Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 398 * 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 398 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -3 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 -86406.781 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 -86406.781

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 19 USE_BATHY -3

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 398 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 201931,6157.223,-948.277,42,1.2,42,-9.8 TGT_NAME BE

_CALLS 3 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.236,-0.030

_SM_DEPTHo 1.42 KALMAN_X 583366.3,-742.2,-593.8,-651113.7,4775.4

_SM_ANGLEo -61.1 KALMAN_Y 95019.1,1051.1,902.2,-52341.7,-6601.2

GPS2 203420,6157.242,-948.387,11,1.2,11,-9.8 MHEAD_RNG_PITCHd_Wd 107.0,37021,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 770

Post-dive calculations and measurements:

FINISH 0.6,1.003370 XPDR_PINGS 3

SM_CCo 16188,51.75,0.790,5,0,1654,300.00 ALTIM_TOP_PING 19.9,999.0

SM_GC 1.32,0.00,0.00,51.75,0.000,0.000,0.790,31,1879,1654,-11.33,-0.59,300.00 _24V_AH 23.0,78.222

IRIDIUM_FIX 6135.28,-943.53,300497,202053 _10V_AH 10.1,37.884

TT8_MAMPS 0.026845 DATA_FILE_SIZE 37907,775

HUMID 2070 CFSIZE 260165632,234541056

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,5,0

TCM_TEMP 15.40 GPS 050208,010826,6155.602,-946.459,38,1.2,38,-9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 141 85.21 SBE_CT 576 24 318.44

Roll_motor 204 79 375.33 SBE_O2 522 19 228.26

VBD_pump_during_apogee 328 1326 10035.39 WL_BB2F 443 105 1072.11

VBD_pump_during_surface 51 790 940.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 110 103 262.08 nil 0 0 0.00

Iridium_during_connect 133 160 492.49 nil 0 0 0.00

Iridium_during_xfer 370 223 1898.08

Transponder_ping 7 420 70.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.56

TT8 1503 19 300.62

LPSleep 12241 2 270.77

TT8_Active 577 19 115.48

TT8_Sampling 1899 39 763.45

TT8_CF8 983 45 454.90

TT8_Kalman 33 81 27.60

Analog_circuits 1569 12 190.24

GPS_charging 0 0 0.00

Compass 1854 8 149.85

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

24 -1.23 -146.6 0.0 0.0 0 106 0.00 0.00 -80.80 0.000 2 0.000 0.000 27 1898 3213

110 -1.23 -146.6 4.3 -4.5 4 132 11.70 0.00 -6.10 0.000 6 0.141 0.000 2224 1900 3476

443 -1.23 -146.6 47.3 -11.1 20 447 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3298 3477

464 -1.23 -146.6 50.6 -12.6 21 468 0.00 2.53 0.00 0.000 6 0.000 0.043 2224 1893 3477

791 -1.23 -146.6 94.3 -11.1 37 796 0.00 2.55 0.00 0.000 4 0.000 0.047 2225 3303 3477

819 -1.23 -146.6 97.8 -13.0 38 824 0.00 2.53 0.00 0.000 6 0.000 0.041 2224 1890 3477

1137 -1.23 -146.6 138.6 -11.1 53 1141 0.00 2.55 0.00 0.000 4 0.000 0.047 2224 3302 3477

1154 -1.23 -146.6 140.6 -11.0 54 1158 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1898 3477

1481 -1.23 -146.6 176.2 -9.7 70 1486 0.00 2.53 0.00 0.000 4 0.000 0.047 2224 3301 3477

1544 -1.23 -146.6 182.9 -11.5 73 1548 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1898 3477

1870 -1.23 -146.6 219.3 -10.8 89 1874 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3301 3477

1903 -1.23 -146.6 223.0 -10.4 90 1909 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1899 3477

2218 -1.23 -146.6 257.1 -10.8 106 2223 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3299 3477

2246 -1.23 -146.6 260.1 -10.8 107 2250 0.00 2.50 0.00 0.000 6 0.000 0.041 2224 1897 3477

2562 -1.23 -146.6 293.0 -10.0 122 2566 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3301 3477

2595 -1.23 -146.6 296.3 -9.9 123 2601 0.00 2.50 0.00 0.000 6 0.000 0.043 2224 1900 3477

2911 -1.23 -146.6 327.6 -10.2 139 2915 0.00 2.53 0.00 0.000 4 0.000 0.048 2224 3303 3477

2928 -1.23 -146.6 329.5 -10.2 140 2932 0.00 2.53 0.00 0.000 6 0.000 0.043 2224 1894 3477

3254 -1.23 -146.6 365.2 -10.8 156 3259 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3303 3477

3276 -1.23 -146.6 367.8 -11.1 157 3281 0.00 2.53 0.00 0.000 6 0.000 0.042 2224 1894 3477

3598 -1.23 -146.6 399.0 -8.1 173 3602 0.00 2.55 0.00 0.000 4 0.000 0.048 2224 3303 3477

3630 -1.23 -146.6 401.7 -8.3 174 3636 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1896 3477

3946 -1.23 -146.6 432.1 -11.1 190 3950 0.00 2.60 0.00 0.000 4 0.000 0.070 2224 495 3477

4035 -1.23 -146.6 440.8 -9.9 194 4039 0.00 2.47 0.00 0.000 6 0.000 0.041 2224 1910 3477

4355 -1.23 -146.6 474.6 -11.5 210 4360 0.00 2.50 0.00 0.000 4 0.000 0.051 2224 3302 3477

4405 -1.23 -146.6 480.1 -10.6 212 4409 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1896 3477

4726 -1.23 -146.6 514.0 -10.6 228 4730 0.00 2.53 0.00 0.000 4 0.000 0.049 2224 3300 3477

4753 -1.23 -146.6 517.1 -11.0 229 4757 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1897 3477

5068 -1.23 -146.6 548.2 -9.5 244 5069 0.00 0.00 0.00 0.000 6 0.000 0.000 2224 1897 3477

5379 -1.23 -146.6 576.3 -8.9 259 5383 0.00 2.55 0.00 0.000 4 0.000 0.051 2224 3300 3477

5422 -1.23 -146.6 580.4 -9.3 261 5427 0.00 2.53 0.00 0.000 6 0.000 0.044 2224 1893 3477

5744 -1.23 -146.6 613.3 -10.9 277 5748 0.00 2.58 0.00 0.000 4 0.000 0.053 2224 3302 3477

5788 -1.23 -146.6 618.2 -11.0 279 5792 0.00 2.53 0.00 0.000 6 0.000 0.046 2224 1898 3477

6108 -1.23 -146.6 652.3 -10.4 295 6113 0.00 2.62 0.00 0.000 4 0.000 0.074 2224 496 3476

6141 -1.23 -146.6 655.6 -10.0 296 6147 0.00 2.45 0.00 0.000 6 0.000 0.042 2224 1900 3477

6457 -1.23 -146.6 682.1 -8.6 312 6462 0.00 2.67 0.00 0.000 4 0.000 0.077 2224 491 3477

6558 -1.23 -146.6 691.5 -9.3 316 6564 0.00 2.47 0.00 0.000 6 0.000 0.044 2224 1898 3477

6873 -1.23 -146.6 718.0 -9.4 332 6878 0.00 2.58 0.00 0.000 4 0.000 0.061 2224 3305 3477

6946 -1.23 -146.6 724.7 -9.8 335 6951 0.00 2.58 0.00 0.000 6 0.000 0.054 2224 1896 3477

7267 -1.23 -146.6 752.4 -7.0 351 7272 0.00 2.60 0.00 0.000 4 0.000 0.060 2224 3305 3476

7323 -1.23 -146.6 757.3 -9.0 353 7330 0.00 2.58 0.00 0.000 6 0.000 0.057 2224 1903 3477

7472 end dive: TARGET_DEPTH_EXCEEDED

state 7472 begin apogee

7479 -0.36 0.0 770.3 9.4 361 7608 0.93 0.00 126.32 1.327 6 0.084 0.000 2418 2101 2878

7609 end apogee: CONTROL_FINISHED_OK

state 7609 begin climb

7612 1.23 146.6 772.9 0.0 367 7745 1.55 2.70 124.80 1.278 4 0.056 0.064 2761 3501 2280

7972 1.23 146.6 752.5 9.4 383 7978 0.00 2.58 0.00 0.000 6 0.000 0.051 2761 2093 2279

8288 1.27 181.3 727.7 6.7 399 8324 0.00 2.70 30.20 1.282 4 0.000 0.061 2761 3498 2137

8464 1.27 181.3 714.1 8.2 406 8468 0.00 2.55 0.00 0.000 6 0.000 0.051 2761 2102 2137

8785 1.27 181.3 688.8 8.1 422 8789 0.00 2.60 0.00 0.000 4 0.000 0.061 2761 3499 2136

8824 1.27 181.3 685.6 8.7 424 8828 0.00 2.58 0.00 0.000 6 0.000 0.053 2761 2095 2136

9150 1.27 181.3 657.9 8.7 440 9154 0.00 2.67 0.00 0.000 4 0.000 0.080 2761 692 2136

9222 1.27 181.3 650.7 10.7 443 9227 0.00 2.53 0.00 0.000 6 0.000 0.048 2761 2095 2136

9538 1.29 196.9 625.2 7.4 458 9559 0.00 2.67 13.38 1.276 4 0.000 0.060 2761 3493 2075

9650 1.30 205.9 616.5 7.7 463 9665 0.00 2.55 8.88 1.250 6 0.000 0.049 2761 2098 2038

9982 1.30 205.9 587.3 8.7 479 9987 0.00 2.60 0.00 0.000 4 0.000 0.056 2761 3507 2038

10055 1.30 205.9 580.5 9.1 482 10059 0.00 2.53 0.00 0.000 6 0.000 0.046 2761 2101 2038

10370 1.30 205.9 553.6 8.4 497 10374 0.00 2.58 0.00 0.000 4 0.000 0.054 2761 3501 2038

10410 1.30 205.9 550.5 8.1 499 10414 0.00 2.53 0.00 0.000 6 0.000 0.045 2761 2099 2038

10736 1.31 214.1 526.1 7.7 515 10750 0.00 2.65 7.82 1.183 4 0.000 0.053 2761 3504 2005

10808 1.31 214.1 520.2 8.2 518 10812 0.00 2.55 0.00 0.000 6 0.000 0.044 2761 2095 2005

11128 1.33 228.3 495.6 7.5 534 11150 0.10 2.65 12.95 1.157 4 0.057 0.052 2793 3498 1947

11189 1.33 228.3 489.9 9.9 536 11195 0.00 2.55 0.00 0.000 6 0.000 0.044 2793 2098 1948

11505 1.33 228.3 458.0 10.3 552 11510 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3506 1947

11568 1.33 228.3 451.2 11.1 555 11572 0.00 2.53 0.00 0.000 6 0.000 0.043 2793 2099 1947

11894 1.33 228.3 419.4 9.7 571 11898 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3507 1948

11950 1.33 228.3 413.4 10.1 573 11956 0.00 2.53 0.00 0.000 6 0.000 0.041 2793 2100 1948

12265 1.33 228.3 383.4 9.5 589 12269 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3502 1948

12309 1.33 228.3 378.9 9.4 591 12314 0.00 2.53 0.00 0.000 6 0.000 0.041 2793 2091 1949

12630 1.33 228.3 349.2 9.2 607 12635 0.00 2.58 0.00 0.000 4 0.000 0.050 2793 3505 1948

12697 1.33 228.3 342.5 10.7 610 12702 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2098 1949

13019 1.33 228.3 312.9 9.4 626 13023 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3505 1949

13069 1.33 228.3 307.9 9.8 628 13073 0.00 2.50 0.00 0.000 6 0.000 0.040 2793 2100 1949

13384 1.33 228.3 279.3 9.1 643 13388 0.00 2.55 0.00 0.000 4 0.000 0.051 2793 3504 1949

13507 1.33 228.3 266.9 9.8 648 13513 0.00 2.50 0.00 0.000 6 0.000 0.039 2793 2094 1950

13822 1.33 228.3 232.2 11.4 664 13826 0.00 2.58 0.00 0.000 4 0.000 0.051 2793 3508 1950

13916 1.33 228.3 220.5 11.7 668 13921 0.00 2.50 0.00 0.000 6 0.000 0.039 2793 2101 1950

14232 1.33 228.3 189.4 9.9 683 14237 0.00 2.55 0.00 0.000 4 0.000 0.050 2793 3508 1951

14299 1.33 228.3 182.4 9.9 686 14303 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2100 1951

14620 1.33 228.3 150.6 11.0 702 14624 0.00 2.55 0.00 0.000 4 0.000 0.049 2793 3504 1951

14714 1.33 228.3 140.1 10.3 706 14719 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2095 1951

15030 1.33 228.3 107.0 9.6 721 15034 0.00 2.55 0.00 0.000 4 0.000 0.048 2793 3504 1951

15115 1.33 228.3 97.4 11.4 725 15119 0.00 2.50 0.00 0.000 6 0.000 0.038 2792 2093 1951

15442 1.33 230.9 68.3 7.9 741 15452 0.00 2.55 4.47 0.892 4 0.000 0.048 2793 3504 1936

15542 1.33 230.9 58.8 10.3 745 15546 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2100 1935

15858 1.33 230.9 29.3 8.7 760 15863 0.00 2.55 0.00 0.000 4 0.000 0.048 2793 3505 1935

15921 1.33 230.9 23.4 10.0 763 15925 0.00 2.50 0.00 0.000 6 0.000 0.038 2793 2097 1935

16142 end climb: SURFACE_DEPTH_REACHED

state 16142 begin surface coast

16164 end surface coast: CONTROL_FINISHED_OK

state 16164 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	398	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-3	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	-86406.781	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	201931,6157.223,-948.277,42,1.2,42,-9.8	TGT_NAME	BE
_CALLS	3	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.236,-0.030
_SM_DEPTHo	1.42	KALMAN_X	583366.3,-742.2,-593.8,-651113.7,4775.4
_SM_ANGLEo	-61.1	KALMAN_Y	95019.1,1051.1,902.2,-52341.7,-6601.2
GPS2	203420,6157.242,-948.387,11,1.2,11,-9.8	MHEAD_RNG_PITCHd_Wd	107.0,37021,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	770

FINISH	0.6,1.003370	XPDR_PINGS	3
SM_CCo	16188,51.75,0.790,5,0,1654,300.00	ALTIM_TOP_PING	19.9,999.0
SM_GC	1.32,0.00,0.00,51.75,0.000,0.000,0.790,31,1879,1654,-11.33,-0.59,300.00	_24V_AH	23.0,78.222
IRIDIUM_FIX	6135.28,-943.53,300497,202053	_10V_AH	10.1,37.884
TT8_MAMPS	0.026845	DATA_FILE_SIZE	37907,775
HUMID	2070	CFSIZE	260165632,234541056
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,5,0
TCM_TEMP	15.40	GPS	050208,010826,6155.602,-946.459,38,1.2,38,-9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	141	85.21	SBE_CT	576	24	318.44
Roll_motor	204	79	375.33	SBE_O2	522	19	228.26
VBD_pump_during_apogee	328	1326	10035.39	WL_BB2F	443	105	1072.11
VBD_pump_during_surface	51	790	940.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	110	103	262.08	nil	0	0	0.00
Iridium_during_connect	133	160	492.49	nil	0	0	0.00
Iridium_during_xfer	370	223	1898.08
Transponder_ping	7	420	70.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.56
TT8	1503	19	300.62
LPSleep	12241	2	270.77
TT8_Active	577	19	115.48
TT8_Sampling	1899	39	763.45
TT8_CF8	983	45	454.90
TT8_Kalman	33	81	27.60
Analog_circuits	1569	12	190.24
GPS_charging	0	0	0.00
Compass	1854	8	149.85
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
24	-1.23	-146.6	0.0	0.0	0	106	0.00	0.00	-80.80	0.000	2	0.000	0.000	27	1898	3213
110	-1.23	-146.6	4.3	-4.5	4	132	11.70	0.00	-6.10	0.000	6	0.141	0.000	2224	1900	3476
443	-1.23	-146.6	47.3	-11.1	20	447	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3298	3477
464	-1.23	-146.6	50.6	-12.6	21	468	0.00	2.53	0.00	0.000	6	0.000	0.043	2224	1893	3477
791	-1.23	-146.6	94.3	-11.1	37	796	0.00	2.55	0.00	0.000	4	0.000	0.047	2225	3303	3477
819	-1.23	-146.6	97.8	-13.0	38	824	0.00	2.53	0.00	0.000	6	0.000	0.041	2224	1890	3477
1137	-1.23	-146.6	138.6	-11.1	53	1141	0.00	2.55	0.00	0.000	4	0.000	0.047	2224	3302	3477
1154	-1.23	-146.6	140.6	-11.0	54	1158	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1898	3477
1481	-1.23	-146.6	176.2	-9.7	70	1486	0.00	2.53	0.00	0.000	4	0.000	0.047	2224	3301	3477
1544	-1.23	-146.6	182.9	-11.5	73	1548	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1898	3477
1870	-1.23	-146.6	219.3	-10.8	89	1874	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3301	3477
1903	-1.23	-146.6	223.0	-10.4	90	1909	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1899	3477
2218	-1.23	-146.6	257.1	-10.8	106	2223	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3299	3477
2246	-1.23	-146.6	260.1	-10.8	107	2250	0.00	2.50	0.00	0.000	6	0.000	0.041	2224	1897	3477
2562	-1.23	-146.6	293.0	-10.0	122	2566	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3301	3477
2595	-1.23	-146.6	296.3	-9.9	123	2601	0.00	2.50	0.00	0.000	6	0.000	0.043	2224	1900	3477
2911	-1.23	-146.6	327.6	-10.2	139	2915	0.00	2.53	0.00	0.000	4	0.000	0.048	2224	3303	3477
2928	-1.23	-146.6	329.5	-10.2	140	2932	0.00	2.53	0.00	0.000	6	0.000	0.043	2224	1894	3477
3254	-1.23	-146.6	365.2	-10.8	156	3259	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3303	3477
3276	-1.23	-146.6	367.8	-11.1	157	3281	0.00	2.53	0.00	0.000	6	0.000	0.042	2224	1894	3477
3598	-1.23	-146.6	399.0	-8.1	173	3602	0.00	2.55	0.00	0.000	4	0.000	0.048	2224	3303	3477
3630	-1.23	-146.6	401.7	-8.3	174	3636	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1896	3477
3946	-1.23	-146.6	432.1	-11.1	190	3950	0.00	2.60	0.00	0.000	4	0.000	0.070	2224	495	3477
4035	-1.23	-146.6	440.8	-9.9	194	4039	0.00	2.47	0.00	0.000	6	0.000	0.041	2224	1910	3477
4355	-1.23	-146.6	474.6	-11.5	210	4360	0.00	2.50	0.00	0.000	4	0.000	0.051	2224	3302	3477
4405	-1.23	-146.6	480.1	-10.6	212	4409	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1896	3477
4726	-1.23	-146.6	514.0	-10.6	228	4730	0.00	2.53	0.00	0.000	4	0.000	0.049	2224	3300	3477
4753	-1.23	-146.6	517.1	-11.0	229	4757	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1897	3477
5068	-1.23	-146.6	548.2	-9.5	244	5069	0.00	0.00	0.00	0.000	6	0.000	0.000	2224	1897	3477
5379	-1.23	-146.6	576.3	-8.9	259	5383	0.00	2.55	0.00	0.000	4	0.000	0.051	2224	3300	3477
5422	-1.23	-146.6	580.4	-9.3	261	5427	0.00	2.53	0.00	0.000	6	0.000	0.044	2224	1893	3477
5744	-1.23	-146.6	613.3	-10.9	277	5748	0.00	2.58	0.00	0.000	4	0.000	0.053	2224	3302	3477
5788	-1.23	-146.6	618.2	-11.0	279	5792	0.00	2.53	0.00	0.000	6	0.000	0.046	2224	1898	3477
6108	-1.23	-146.6	652.3	-10.4	295	6113	0.00	2.62	0.00	0.000	4	0.000	0.074	2224	496	3476
6141	-1.23	-146.6	655.6	-10.0	296	6147	0.00	2.45	0.00	0.000	6	0.000	0.042	2224	1900	3477
6457	-1.23	-146.6	682.1	-8.6	312	6462	0.00	2.67	0.00	0.000	4	0.000	0.077	2224	491	3477
6558	-1.23	-146.6	691.5	-9.3	316	6564	0.00	2.47	0.00	0.000	6	0.000	0.044	2224	1898	3477
6873	-1.23	-146.6	718.0	-9.4	332	6878	0.00	2.58	0.00	0.000	4	0.000	0.061	2224	3305	3477
6946	-1.23	-146.6	724.7	-9.8	335	6951	0.00	2.58	0.00	0.000	6	0.000	0.054	2224	1896	3477
7267	-1.23	-146.6	752.4	-7.0	351	7272	0.00	2.60	0.00	0.000	4	0.000	0.060	2224	3305	3476
7323	-1.23	-146.6	757.3	-9.0	353	7330	0.00	2.58	0.00	0.000	6	0.000	0.057	2224	1903	3477
7472	end dive: TARGET_DEPTH_EXCEEDED
state	7472	begin apogee
7479	-0.36	0.0	770.3	9.4	361	7608	0.93	0.00	126.32	1.327	6	0.084	0.000	2418	2101	2878
7609	end apogee: CONTROL_FINISHED_OK
state	7609	begin climb
7612	1.23	146.6	772.9	0.0	367	7745	1.55	2.70	124.80	1.278	4	0.056	0.064	2761	3501	2280
7972	1.23	146.6	752.5	9.4	383	7978	0.00	2.58	0.00	0.000	6	0.000	0.051	2761	2093	2279
8288	1.27	181.3	727.7	6.7	399	8324	0.00	2.70	30.20	1.282	4	0.000	0.061	2761	3498	2137
8464	1.27	181.3	714.1	8.2	406	8468	0.00	2.55	0.00	0.000	6	0.000	0.051	2761	2102	2137
8785	1.27	181.3	688.8	8.1	422	8789	0.00	2.60	0.00	0.000	4	0.000	0.061	2761	3499	2136
8824	1.27	181.3	685.6	8.7	424	8828	0.00	2.58	0.00	0.000	6	0.000	0.053	2761	2095	2136
9150	1.27	181.3	657.9	8.7	440	9154	0.00	2.67	0.00	0.000	4	0.000	0.080	2761	692	2136
9222	1.27	181.3	650.7	10.7	443	9227	0.00	2.53	0.00	0.000	6	0.000	0.048	2761	2095	2136
9538	1.29	196.9	625.2	7.4	458	9559	0.00	2.67	13.38	1.276	4	0.000	0.060	2761	3493	2075
9650	1.30	205.9	616.5	7.7	463	9665	0.00	2.55	8.88	1.250	6	0.000	0.049	2761	2098	2038
9982	1.30	205.9	587.3	8.7	479	9987	0.00	2.60	0.00	0.000	4	0.000	0.056	2761	3507	2038
10055	1.30	205.9	580.5	9.1	482	10059	0.00	2.53	0.00	0.000	6	0.000	0.046	2761	2101	2038
10370	1.30	205.9	553.6	8.4	497	10374	0.00	2.58	0.00	0.000	4	0.000	0.054	2761	3501	2038
10410	1.30	205.9	550.5	8.1	499	10414	0.00	2.53	0.00	0.000	6	0.000	0.045	2761	2099	2038
10736	1.31	214.1	526.1	7.7	515	10750	0.00	2.65	7.82	1.183	4	0.000	0.053	2761	3504	2005
10808	1.31	214.1	520.2	8.2	518	10812	0.00	2.55	0.00	0.000	6	0.000	0.044	2761	2095	2005
11128	1.33	228.3	495.6	7.5	534	11150	0.10	2.65	12.95	1.157	4	0.057	0.052	2793	3498	1947
11189	1.33	228.3	489.9	9.9	536	11195	0.00	2.55	0.00	0.000	6	0.000	0.044	2793	2098	1948
11505	1.33	228.3	458.0	10.3	552	11510	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3506	1947
11568	1.33	228.3	451.2	11.1	555	11572	0.00	2.53	0.00	0.000	6	0.000	0.043	2793	2099	1947
11894	1.33	228.3	419.4	9.7	571	11898	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3507	1948
11950	1.33	228.3	413.4	10.1	573	11956	0.00	2.53	0.00	0.000	6	0.000	0.041	2793	2100	1948
12265	1.33	228.3	383.4	9.5	589	12269	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3502	1948
12309	1.33	228.3	378.9	9.4	591	12314	0.00	2.53	0.00	0.000	6	0.000	0.041	2793	2091	1949
12630	1.33	228.3	349.2	9.2	607	12635	0.00	2.58	0.00	0.000	4	0.000	0.050	2793	3505	1948
12697	1.33	228.3	342.5	10.7	610	12702	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2098	1949
13019	1.33	228.3	312.9	9.4	626	13023	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3505	1949
13069	1.33	228.3	307.9	9.8	628	13073	0.00	2.50	0.00	0.000	6	0.000	0.040	2793	2100	1949
13384	1.33	228.3	279.3	9.1	643	13388	0.00	2.55	0.00	0.000	4	0.000	0.051	2793	3504	1949
13507	1.33	228.3	266.9	9.8	648	13513	0.00	2.50	0.00	0.000	6	0.000	0.039	2793	2094	1950
13822	1.33	228.3	232.2	11.4	664	13826	0.00	2.58	0.00	0.000	4	0.000	0.051	2793	3508	1950
13916	1.33	228.3	220.5	11.7	668	13921	0.00	2.50	0.00	0.000	6	0.000	0.039	2793	2101	1950
14232	1.33	228.3	189.4	9.9	683	14237	0.00	2.55	0.00	0.000	4	0.000	0.050	2793	3508	1951
14299	1.33	228.3	182.4	9.9	686	14303	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2100	1951
14620	1.33	228.3	150.6	11.0	702	14624	0.00	2.55	0.00	0.000	4	0.000	0.049	2793	3504	1951
14714	1.33	228.3	140.1	10.3	706	14719	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2095	1951
15030	1.33	228.3	107.0	9.6	721	15034	0.00	2.55	0.00	0.000	4	0.000	0.048	2793	3504	1951
15115	1.33	228.3	97.4	11.4	725	15119	0.00	2.50	0.00	0.000	6	0.000	0.038	2792	2093	1951
15442	1.33	230.9	68.3	7.9	741	15452	0.00	2.55	4.47	0.892	4	0.000	0.048	2793	3504	1936
15542	1.33	230.9	58.8	10.3	745	15546	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2100	1935
15858	1.33	230.9	29.3	8.7	760	15863	0.00	2.55	0.00	0.000	4	0.000	0.048	2793	3505	1935
15921	1.33	230.9	23.4	10.0	763	15925	0.00	2.50	0.00	0.000	6	0.000	0.038	2793	2097	1935
16142	end climb: SURFACE_DEPTH_REACHED
state	16142	begin surface coast
16164	end surface coast: CONTROL_FINISHED_OK
state	16164	begin surface