL_FINISHED_OK

state 16476 begin surface

ID	102	HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	20
MISSION	4	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	347	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	558.0575	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	41	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	-2	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	-84055.531	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	212602,6240.714,-1216.173,54,1.1,54,-11.5	TGT_NAME	FE
_CALLS	5	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,-0.163
_SM_DEPTHo	1.64	KALMAN_X	496012.2,-309.4,-1853.4,-692593.6,7334.6
_SM_ANGLEo	-54.7	KALMAN_Y	52356.8,606.3,836.3,71484.0,-3678.0
GPS2	215113,6240.808,-1215.386,11,1.8,28,-11.5	MHEAD_RNG_PITCHd_Wd	144.9,36282,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	776

FINISH	0.9,1.018620	XPDR_PINGS	5
SM_CCo	16498,214.77,0.755,17,0,603,558.06	ALTIM_TOP_PING	20.0,999.0
SM_GC	1.29,0.00,0.00,214.77,0.000,0.000,0.755,30,1881,603,-11.33,-0.54,558.06	_24V_AH	23.1,69.868
IRIDIUM_FIX	6216.53,-1210.92,200497,212124	_10V_AH	10.1,33.761
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41089,787
HUMID	1975	CFSIZE	260165632,237539328
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,17,0
TCM_TEMP	16.40	GPS	260108,023408,6240.378,-1210.203,34,1.7,34,-11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	138	83.40	SBE_CT	580	24	322.01
Roll_motor	195	82	373.13	SBE_O2	531	19	233.22
VBD_pump_during_apogee	345	1325	10571.00	WL_BB2F	455	105	1106.03
VBD_pump_during_surface	214	755	3748.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	191	103	456.50	nil	0	0	0.00
Iridium_during_connect	260	160	961.50	nil	0	0	0.00
Iridium_during_xfer	648	223	3339.51
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.13
TT8	1549	19	309.78
LPSleep	12505	2	276.61
TT8_Active	799	19	159.93
TT8_Sampling	2051	39	824.60
TT8_CF8	1454	45	672.95
TT8_Kalman	33	81	27.57
Analog_circuits	1838	12	222.86
GPS_charging	0	0	0.00
Compass	1986	8	160.50
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.23	-146.6	0.0	0.0	0	88	0.00	0.00	-61.45	0.000	2	0.000	0.000	27	1872	2853
92	-1.23	-146.6	3.6	-4.5	3	128	11.55	2.60	-18.33	0.000	4	0.138	0.061	2222	3302	3477
379	-1.23	-146.6	44.2	-11.6	15	384	0.00	2.50	0.00	0.000	6	0.000	0.043	2223	1910	3478
701	-1.23	-146.6	78.0	-14.2	31	706	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3310	3478
858	-1.23	-146.6	94.9	-10.0	38	862	0.00	2.53	0.00	0.000	6	0.000	0.043	2223	1901	3478
1185	-1.23	-146.6	132.1	-11.5	54	1189	0.00	2.53	0.00	0.000	4	0.000	0.046	2223	3306	3478
1211	-1.23	-146.6	135.8	-13.6	55	1216	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1897	3478
1528	-1.23	-146.6	175.5	-11.6	70	1529	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1898	3478
1837	-1.23	-146.6	217.1	-13.6	85	1841	0.00	2.53	0.00	0.000	4	0.000	0.047	2223	3305	3478
1869	-1.23	-146.6	221.9	-14.3	86	1875	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1896	3478
2184	-1.23	-146.6	265.1	-13.1	102	2189	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3309	3478
2217	-1.23	-146.6	269.2	-11.8	103	2223	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1901	3478
2533	-1.23	-146.6	304.9	-10.8	119	2537	0.00	2.53	0.00	0.000	4	0.000	0.048	2223	3305	3478
2560	-1.23	-146.6	307.9	-10.6	120	2564	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1896	3478
2875	-1.23	-146.6	343.2	-11.6	135	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1896	3478
3187	-1.23	-146.6	376.8	-10.3	150	3192	0.00	2.55	0.00	0.000	4	0.000	0.049	2223	3311	3478
3237	-1.23	-146.6	382.4	-10.3	152	3241	0.00	2.53	0.00	0.000	6	0.000	0.044	2223	1900	3478
3553	-1.23	-146.6	415.2	-10.3	167	3557	0.00	2.53	0.00	0.000	4	0.000	0.049	2223	3305	3478
3592	-1.23	-146.6	419.5	-11.2	169	3597	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1896	3478
3919	-1.23	-146.6	455.6	-11.1	185	3923	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3305	3478
3945	-1.23	-146.6	458.5	-10.6	186	3950	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1900	3478
4262	-1.23	-146.6	491.4	-10.6	201	4266	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3311	3478
4284	-1.23	-146.6	493.8	-10.1	202	4288	0.00	2.53	0.00	0.000	6	0.000	0.045	2223	1900	3478
4605	-1.23	-146.6	525.7	-9.2	218	4609	0.00	2.55	0.00	0.000	4	0.000	0.050	2223	3309	3478
4632	-1.23	-146.6	528.4	-9.6	219	4637	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1901	3478
4947	-1.23	-146.6	558.3	-10.0	234	4952	0.00	2.55	0.00	0.000	4	0.000	0.051	2223	3303	3478
4987	-1.23	-146.6	562.5	-10.8	236	4992	0.00	2.53	0.00	0.000	6	0.000	0.046	2223	1899	3478
5315	-1.23	-146.6	591.0	-7.1	252	5319	0.00	2.62	0.00	0.000	4	0.000	0.073	2223	495	3478
5336	-1.23	-146.6	593.1	-9.3	253	5340	0.00	2.47	0.00	0.000	6	0.000	0.044	2223	1909	3478
5656	-1.23	-146.6	622.3	-9.3	269	5660	0.00	2.53	0.00	0.000	4	0.000	0.058	2223	3298	3478
5826	-1.23	-146.6	637.8	-9.4	276	5832	0.00	2.53	0.00	0.000	6	0.000	0.050	2223	1901	3478
6141	-1.23	-146.6	668.0	-9.6	292	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	1901	3478
6451	-1.23	-146.6	697.5	-9.7	307	6455	0.00	2.58	0.00	0.000	4	0.000	0.058	2223	3302	3478
6562	-1.23	-146.6	708.1	-9.5	312	6566	0.00	2.58	0.00	0.000	6	0.000	0.054	2223	1898	3478
6883	-1.23	-146.6	735.5	-8.6	328	6887	0.00	2.58	0.00	0.000	4	0.000	0.060	2223	3298	3478
6982	-1.23	-146.6	744.6	-8.5	332	6989	0.00	2.58	0.00	0.000	6	0.000	0.056	2223	1896	3477
7298	-1.23	-146.6	771.3	-6.5	348	7303	0.00	2.67	0.00	0.000	4	0.000	0.083	2223	488	3477
7556	-1.23	-146.6	771.3	-0.3	359	7562	0.00	2.53	0.00	0.000	6	0.000	0.051	2223	1896	3475
7622	end dive: NO_VERTICAL_VELOCITY
state	7622	begin apogee
7628	-0.36	0.0	771.3	0.0	363	7758	0.90	0.00	126.85	1.325	6	0.064	0.000	2424	2108	2878
7759	end apogee: CONTROL_FINISHED_OK
state	7759	begin climb
7762	1.23	146.6	771.1	0.0	369	7897	1.52	2.80	125.18	1.282	4	0.057	0.077	2761	690	2280
8156	1.28	187.1	754.7	6.5	387	8198	0.00	2.55	35.20	1.285	6	0.000	0.051	2761	2097	2115
8507	1.28	187.1	729.0	8.1	404	8511	0.00	2.62	0.00	0.000	4	0.000	0.064	2761	3506	2114
8624	1.28	187.1	719.5	8.4	409	8628	0.00	2.60	0.00	0.000	6	0.000	0.056	2761	2099	2113
8939	1.29	193.1	695.2	7.8	424	8952	0.00	2.67	6.15	1.276	4	0.000	0.062	2761	3503	2090
8970	1.29	193.6	692.5	8.0	425	8975	0.00	2.60	0.00	0.000	6	0.000	0.054	2762	2096	2090
9286	1.29	195.5	666.9	7.9	440	9291	0.00	2.62	0.00	0.000	4	0.000	0.061	2762	3505	2088
9343	1.29	195.5	662.2	8.1	442	9349	0.00	2.60	0.00	0.000	6	0.000	0.054	2762	2094	2089
9659	1.29	198.2	638.6	7.9	458	9669	0.00	2.67	4.93	1.245	4	0.000	0.061	2761	3507	2070
9702	1.29	198.2	634.8	8.4	460	9706	0.00	2.60	0.00	0.000	6	0.000	0.051	2761	2097	2070
10023	1.29	198.2	606.8	8.6	476	10028	0.00	2.60	0.00	0.000	4	0.000	0.058	2761	3503	2070
10141	1.29	198.2	596.1	9.4	481	10145	0.00	2.55	0.00	0.000	6	0.000	0.048	2761	2093	2070
10457	1.29	198.2	569.5	8.2	496	10461	0.00	2.60	0.00	0.000	4	0.000	0.056	2761	3503	2070
10567	1.29	198.2	559.0	9.7	501	10572	0.00	2.53	0.00	0.000	6	0.000	0.047	2761	2101	2070
10889	1.30	204.7	533.2	7.8	517	10903	0.00	2.62	6.62	1.202	4	0.000	0.054	2762	3505	2043
10915	1.30	204.7	531.0	9.4	518	10919	0.00	2.55	0.00	0.000	6	0.000	0.044	2761	2093	2043
11235	1.30	204.7	505.3	8.1	534	11240	0.00	2.60	0.00	0.000	4	0.000	0.054	2761	3507	2043
11285	1.30	204.7	501.0	9.0	536	11290	0.00	2.53	0.00	0.000	6	0.000	0.044	2761	2100	2043
11602	1.34	234.7	477.5	6.9	551	11630	0.10	0.00	26.15	1.145	6	0.058	0.000	2794	2100	1921
11932	1.34	234.7	449.0	8.7	567	11937	0.00	2.58	0.00	0.000	4	0.000	0.052	2794	3505	1921
11994	1.34	234.7	443.5	8.9	570	11999	0.00	2.53	0.00	0.000	6	0.000	0.044	2794	2101	1921
12321	1.34	234.7	414.6	9.3	586	12325	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3508	1921
12393	1.34	234.7	407.3	10.5	589	12397	0.00	2.55	0.00	0.000	6	0.000	0.044	2794	2094	1921
12708	1.34	234.7	375.9	10.6	604	12713	0.00	2.58	0.00	0.000	4	0.000	0.052	2794	3504	1922
12786	1.34	234.7	366.4	12.3	607	12792	0.00	2.53	0.00	0.000	6	0.000	0.043	2794	2099	1922
13102	1.34	234.7	329.2	11.4	623	13106	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3505	1922
13208	1.34	234.7	316.3	11.6	628	13213	0.00	2.53	0.00	0.000	6	0.000	0.043	2794	2099	1922
13535	1.34	234.7	278.8	10.9	644	13539	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3510	1922
13598	1.34	234.7	272.3	9.7	647	13603	0.00	2.53	0.00	0.000	6	0.000	0.041	2794	2098	1922
13924	1.34	234.7	242.0	9.1	663	13928	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3511	1923
13990	1.34	234.7	236.2	8.1	666	13995	0.00	2.53	0.00	0.000	6	0.000	0.041	2794	2096	1923
14311	1.34	234.7	206.2	8.7	682	14315	0.00	2.58	0.00	0.000	4	0.000	0.051	2794	3509	1923
14366	1.34	234.7	200.8	10.0	684	14372	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2096	1923
14682	1.34	234.7	171.1	9.6	700	14686	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3504	1924
14703	1.34	234.7	169.2	8.7	701	14707	0.00	2.47	0.00	0.000	6	0.000	0.041	2794	2100	1924
15024	1.34	234.7	140.1	8.3	717	15028	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3505	1924
15124	1.34	234.7	131.6	8.6	721	15130	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2099	1924
15439	1.34	234.7	104.8	8.7	737	15444	0.00	2.55	0.00	0.000	4	0.000	0.051	2794	3504	1924
15528	1.34	234.7	94.7	11.4	741	15532	0.00	2.50	0.00	0.000	6	0.000	0.041	2794	2100	1924
15856	1.34	234.7	65.0	10.4	757	15860	0.00	2.55	0.00	0.000	4	0.000	0.049	2794	3507	1924
15963	1.36	250.5	54.1	7.4	762	15985	0.00	2.53	14.20	0.882	6	0.000	0.041	2794	2092	1855
16296	1.36	250.5	21.5	9.9	778	16300	0.00	2.58	0.00	0.000	4	0.000	0.049	2794	3507	1855
16362	1.36	250.5	12.9	12.3	781	16366	0.00	2.53	0.00	0.000	6	0.000	0.040	2793	2093	1855
16454	end climb: SURFACE_DEPTH_REACHED
state	16454	begin surface coast
16476	end surface coast: CONTROL_FINISHED_OK
state	16476	begin surface