Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 123 * 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 123 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 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 35 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 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 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 -78548.422 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 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 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 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 550

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 -78548.422

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

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 2

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 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 123 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 011758,6213.709,-941.543,28,3.4,47,-9.9 TGT_NAME DW

_CALLS 3 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,-0.039

_SM_DEPTHo 3.30 KALMAN_X 121271.6,-1684.5,-692.2,-181846.5,30898.4

_SM_ANGLEo -55.2 KALMAN_Y 143212.7,-1093.8,-192.4,-66763.1,17086.9

GPS2 013110,6213.683,-941.516,14,2.1,33,-9.9 MHEAD_RNG_PITCHd_Wd 269.2,46185,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23534,0.00,0.000,0,0,604,557.81 ALTIM_BOTTOM_PING 650.6,41.7

SM_GC 3.51,12.10,0.00,0.00,0.030,0.000,0.000,29,1892,604,-11.26,-0.23,557.81 _24V_AH 23.4,31.178

IRIDIUM_FIX 6148.92,-926.22,061207,050535 _10V_AH 10.1,14.090

TT8_MAMPS 0.027612 DATA_FILE_SIZE 56852,1119

HUMID 2058 CFSIZE 260165632,251154432

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 16.90 GPS 061207,080531,6214.998,-943.464,42,1.5,42,-9.9

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 60.93 SBE_CT 821 24 461.44

Roll_motor 117 75 206.76 SBE_O2 757 19 336.78

VBD_pump_during_apogee 483 1270 14378.31 WL_BB2F 704 105 1730.98

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 113 103 273.29 nil 0 0 0.00

Iridium_during_connect 147 160 553.68 nil 0 0 0.00

Iridium_during_xfer 283 223 1479.77

Transponder_ping 8 420 81.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.11

TT8 1976 19 395.18

LPSleep 18557 2 410.48

TT8_Active 643 19 128.78

TT8_Sampling 2413 39 970.26

TT8_CF8 737 45 340.94

TT8_Kalman 33 81 27.57

Analog_circuits 1836 12 222.57

GPS_charging 0 0 0.00

Compass 2351 8 190.02

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 25 0.00 0.00 -3.78 0.000 2 0.000 0.000 32 1904 692

28 -0.95 -146.6 3.3 -0.0 0 233 11.05 2.53 -186.05 0.000 4 0.102 0.058 2289 3288 3476

428 -0.95 -146.6 16.9 -7.4 19 433 0.00 2.50 0.00 0.000 6 0.000 0.041 2289 1892 3476

756 -0.95 -146.6 41.4 -6.7 35 757 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1892 3476

1065 -0.95 -146.6 63.4 -6.3 50 1066 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1892 3476

1374 -0.95 -146.6 85.2 -6.7 65 1378 0.00 2.53 0.00 0.000 4 0.000 0.045 2289 3300 3476

1458 -0.95 -146.6 90.9 -6.5 69 1462 0.00 2.50 0.00 0.000 6 0.000 0.041 2289 1899 3476

1784 -0.95 -146.6 112.0 -6.2 85 1785 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

2093 -0.95 -146.6 129.6 -5.4 100 2094 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

2403 -0.95 -146.6 147.0 -5.3 115 2407 0.00 2.50 0.00 0.000 4 0.000 0.045 2289 3298 3476

2469 -0.95 -146.6 150.6 -5.3 118 2473 0.00 2.50 0.00 0.000 6 0.000 0.041 2289 1895 3476

2795 -0.95 -146.6 166.5 -4.8 134 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

3105 -0.95 -146.6 180.6 -4.4 149 3106 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

3414 -0.95 -146.6 193.3 -4.0 164 3418 0.00 2.53 0.00 0.000 4 0.000 0.046 2289 3302 3476

3475 -0.95 -146.6 196.0 -4.2 167 3479 0.00 2.50 0.00 0.000 6 0.000 0.042 2289 1900 3476

3801 -0.95 -146.6 209.7 -4.2 183 3802 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

4110 -0.95 -146.6 222.1 -3.8 198 4111 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

4419 -0.95 -146.6 233.7 -3.6 213 4420 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1900 3476

4729 -0.95 -146.6 245.8 -4.1 228 4730 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

5038 -0.95 -146.6 259.1 -4.7 243 5042 0.00 2.50 0.00 0.000 4 0.000 0.046 2289 3298 3476

5115 -0.95 -146.6 263.0 -5.1 246 5121 0.00 2.50 0.00 0.000 6 0.000 0.043 2289 1897 3476

5430 -0.95 -146.6 278.4 -4.8 262 5431 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

5739 -0.95 -146.6 292.4 -4.3 277 5744 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3302 3476

5801 -0.95 -146.6 295.1 -4.6 280 5806 0.00 2.50 0.00 0.000 6 0.000 0.043 2289 1897 3476

6128 -0.95 -146.6 309.4 -4.1 296 6129 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3475

6437 -0.95 -146.6 322.3 -4.4 311 6438 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

6747 -0.95 -146.6 334.6 -3.7 326 6748 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

7056 -0.95 -146.6 343.3 -2.2 341 7060 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3298 3475

7127 -0.95 -146.6 344.8 -2.0 344 7131 0.00 2.50 0.00 0.000 6 0.000 0.045 2289 1900 3475

7449 -0.95 -146.6 350.1 -2.0 360 7450 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

7757 -0.95 -146.6 359.4 -3.8 375 7758 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

8067 -0.95 -146.6 375.0 -5.2 390 8072 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3300 3475

8133 -0.95 -146.6 379.3 -5.6 393 8138 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1894 3475

8460 -0.95 -146.6 399.1 -5.7 409 8461 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3474

8770 -0.95 -146.6 415.6 -4.9 424 8774 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3297 3474

8880 -0.95 -146.6 420.7 -4.4 429 8884 0.00 2.50 0.00 0.000 6 0.000 0.045 2289 1899 3475

9207 -0.95 -146.6 433.4 -3.6 445 9208 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3474

9516 -0.95 -146.6 444.1 -3.2 460 9517 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3474

9825 -0.95 -146.6 455.4 -4.1 475 9826 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3474

10135 -0.95 -146.6 468.6 -4.1 490 10139 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3301 3474

10219 -0.95 -146.6 472.4 -4.6 494 10223 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1897 3474

10544 -0.95 -146.6 488.1 -5.7 510 10545 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3473

10853 -0.95 -146.6 510.7 -8.1 525 10857 0.00 2.53 0.00 0.000 4 0.000 0.052 2289 3295 3473

10947 -0.95 -146.6 519.7 -9.8 529 10952 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1906 3474

11268 -0.95 -146.6 554.6 -11.1 545 11269 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3473

11578 -0.95 -146.6 585.7 -9.3 560 11582 0.00 2.53 0.00 0.000 4 0.000 0.056 2289 3294 3473

11661 -0.95 -146.6 593.1 -8.1 564 11665 0.00 2.53 0.00 0.000 6 0.000 0.049 2289 1898 3473

11987 -0.95 -146.6 615.5 -5.8 580 11989 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3473

12296 -0.95 -146.6 631.6 -4.3 595 12301 0.00 2.58 0.00 0.000 4 0.000 0.060 2289 3301 3473

12396 -0.95 -146.6 636.0 -3.7 599 12403 0.00 2.55 0.00 0.000 6 0.000 0.054 2289 1902 3473

12712 -0.95 -146.6 647.5 -4.4 615 12713 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3472

13021 -0.95 -146.6 663.6 -5.0 630 13025 0.00 2.62 0.00 0.000 4 0.000 0.075 2289 492 3472

13053 -0.95 -146.6 664.9 -3.9 631 13060 0.00 2.50 0.00 0.000 6 0.000 0.053 2289 1897 3471

13368 -0.95 -146.6 676.1 -5.2 647 13369 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3470

13490 end dive: BOTTOM_OBSTACLE_DETECTED

state 13490 begin apogee

13495 -0.36 0.0 682.5 3.4 653 13620 0.60 0.00 121.85 1.271 6 0.071 0.000 2420 2104 2878

13620 end apogee: CONTROL_FINISHED_OK

state 13621 begin climb

13622 0.95 146.6 685.5 0.0 659 13748 1.27 0.00 121.38 1.226 6 0.054 0.000 2700 2103 2280

14042 0.95 147.9 668.3 6.0 680 14043 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2104 2279

14351 0.95 147.9 643.6 7.2 695 14356 0.00 2.67 0.00 0.000 4 0.000 0.071 2700 687 2279

14467 0.95 147.9 637.3 9.6 700 14472 0.00 2.55 0.00 0.000 6 0.000 0.050 2700 2085 2278

14789 0.95 147.9 609.7 9.3 716 14794 0.00 2.62 0.00 0.000 4 0.000 0.061 2700 3506 2277

14879 1.00 186.3 606.0 4.9 720 14919 0.00 2.58 33.30 1.233 6 0.000 0.052 2700 2099 2118

15246 1.00 186.3 579.7 10.6 738 15247 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2099 2117

15555 1.00 186.3 540.9 13.6 753 15559 0.00 2.60 0.00 0.000 4 0.000 0.058 2700 3506 2117

15738 1.00 186.3 519.1 10.9 761 15743 0.00 2.58 0.00 0.000 6 0.000 0.049 2700 2099 2116

16059 1.00 186.3 493.6 6.3 777 16060 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2099 2116

16369 1.06 237.2 478.4 4.5 792 16413 0.12 0.00 42.03 1.152 6 0.051 0.000 2742 2099 1910

16718 1.06 237.2 455.9 6.9 809 16719 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2100 1909

17027 1.06 237.2 433.3 7.2 824 17031 0.00 2.58 0.00 0.000 4 0.000 0.052 2742 3512 1910

17098 1.06 237.2 427.9 7.5 827 17103 0.00 2.58 0.00 0.000 6 0.000 0.044 2742 2094 1910

17419 1.06 237.2 402.9 7.9 843 17420 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1909

17728 1.06 237.2 376.9 8.5 858 17729 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1910

18037 1.06 237.2 352.4 7.4 873 18039 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2094 1911

18347 1.06 237.2 332.7 6.8 888 18351 0.00 2.55 0.00 0.000 4 0.000 0.051 2742 3508 1912

18434 1.06 237.2 326.3 7.0 892 18439 0.00 2.55 0.00 0.000 6 0.000 0.043 2742 2096 1912

18761 1.06 237.2 305.8 6.9 908 18762 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2097 1912

19070 1.06 237.2 284.6 6.5 923 19075 0.00 2.55 0.00 0.000 4 0.000 0.050 2742 3511 1913

19125 1.06 237.2 280.2 8.2 925 19132 0.00 2.53 0.00 0.000 6 0.000 0.041 2742 2103 1912

19441 1.06 237.2 256.3 7.3 941 19442 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2103 1913

19750 1.06 237.2 231.9 8.1 956 19751 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2103 1914

20059 1.06 237.2 206.6 8.1 971 20064 0.00 2.55 0.00 0.000 4 0.000 0.048 2742 3516 1914

20136 1.06 237.2 199.7 9.0 974 20143 0.00 2.53 0.00 0.000 6 0.000 0.040 2742 2102 1914

20452 1.06 237.2 173.1 8.5 990 20453 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1914

20762 1.06 237.2 144.4 9.4 1005 20763 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1914

21071 1.06 237.2 115.6 9.1 1020 21072 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1914

21380 1.06 237.2 88.3 8.7 1035 21381 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1914

21690 1.06 237.2 62.3 8.2 1050 21691 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1914

21999 1.06 237.2 37.7 7.6 1065 22000 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2102 1915

22308 1.06 237.2 13.9 8.0 1080 22312 0.00 2.53 0.00 0.000 4 0.000 0.045 2742 3509 1915

22351 1.06 237.2 10.3 8.3 1082 22355 0.00 2.50 0.00 0.000 6 0.000 0.038 2742 2098 1914

22678 1.31 439.5 2.7 -0.0 1098 22790 0.15 2.62 105.05 0.767 4 0.054 0.061 2788 697 1085

22813 1.57 654.5 2.6 -0.4 1104 22879 0.22 2.53 59.88 0.739 6 0.063 0.038 2838 2125 602

23112 end climb: NO_VERTICAL_VELOCITY

state 23113 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	123	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	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	35	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	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	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	-78548.422	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	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	011758,6213.709,-941.543,28,3.4,47,-9.9	TGT_NAME	DW
_CALLS	3	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,-0.039
_SM_DEPTHo	3.30	KALMAN_X	121271.6,-1684.5,-692.2,-181846.5,30898.4
_SM_ANGLEo	-55.2	KALMAN_Y	143212.7,-1093.8,-192.4,-66763.1,17086.9
GPS2	013110,6213.683,-941.516,14,2.1,33,-9.9	MHEAD_RNG_PITCHd_Wd	269.2,46185,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23534,0.00,0.000,0,0,604,557.81	ALTIM_BOTTOM_PING	650.6,41.7
SM_GC	3.51,12.10,0.00,0.00,0.030,0.000,0.000,29,1892,604,-11.26,-0.23,557.81	_24V_AH	23.4,31.178
IRIDIUM_FIX	6148.92,-926.22,061207,050535	_10V_AH	10.1,14.090
TT8_MAMPS	0.027612	DATA_FILE_SIZE	56852,1119
HUMID	2058	CFSIZE	260165632,251154432
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	16.90	GPS	061207,080531,6214.998,-943.464,42,1.5,42,-9.9
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	60.93	SBE_CT	821	24	461.44
Roll_motor	117	75	206.76	SBE_O2	757	19	336.78
VBD_pump_during_apogee	483	1270	14378.31	WL_BB2F	704	105	1730.98
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	113	103	273.29	nil	0	0	0.00
Iridium_during_connect	147	160	553.68	nil	0	0	0.00
Iridium_during_xfer	283	223	1479.77
Transponder_ping	8	420	81.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.11
TT8	1976	19	395.18
LPSleep	18557	2	410.48
TT8_Active	643	19	128.78
TT8_Sampling	2413	39	970.26
TT8_CF8	737	45	340.94
TT8_Kalman	33	81	27.57
Analog_circuits	1836	12	222.57
GPS_charging	0	0	0.00
Compass	2351	8	190.02
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	25	0.00	0.00	-3.78	0.000	2	0.000	0.000	32	1904	692
28	-0.95	-146.6	3.3	-0.0	0	233	11.05	2.53	-186.05	0.000	4	0.102	0.058	2289	3288	3476
428	-0.95	-146.6	16.9	-7.4	19	433	0.00	2.50	0.00	0.000	6	0.000	0.041	2289	1892	3476
756	-0.95	-146.6	41.4	-6.7	35	757	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1892	3476
1065	-0.95	-146.6	63.4	-6.3	50	1066	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1892	3476
1374	-0.95	-146.6	85.2	-6.7	65	1378	0.00	2.53	0.00	0.000	4	0.000	0.045	2289	3300	3476
1458	-0.95	-146.6	90.9	-6.5	69	1462	0.00	2.50	0.00	0.000	6	0.000	0.041	2289	1899	3476
1784	-0.95	-146.6	112.0	-6.2	85	1785	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
2093	-0.95	-146.6	129.6	-5.4	100	2094	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
2403	-0.95	-146.6	147.0	-5.3	115	2407	0.00	2.50	0.00	0.000	4	0.000	0.045	2289	3298	3476
2469	-0.95	-146.6	150.6	-5.3	118	2473	0.00	2.50	0.00	0.000	6	0.000	0.041	2289	1895	3476
2795	-0.95	-146.6	166.5	-4.8	134	2796	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
3105	-0.95	-146.6	180.6	-4.4	149	3106	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
3414	-0.95	-146.6	193.3	-4.0	164	3418	0.00	2.53	0.00	0.000	4	0.000	0.046	2289	3302	3476
3475	-0.95	-146.6	196.0	-4.2	167	3479	0.00	2.50	0.00	0.000	6	0.000	0.042	2289	1900	3476
3801	-0.95	-146.6	209.7	-4.2	183	3802	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
4110	-0.95	-146.6	222.1	-3.8	198	4111	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
4419	-0.95	-146.6	233.7	-3.6	213	4420	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1900	3476
4729	-0.95	-146.6	245.8	-4.1	228	4730	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
5038	-0.95	-146.6	259.1	-4.7	243	5042	0.00	2.50	0.00	0.000	4	0.000	0.046	2289	3298	3476
5115	-0.95	-146.6	263.0	-5.1	246	5121	0.00	2.50	0.00	0.000	6	0.000	0.043	2289	1897	3476
5430	-0.95	-146.6	278.4	-4.8	262	5431	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
5739	-0.95	-146.6	292.4	-4.3	277	5744	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3302	3476
5801	-0.95	-146.6	295.1	-4.6	280	5806	0.00	2.50	0.00	0.000	6	0.000	0.043	2289	1897	3476
6128	-0.95	-146.6	309.4	-4.1	296	6129	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3475
6437	-0.95	-146.6	322.3	-4.4	311	6438	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
6747	-0.95	-146.6	334.6	-3.7	326	6748	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
7056	-0.95	-146.6	343.3	-2.2	341	7060	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3298	3475
7127	-0.95	-146.6	344.8	-2.0	344	7131	0.00	2.50	0.00	0.000	6	0.000	0.045	2289	1900	3475
7449	-0.95	-146.6	350.1	-2.0	360	7450	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
7757	-0.95	-146.6	359.4	-3.8	375	7758	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
8067	-0.95	-146.6	375.0	-5.2	390	8072	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3300	3475
8133	-0.95	-146.6	379.3	-5.6	393	8138	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1894	3475
8460	-0.95	-146.6	399.1	-5.7	409	8461	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3474
8770	-0.95	-146.6	415.6	-4.9	424	8774	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3297	3474
8880	-0.95	-146.6	420.7	-4.4	429	8884	0.00	2.50	0.00	0.000	6	0.000	0.045	2289	1899	3475
9207	-0.95	-146.6	433.4	-3.6	445	9208	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3474
9516	-0.95	-146.6	444.1	-3.2	460	9517	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3474
9825	-0.95	-146.6	455.4	-4.1	475	9826	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3474
10135	-0.95	-146.6	468.6	-4.1	490	10139	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3301	3474
10219	-0.95	-146.6	472.4	-4.6	494	10223	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1897	3474
10544	-0.95	-146.6	488.1	-5.7	510	10545	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3473
10853	-0.95	-146.6	510.7	-8.1	525	10857	0.00	2.53	0.00	0.000	4	0.000	0.052	2289	3295	3473
10947	-0.95	-146.6	519.7	-9.8	529	10952	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1906	3474
11268	-0.95	-146.6	554.6	-11.1	545	11269	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3473
11578	-0.95	-146.6	585.7	-9.3	560	11582	0.00	2.53	0.00	0.000	4	0.000	0.056	2289	3294	3473
11661	-0.95	-146.6	593.1	-8.1	564	11665	0.00	2.53	0.00	0.000	6	0.000	0.049	2289	1898	3473
11987	-0.95	-146.6	615.5	-5.8	580	11989	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3473
12296	-0.95	-146.6	631.6	-4.3	595	12301	0.00	2.58	0.00	0.000	4	0.000	0.060	2289	3301	3473
12396	-0.95	-146.6	636.0	-3.7	599	12403	0.00	2.55	0.00	0.000	6	0.000	0.054	2289	1902	3473
12712	-0.95	-146.6	647.5	-4.4	615	12713	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3472
13021	-0.95	-146.6	663.6	-5.0	630	13025	0.00	2.62	0.00	0.000	4	0.000	0.075	2289	492	3472
13053	-0.95	-146.6	664.9	-3.9	631	13060	0.00	2.50	0.00	0.000	6	0.000	0.053	2289	1897	3471
13368	-0.95	-146.6	676.1	-5.2	647	13369	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3470
13490	end dive: BOTTOM_OBSTACLE_DETECTED
state	13490	begin apogee
13495	-0.36	0.0	682.5	3.4	653	13620	0.60	0.00	121.85	1.271	6	0.071	0.000	2420	2104	2878
13620	end apogee: CONTROL_FINISHED_OK
state	13621	begin climb
13622	0.95	146.6	685.5	0.0	659	13748	1.27	0.00	121.38	1.226	6	0.054	0.000	2700	2103	2280
14042	0.95	147.9	668.3	6.0	680	14043	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2104	2279
14351	0.95	147.9	643.6	7.2	695	14356	0.00	2.67	0.00	0.000	4	0.000	0.071	2700	687	2279
14467	0.95	147.9	637.3	9.6	700	14472	0.00	2.55	0.00	0.000	6	0.000	0.050	2700	2085	2278
14789	0.95	147.9	609.7	9.3	716	14794	0.00	2.62	0.00	0.000	4	0.000	0.061	2700	3506	2277
14879	1.00	186.3	606.0	4.9	720	14919	0.00	2.58	33.30	1.233	6	0.000	0.052	2700	2099	2118
15246	1.00	186.3	579.7	10.6	738	15247	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2099	2117
15555	1.00	186.3	540.9	13.6	753	15559	0.00	2.60	0.00	0.000	4	0.000	0.058	2700	3506	2117
15738	1.00	186.3	519.1	10.9	761	15743	0.00	2.58	0.00	0.000	6	0.000	0.049	2700	2099	2116
16059	1.00	186.3	493.6	6.3	777	16060	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2099	2116
16369	1.06	237.2	478.4	4.5	792	16413	0.12	0.00	42.03	1.152	6	0.051	0.000	2742	2099	1910
16718	1.06	237.2	455.9	6.9	809	16719	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2100	1909
17027	1.06	237.2	433.3	7.2	824	17031	0.00	2.58	0.00	0.000	4	0.000	0.052	2742	3512	1910
17098	1.06	237.2	427.9	7.5	827	17103	0.00	2.58	0.00	0.000	6	0.000	0.044	2742	2094	1910
17419	1.06	237.2	402.9	7.9	843	17420	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1909
17728	1.06	237.2	376.9	8.5	858	17729	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1910
18037	1.06	237.2	352.4	7.4	873	18039	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2094	1911
18347	1.06	237.2	332.7	6.8	888	18351	0.00	2.55	0.00	0.000	4	0.000	0.051	2742	3508	1912
18434	1.06	237.2	326.3	7.0	892	18439	0.00	2.55	0.00	0.000	6	0.000	0.043	2742	2096	1912
18761	1.06	237.2	305.8	6.9	908	18762	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2097	1912
19070	1.06	237.2	284.6	6.5	923	19075	0.00	2.55	0.00	0.000	4	0.000	0.050	2742	3511	1913
19125	1.06	237.2	280.2	8.2	925	19132	0.00	2.53	0.00	0.000	6	0.000	0.041	2742	2103	1912
19441	1.06	237.2	256.3	7.3	941	19442	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2103	1913
19750	1.06	237.2	231.9	8.1	956	19751	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2103	1914
20059	1.06	237.2	206.6	8.1	971	20064	0.00	2.55	0.00	0.000	4	0.000	0.048	2742	3516	1914
20136	1.06	237.2	199.7	9.0	974	20143	0.00	2.53	0.00	0.000	6	0.000	0.040	2742	2102	1914
20452	1.06	237.2	173.1	8.5	990	20453	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1914
20762	1.06	237.2	144.4	9.4	1005	20763	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1914
21071	1.06	237.2	115.6	9.1	1020	21072	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1914
21380	1.06	237.2	88.3	8.7	1035	21381	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1914
21690	1.06	237.2	62.3	8.2	1050	21691	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1914
21999	1.06	237.2	37.7	7.6	1065	22000	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2102	1915
22308	1.06	237.2	13.9	8.0	1080	22312	0.00	2.53	0.00	0.000	4	0.000	0.045	2742	3509	1915
22351	1.06	237.2	10.3	8.3	1082	22355	0.00	2.50	0.00	0.000	6	0.000	0.038	2742	2098	1914
22678	1.31	439.5	2.7	-0.0	1098	22790	0.15	2.62	105.05	0.767	4	0.054	0.061	2788	697	1085
22813	1.57	654.5	2.6	-0.4	1104	22879	0.22	2.53	59.88	0.739	6	0.063	0.038	2838	2125	602
23112	end climb: NO_VERTICAL_VELOCITY
state	23113	begin surface