Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 348 * 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 348 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 31 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 -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 -84071.547 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 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 -84071.547

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 31 USE_BATHY -2

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 348 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 023408,6240.378,-1210.203,34,1.7,34,-11.4 TGT_NAME FE

_CALLS 5 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.230,-0.060

_SM_DEPTHo 1.50 KALMAN_X 496344.4,-1678.3,699.4,-689128.5,1721.3

_SM_ANGLEo -48.0 KALMAN_Y 53829.3,1319.7,862.1,68196.6,-3277.4

GPS2 025903,6240.227,-1209.726,13,1.7,13,-11.4 MHEAD_RNG_PITCHd_Wd 116.1,31701,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 771

Post-dive calculations and measurements:

FINISH 1.0,1.015155 XPDR_PINGS 5

SM_CCo 16255,36.15,0.802,4,0,1655,300.00 ALTIM_TOP_PING 18.0,999.0

SM_GC 1.94,0.00,0.00,36.15,0.000,0.000,0.802,29,1881,1655,-11.34,-0.54,300.00 _24V_AH 23.1,70.062

IRIDIUM_FIX 6216.53,-1225.63,210497,030342 _10V_AH 10.1,33.852

TT8_MAMPS 0.026845 DATA_FILE_SIZE 41224,779

HUMID 2043 CFSIZE 260165632,237498368

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,29,4,0

TCM_TEMP 16.40 GPS 260108,073356,6239.417,-1206.520,37,1.5,37,-11.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 139 84.24 SBE_CT 571 24 316.86

Roll_motor 195 80 362.86 SBE_O2 525 19 230.51

VBD_pump_during_apogee 355 1310 10755.30 WL_BB2F 461 105 1118.42

VBD_pump_during_surface 36 801 669.32 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 181 103 430.82 nil 0 0 0.00

Iridium_during_connect 211 160 781.76 nil 0 0 0.00

Iridium_during_xfer 705 223 3635.32

Transponder_ping 7 420 75.19

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.77

TT8 1510 19 302.02

LPSleep 12330 2 272.75

TT8_Active 610 19 122.13

TT8_Sampling 1957 39 786.87

TT8_CF8 1451 45 671.32

TT8_Kalman 33 81 27.57

Analog_circuits 1622 12 196.64

GPS_charging 0 0 0.00

Compass 1911 8 154.43

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 0 146 0.00 0.00 -121.28 0.000 2 0.000 0.000 28 1884 3038

150 -1.23 -146.6 3.8 -2.9 6 180 11.60 2.62 -12.73 0.000 4 0.140 0.081 2222 504 3477

433 -1.23 -146.6 38.7 -15.5 18 439 0.00 2.47 0.00 0.000 6 0.000 0.039 2222 1926 3477

749 -1.23 -146.6 78.1 -14.1 34 753 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 502 3477

798 -1.23 -146.6 83.9 -9.8 36 803 0.00 2.42 0.00 0.000 6 0.000 0.040 2222 1896 3477

1114 -1.23 -146.6 116.9 -12.2 51 1118 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3301 3477

1180 -1.23 -146.6 123.7 -10.6 54 1185 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1907 3476

1501 -1.23 -146.6 156.9 -9.3 70 1502 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 1906 3477

1810 -1.23 -146.6 190.8 -11.8 85 1814 0.00 2.50 0.00 0.000 4 0.000 0.048 2222 3298 3477

1849 -1.23 -146.6 196.2 -13.9 87 1854 0.00 2.50 0.00 0.000 6 0.000 0.043 2222 1899 3477

2176 -1.23 -146.6 235.2 -12.0 103 2180 0.00 2.53 0.00 0.000 4 0.000 0.047 2222 3302 3477

2197 -1.23 -146.6 238.1 -12.3 104 2202 0.00 2.53 0.00 0.000 6 0.000 0.043 2222 1892 3477

2520 -1.23 -146.6 277.4 -12.5 120 2524 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3301 3477

2569 -1.23 -146.6 283.8 -12.5 122 2573 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1894 3476

2884 -1.23 -146.6 319.2 -11.2 137 2886 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 1894 3477

3196 -1.23 -146.6 350.1 -9.4 152 3201 0.00 2.55 0.00 0.000 4 0.000 0.049 2222 3303 3477

3246 -1.23 -146.6 354.7 -9.2 154 3250 0.00 2.53 0.00 0.000 6 0.000 0.045 2222 1898 3476

3562 -1.23 -146.6 386.0 -10.2 169 3566 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3298 3477

3583 -1.23 -146.6 388.3 -10.5 170 3587 0.00 2.50 0.00 0.000 6 0.000 0.044 2222 1899 3477

3904 -1.23 -146.6 424.4 -11.4 186 3909 0.00 2.53 0.00 0.000 4 0.000 0.048 2222 3300 3476

3942 -1.23 -146.6 428.9 -11.3 187 3948 0.00 2.53 0.00 0.000 6 0.000 0.044 2222 1893 3476

4258 -1.23 -146.6 463.7 -11.1 203 4262 0.00 2.55 0.00 0.000 4 0.000 0.049 2222 3301 3476

4313 -1.23 -146.6 469.6 -10.5 205 4319 0.00 2.53 0.00 0.000 6 0.000 0.046 2222 1901 3476

4629 -1.23 -146.6 502.6 -10.5 221 4633 0.00 2.53 0.00 0.000 4 0.000 0.050 2222 3298 3477

4656 -1.23 -146.6 505.5 -10.3 222 4660 0.00 2.50 0.00 0.000 6 0.000 0.045 2222 1901 3476

4971 -1.23 -146.6 537.3 -10.0 237 4975 0.00 2.55 0.00 0.000 4 0.000 0.051 2222 3303 3476

5015 -1.23 -146.6 541.9 -10.1 239 5019 0.00 2.53 0.00 0.000 6 0.000 0.046 2222 1902 3476

5342 -1.23 -146.6 573.1 -9.1 255 5346 0.00 2.55 0.00 0.000 4 0.000 0.051 2222 3303 3476

5381 -1.23 -146.6 576.7 -9.1 257 5385 0.00 2.55 0.00 0.000 6 0.000 0.047 2222 1892 3476

5707 -1.23 -146.6 606.3 -9.1 273 5711 0.00 2.62 0.00 0.000 4 0.000 0.074 2222 492 3476

5724 -1.23 -146.6 608.0 -9.3 274 5728 0.00 2.47 0.00 0.000 6 0.000 0.044 2222 1898 3476

6049 -1.23 -146.6 640.4 -9.8 290 6054 0.00 2.55 0.00 0.000 4 0.000 0.058 2222 3295 3476

6127 -1.23 -146.6 648.2 -9.5 293 6133 0.00 2.55 0.00 0.000 6 0.000 0.051 2222 1896 3476

6444 -1.23 -146.6 676.4 -8.7 309 6448 0.00 2.58 0.00 0.000 4 0.000 0.057 2222 3299 3476

6484 -1.23 -146.6 679.9 -8.6 311 6488 0.00 2.55 0.00 0.000 6 0.000 0.052 2222 1901 3476

6810 -1.23 -146.6 706.9 -8.4 327 6814 0.00 2.58 0.00 0.000 4 0.000 0.058 2222 3302 3476

6876 -1.23 -146.6 712.7 -9.0 330 6881 0.00 2.58 0.00 0.000 6 0.000 0.054 2222 1895 3476

7198 -1.23 -146.6 740.4 -8.7 346 7202 0.00 2.60 0.00 0.000 4 0.000 0.060 2222 3303 3476

7241 -1.23 -146.6 744.3 -8.9 348 7246 0.00 2.58 0.00 0.000 6 0.000 0.055 2222 1903 3476

7539 end dive: TARGET_DEPTH_EXCEEDED

state 7539 begin apogee

7546 -0.36 0.0 772.0 11.0 363 7676 0.93 0.00 126.50 1.311 6 0.085 0.000 2416 2101 2878

7677 end apogee: CONTROL_FINISHED_OK

state 7677 begin climb

7680 1.23 146.6 776.2 0.0 369 7815 1.55 2.78 124.80 1.276 4 0.056 0.075 2760 687 2279

7854 1.24 159.0 771.6 7.5 377 7873 0.00 2.58 11.62 1.241 6 0.000 0.051 2760 2097 2229

8195 1.26 171.2 744.9 7.5 394 8212 0.00 2.70 11.20 1.275 4 0.000 0.065 2760 3508 2180

8392 1.26 174.6 729.2 7.9 402 8401 0.00 2.62 4.07 1.181 6 0.000 0.057 2760 2093 2166

8725 1.32 219.2 707.5 6.3 418 8769 0.00 2.75 38.08 1.289 4 0.000 0.064 2759 3504 1984

8849 1.32 222.3 698.1 7.9 423 8858 0.10 2.62 4.03 1.185 6 0.061 0.055 2788 2095 1971

9185 1.32 222.3 667.7 9.8 440 9190 0.00 2.62 0.00 0.000 4 0.000 0.061 2788 3505 1970

9309 1.32 222.3 654.5 11.7 445 9315 0.00 2.60 0.00 0.000 6 0.000 0.053 2788 2093 1969

9624 1.32 222.3 619.6 11.1 461 9629 0.00 2.60 0.00 0.000 4 0.000 0.058 2788 3505 1969

9725 1.32 222.3 607.6 12.2 465 9731 0.00 2.58 0.00 0.000 6 0.000 0.050 2788 2096 1969

10041 1.32 222.3 572.6 10.9 481 10045 0.00 2.60 0.00 0.000 4 0.000 0.056 2788 3508 1968

10080 1.32 222.3 568.2 11.7 483 10084 0.00 2.55 0.00 0.000 6 0.000 0.048 2787 2096 1968

10406 1.32 222.3 536.3 9.6 499 10410 0.00 2.60 0.00 0.000 4 0.000 0.054 2788 3508 1968

10545 1.32 222.3 522.4 9.5 505 10549 0.00 2.55 0.00 0.000 6 0.000 0.046 2788 2093 1968

10861 1.32 222.3 493.6 9.1 520 10865 0.00 2.58 0.00 0.000 4 0.000 0.054 2788 3505 1969

10900 1.32 222.3 489.9 9.5 522 10904 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2098 1968

11226 1.32 222.3 461.4 8.9 538 11230 0.00 2.55 0.00 0.000 4 0.000 0.052 2788 3505 1969

11288 1.32 222.3 456.1 8.2 541 11292 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2099 1969

11614 1.32 222.7 430.4 8.0 557 11619 0.00 2.55 0.00 0.000 4 0.000 0.051 2788 3506 1969

11692 1.32 222.7 423.7 8.8 560 11699 0.00 2.55 0.00 0.000 6 0.000 0.044 2788 2092 1970

12009 1.32 222.7 395.9 8.3 576 12013 0.00 2.58 0.00 0.000 4 0.000 0.052 2788 3508 1971

12120 1.32 222.7 385.4 9.5 581 12124 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2098 1970

12440 1.32 224.3 358.8 7.9 597 12445 0.00 2.55 0.00 0.000 4 0.000 0.051 2788 3505 1971

12548 1.32 224.3 349.1 9.5 602 12552 0.00 2.53 0.00 0.000 6 0.000 0.044 2788 2091 1971

12874 1.32 224.3 314.2 10.9 618 12878 0.00 2.60 0.00 0.000 4 0.000 0.052 2788 3513 1971

12907 1.32 224.3 310.5 10.9 619 12913 0.00 2.53 0.00 0.000 6 0.000 0.042 2788 2100 1972

13223 1.32 224.3 275.5 11.4 635 13232 0.00 2.60 3.30 0.966 4 0.000 0.052 2788 3505 1963

13335 1.32 224.3 263.6 10.9 640 13339 0.00 2.50 0.00 0.000 6 0.000 0.042 2788 2100 1962

13662 1.32 224.3 232.8 9.1 656 13666 0.00 2.58 0.00 0.000 4 0.000 0.050 2788 3511 1962

13756 1.32 224.3 224.1 9.5 660 13760 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2100 1962

14072 1.33 229.6 198.9 7.8 675 14082 0.00 2.58 5.32 0.966 4 0.000 0.050 2788 3505 1941

14134 1.33 229.6 193.5 8.8 678 14138 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2100 1941

14460 1.33 229.6 165.8 8.3 694 14461 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2100 1941

14770 1.34 239.9 141.2 7.6 709 14784 0.00 2.60 9.45 0.938 4 0.000 0.051 2788 3511 1899

14868 1.34 239.9 132.5 8.3 712 14874 0.00 2.53 0.00 0.000 6 0.000 0.041 2788 2093 1899

15184 1.35 241.2 104.3 7.9 728 15188 0.00 2.58 0.00 0.000 4 0.000 0.049 2788 3506 1898

15250 1.35 241.2 97.8 9.6 731 15255 0.00 2.50 0.00 0.000 6 0.000 0.040 2788 2098 1898

15571 1.35 241.2 65.2 10.2 747 15575 0.00 2.58 0.00 0.000 4 0.000 0.050 2788 3514 1899

15603 1.35 241.2 61.6 10.8 748 15610 0.00 2.50 0.00 0.000 6 0.000 0.041 2788 2097 1898

15921 1.37 259.8 31.7 7.3 764 15944 0.00 2.60 16.83 0.857 4 0.000 0.048 2788 3506 1817

15994 1.37 259.8 24.3 10.3 767 15999 0.00 2.50 0.00 0.000 6 0.000 0.040 2788 2102 1817

16210 end climb: SURFACE_DEPTH_REACHED

state 16210 begin surface coast

16232 end surface coast: CONTROL_FINISHED_OK

state 16232 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	348	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	31	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	-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	-84071.547	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	023408,6240.378,-1210.203,34,1.7,34,-11.4	TGT_NAME	FE
_CALLS	5	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.230,-0.060
_SM_DEPTHo	1.50	KALMAN_X	496344.4,-1678.3,699.4,-689128.5,1721.3
_SM_ANGLEo	-48.0	KALMAN_Y	53829.3,1319.7,862.1,68196.6,-3277.4
GPS2	025903,6240.227,-1209.726,13,1.7,13,-11.4	MHEAD_RNG_PITCHd_Wd	116.1,31701,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	771

FINISH	1.0,1.015155	XPDR_PINGS	5
SM_CCo	16255,36.15,0.802,4,0,1655,300.00	ALTIM_TOP_PING	18.0,999.0
SM_GC	1.94,0.00,0.00,36.15,0.000,0.000,0.802,29,1881,1655,-11.34,-0.54,300.00	_24V_AH	23.1,70.062
IRIDIUM_FIX	6216.53,-1225.63,210497,030342	_10V_AH	10.1,33.852
TT8_MAMPS	0.026845	DATA_FILE_SIZE	41224,779
HUMID	2043	CFSIZE	260165632,237498368
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,29,4,0
TCM_TEMP	16.40	GPS	260108,073356,6239.417,-1206.520,37,1.5,37,-11.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	139	84.24	SBE_CT	571	24	316.86
Roll_motor	195	80	362.86	SBE_O2	525	19	230.51
VBD_pump_during_apogee	355	1310	10755.30	WL_BB2F	461	105	1118.42
VBD_pump_during_surface	36	801	669.32	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	181	103	430.82	nil	0	0	0.00
Iridium_during_connect	211	160	781.76	nil	0	0	0.00
Iridium_during_xfer	705	223	3635.32
Transponder_ping	7	420	75.19
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.77
TT8	1510	19	302.02
LPSleep	12330	2	272.75
TT8_Active	610	19	122.13
TT8_Sampling	1957	39	786.87
TT8_CF8	1451	45	671.32
TT8_Kalman	33	81	27.57
Analog_circuits	1622	12	196.64
GPS_charging	0	0	0.00
Compass	1911	8	154.43
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	146	0.00	0.00	-121.28	0.000	2	0.000	0.000	28	1884	3038
150	-1.23	-146.6	3.8	-2.9	6	180	11.60	2.62	-12.73	0.000	4	0.140	0.081	2222	504	3477
433	-1.23	-146.6	38.7	-15.5	18	439	0.00	2.47	0.00	0.000	6	0.000	0.039	2222	1926	3477
749	-1.23	-146.6	78.1	-14.1	34	753	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	502	3477
798	-1.23	-146.6	83.9	-9.8	36	803	0.00	2.42	0.00	0.000	6	0.000	0.040	2222	1896	3477
1114	-1.23	-146.6	116.9	-12.2	51	1118	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3301	3477
1180	-1.23	-146.6	123.7	-10.6	54	1185	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1907	3476
1501	-1.23	-146.6	156.9	-9.3	70	1502	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	1906	3477
1810	-1.23	-146.6	190.8	-11.8	85	1814	0.00	2.50	0.00	0.000	4	0.000	0.048	2222	3298	3477
1849	-1.23	-146.6	196.2	-13.9	87	1854	0.00	2.50	0.00	0.000	6	0.000	0.043	2222	1899	3477
2176	-1.23	-146.6	235.2	-12.0	103	2180	0.00	2.53	0.00	0.000	4	0.000	0.047	2222	3302	3477
2197	-1.23	-146.6	238.1	-12.3	104	2202	0.00	2.53	0.00	0.000	6	0.000	0.043	2222	1892	3477
2520	-1.23	-146.6	277.4	-12.5	120	2524	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3301	3477
2569	-1.23	-146.6	283.8	-12.5	122	2573	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1894	3476
2884	-1.23	-146.6	319.2	-11.2	137	2886	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	1894	3477
3196	-1.23	-146.6	350.1	-9.4	152	3201	0.00	2.55	0.00	0.000	4	0.000	0.049	2222	3303	3477
3246	-1.23	-146.6	354.7	-9.2	154	3250	0.00	2.53	0.00	0.000	6	0.000	0.045	2222	1898	3476
3562	-1.23	-146.6	386.0	-10.2	169	3566	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3298	3477
3583	-1.23	-146.6	388.3	-10.5	170	3587	0.00	2.50	0.00	0.000	6	0.000	0.044	2222	1899	3477
3904	-1.23	-146.6	424.4	-11.4	186	3909	0.00	2.53	0.00	0.000	4	0.000	0.048	2222	3300	3476
3942	-1.23	-146.6	428.9	-11.3	187	3948	0.00	2.53	0.00	0.000	6	0.000	0.044	2222	1893	3476
4258	-1.23	-146.6	463.7	-11.1	203	4262	0.00	2.55	0.00	0.000	4	0.000	0.049	2222	3301	3476
4313	-1.23	-146.6	469.6	-10.5	205	4319	0.00	2.53	0.00	0.000	6	0.000	0.046	2222	1901	3476
4629	-1.23	-146.6	502.6	-10.5	221	4633	0.00	2.53	0.00	0.000	4	0.000	0.050	2222	3298	3477
4656	-1.23	-146.6	505.5	-10.3	222	4660	0.00	2.50	0.00	0.000	6	0.000	0.045	2222	1901	3476
4971	-1.23	-146.6	537.3	-10.0	237	4975	0.00	2.55	0.00	0.000	4	0.000	0.051	2222	3303	3476
5015	-1.23	-146.6	541.9	-10.1	239	5019	0.00	2.53	0.00	0.000	6	0.000	0.046	2222	1902	3476
5342	-1.23	-146.6	573.1	-9.1	255	5346	0.00	2.55	0.00	0.000	4	0.000	0.051	2222	3303	3476
5381	-1.23	-146.6	576.7	-9.1	257	5385	0.00	2.55	0.00	0.000	6	0.000	0.047	2222	1892	3476
5707	-1.23	-146.6	606.3	-9.1	273	5711	0.00	2.62	0.00	0.000	4	0.000	0.074	2222	492	3476
5724	-1.23	-146.6	608.0	-9.3	274	5728	0.00	2.47	0.00	0.000	6	0.000	0.044	2222	1898	3476
6049	-1.23	-146.6	640.4	-9.8	290	6054	0.00	2.55	0.00	0.000	4	0.000	0.058	2222	3295	3476
6127	-1.23	-146.6	648.2	-9.5	293	6133	0.00	2.55	0.00	0.000	6	0.000	0.051	2222	1896	3476
6444	-1.23	-146.6	676.4	-8.7	309	6448	0.00	2.58	0.00	0.000	4	0.000	0.057	2222	3299	3476
6484	-1.23	-146.6	679.9	-8.6	311	6488	0.00	2.55	0.00	0.000	6	0.000	0.052	2222	1901	3476
6810	-1.23	-146.6	706.9	-8.4	327	6814	0.00	2.58	0.00	0.000	4	0.000	0.058	2222	3302	3476
6876	-1.23	-146.6	712.7	-9.0	330	6881	0.00	2.58	0.00	0.000	6	0.000	0.054	2222	1895	3476
7198	-1.23	-146.6	740.4	-8.7	346	7202	0.00	2.60	0.00	0.000	4	0.000	0.060	2222	3303	3476
7241	-1.23	-146.6	744.3	-8.9	348	7246	0.00	2.58	0.00	0.000	6	0.000	0.055	2222	1903	3476
7539	end dive: TARGET_DEPTH_EXCEEDED
state	7539	begin apogee
7546	-0.36	0.0	772.0	11.0	363	7676	0.93	0.00	126.50	1.311	6	0.085	0.000	2416	2101	2878
7677	end apogee: CONTROL_FINISHED_OK
state	7677	begin climb
7680	1.23	146.6	776.2	0.0	369	7815	1.55	2.78	124.80	1.276	4	0.056	0.075	2760	687	2279
7854	1.24	159.0	771.6	7.5	377	7873	0.00	2.58	11.62	1.241	6	0.000	0.051	2760	2097	2229
8195	1.26	171.2	744.9	7.5	394	8212	0.00	2.70	11.20	1.275	4	0.000	0.065	2760	3508	2180
8392	1.26	174.6	729.2	7.9	402	8401	0.00	2.62	4.07	1.181	6	0.000	0.057	2760	2093	2166
8725	1.32	219.2	707.5	6.3	418	8769	0.00	2.75	38.08	1.289	4	0.000	0.064	2759	3504	1984
8849	1.32	222.3	698.1	7.9	423	8858	0.10	2.62	4.03	1.185	6	0.061	0.055	2788	2095	1971
9185	1.32	222.3	667.7	9.8	440	9190	0.00	2.62	0.00	0.000	4	0.000	0.061	2788	3505	1970
9309	1.32	222.3	654.5	11.7	445	9315	0.00	2.60	0.00	0.000	6	0.000	0.053	2788	2093	1969
9624	1.32	222.3	619.6	11.1	461	9629	0.00	2.60	0.00	0.000	4	0.000	0.058	2788	3505	1969
9725	1.32	222.3	607.6	12.2	465	9731	0.00	2.58	0.00	0.000	6	0.000	0.050	2788	2096	1969
10041	1.32	222.3	572.6	10.9	481	10045	0.00	2.60	0.00	0.000	4	0.000	0.056	2788	3508	1968
10080	1.32	222.3	568.2	11.7	483	10084	0.00	2.55	0.00	0.000	6	0.000	0.048	2787	2096	1968
10406	1.32	222.3	536.3	9.6	499	10410	0.00	2.60	0.00	0.000	4	0.000	0.054	2788	3508	1968
10545	1.32	222.3	522.4	9.5	505	10549	0.00	2.55	0.00	0.000	6	0.000	0.046	2788	2093	1968
10861	1.32	222.3	493.6	9.1	520	10865	0.00	2.58	0.00	0.000	4	0.000	0.054	2788	3505	1969
10900	1.32	222.3	489.9	9.5	522	10904	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2098	1968
11226	1.32	222.3	461.4	8.9	538	11230	0.00	2.55	0.00	0.000	4	0.000	0.052	2788	3505	1969
11288	1.32	222.3	456.1	8.2	541	11292	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2099	1969
11614	1.32	222.7	430.4	8.0	557	11619	0.00	2.55	0.00	0.000	4	0.000	0.051	2788	3506	1969
11692	1.32	222.7	423.7	8.8	560	11699	0.00	2.55	0.00	0.000	6	0.000	0.044	2788	2092	1970
12009	1.32	222.7	395.9	8.3	576	12013	0.00	2.58	0.00	0.000	4	0.000	0.052	2788	3508	1971
12120	1.32	222.7	385.4	9.5	581	12124	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2098	1970
12440	1.32	224.3	358.8	7.9	597	12445	0.00	2.55	0.00	0.000	4	0.000	0.051	2788	3505	1971
12548	1.32	224.3	349.1	9.5	602	12552	0.00	2.53	0.00	0.000	6	0.000	0.044	2788	2091	1971
12874	1.32	224.3	314.2	10.9	618	12878	0.00	2.60	0.00	0.000	4	0.000	0.052	2788	3513	1971
12907	1.32	224.3	310.5	10.9	619	12913	0.00	2.53	0.00	0.000	6	0.000	0.042	2788	2100	1972
13223	1.32	224.3	275.5	11.4	635	13232	0.00	2.60	3.30	0.966	4	0.000	0.052	2788	3505	1963
13335	1.32	224.3	263.6	10.9	640	13339	0.00	2.50	0.00	0.000	6	0.000	0.042	2788	2100	1962
13662	1.32	224.3	232.8	9.1	656	13666	0.00	2.58	0.00	0.000	4	0.000	0.050	2788	3511	1962
13756	1.32	224.3	224.1	9.5	660	13760	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2100	1962
14072	1.33	229.6	198.9	7.8	675	14082	0.00	2.58	5.32	0.966	4	0.000	0.050	2788	3505	1941
14134	1.33	229.6	193.5	8.8	678	14138	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2100	1941
14460	1.33	229.6	165.8	8.3	694	14461	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2100	1941
14770	1.34	239.9	141.2	7.6	709	14784	0.00	2.60	9.45	0.938	4	0.000	0.051	2788	3511	1899
14868	1.34	239.9	132.5	8.3	712	14874	0.00	2.53	0.00	0.000	6	0.000	0.041	2788	2093	1899
15184	1.35	241.2	104.3	7.9	728	15188	0.00	2.58	0.00	0.000	4	0.000	0.049	2788	3506	1898
15250	1.35	241.2	97.8	9.6	731	15255	0.00	2.50	0.00	0.000	6	0.000	0.040	2788	2098	1898
15571	1.35	241.2	65.2	10.2	747	15575	0.00	2.58	0.00	0.000	4	0.000	0.050	2788	3514	1899
15603	1.35	241.2	61.6	10.8	748	15610	0.00	2.50	0.00	0.000	6	0.000	0.041	2788	2097	1898
15921	1.37	259.8	31.7	7.3	764	15944	0.00	2.60	16.83	0.857	4	0.000	0.048	2788	3506	1817
15994	1.37	259.8	24.3	10.3	767	15999	0.00	2.50	0.00	0.000	6	0.000	0.040	2788	2102	1817
16210	end climb: SURFACE_DEPTH_REACHED
state	16210	begin surface coast
16232	end surface coast: CONTROL_FINISHED_OK
state	16232	begin surface