Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 136 * 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 136 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -78730.844 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 -78730.844

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 17 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 136 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 092837,6215.273,-1041.990,35,1.3,35,-10.4 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.078,0.193

_SM_DEPTHo 3.88 KALMAN_X 129726.6,-752.6,-369.1,-244960.2,116.4

_SM_ANGLEo -54.0 KALMAN_Y 145447.8,57.9,256.6,-67759.7,-3584.9

GPS2 093609,6215.255,-1041.962,13,1.1,13,-10.4 MHEAD_RNG_PITCHd_Wd 348.3,23770,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22826,32.72,0.750,0,0,603,558.06 ALTIM_BOTTOM_PING 725.0,90.9

SM_GC 4.14,11.88,0.00,0.00,0.025,0.000,0.000,31,1891,604,-11.26,-0.25,557.81 _24V_AH 23.3,33.517

IRIDIUM_FIX 6148.92,-1035.20,091207,070701 _10V_AH 10.1,15.335

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56967,1105

HUMID 2048 CFSIZE 260165632,250302464

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 16.80 GPS 091207,160608,6217.110,-1044.019,32,1.2,32,-10.5

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 59.66 SBE_CT 813 24 454.99

Roll_motor 122 76 218.70 SBE_O2 748 19 331.44

VBD_pump_during_apogee 476 1330 14782.28 WL_BB2F 658 105 1610.43

VBD_pump_during_surface 32 750 571.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.49 nil 0 0 0.00

Iridium_during_connect 33 160 125.67 nil 0 0 0.00

Iridium_during_xfer 281 223 1462.97

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.91

TT8 1942 19 388.50

LPSleep 18282 2 404.39

TT8_Active 687 19 137.41

TT8_Sampling 2284 39 918.16

TT8_CF8 535 45 247.78

TT8_Kalman 33 81 27.56

Analog_circuits 1830 12 221.92

GPS_charging 0 0 0.00

Compass 2242 8 181.20

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 -3.62 0.000 2 0.000 0.000 27 1910 690

28 -0.95 -146.6 3.9 -0.0 0 211 11.12 0.00 -168.73 0.000 6 0.102 0.000 2295 1913 3476

510 -0.95 -146.6 32.7 -9.2 24 514 0.00 2.50 0.00 0.000 4 0.000 0.047 2295 3300 3476

571 -0.95 -146.6 37.4 -8.0 27 576 0.00 2.47 0.00 0.000 6 0.000 0.042 2295 1894 3476

897 -0.95 -146.6 59.8 -5.5 43 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1894 3476

1206 -0.95 -146.6 79.9 -7.6 58 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1893 3476

1515 -0.95 -146.6 101.9 -6.9 73 1519 0.00 2.53 0.00 0.000 4 0.000 0.045 2295 3302 3476

1586 -0.95 -146.6 107.9 -8.8 76 1590 0.00 2.53 0.00 0.000 6 0.000 0.041 2295 1884 3476

1907 -0.95 -146.6 131.5 -7.0 92 1908 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1884 3476

2217 -0.95 -146.6 148.9 -4.9 107 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1885 3476

2526 -0.95 -146.6 165.0 -5.2 122 2527 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1884 3476

2835 -0.95 -146.6 180.7 -5.0 137 2836 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1884 3476

3144 -0.95 -146.6 196.0 -5.3 152 3149 0.00 2.53 0.00 0.000 4 0.000 0.046 2295 3295 3476

3216 -0.95 -146.6 200.4 -6.6 155 3220 0.00 2.53 0.00 0.000 6 0.000 0.042 2295 1898 3475

3537 -0.95 -146.6 221.7 -6.8 171 3538 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1899 3476

3847 -0.95 -146.6 242.5 -6.7 186 3851 0.00 2.50 0.00 0.000 4 0.000 0.046 2295 3295 3476

3901 -0.95 -146.6 246.2 -7.0 188 3907 0.00 2.50 0.00 0.000 6 0.000 0.041 2295 1906 3476

4217 -0.95 -146.6 265.3 -5.8 204 4218 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1906 3476

4526 -0.95 -146.6 286.4 -7.4 219 4527 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1906 3476

4835 -0.95 -146.6 310.0 -7.9 234 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1906 3476

5144 -0.95 -146.6 336.7 -8.6 249 5148 0.00 2.47 0.00 0.000 4 0.000 0.048 2295 3294 3475

5209 -0.95 -146.6 342.9 -9.3 252 5214 0.00 2.50 0.00 0.000 6 0.000 0.044 2295 1898 3476

5536 -0.95 -146.6 370.0 -9.0 268 5537 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1899 3476

5845 -0.95 -146.6 395.6 -8.4 283 5846 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1899 3476

6155 -0.95 -146.6 420.5 -7.6 298 6159 0.00 2.53 0.00 0.000 4 0.000 0.048 2295 3302 3476

6203 -0.95 -146.6 424.9 -8.6 300 6212 0.00 2.53 0.00 0.000 6 0.000 0.044 2295 1904 3476

6527 -0.95 -146.6 452.5 -7.5 316 6528 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1905 3476

6837 -0.95 -146.6 474.9 -7.1 331 6838 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1905 3476

7146 -0.95 -146.6 495.1 -6.6 346 7150 0.00 2.50 0.00 0.000 4 0.000 0.050 2295 3294 3475

7206 -0.95 -146.6 499.5 -6.9 349 7211 0.00 2.50 0.00 0.000 6 0.000 0.045 2295 1900 3476

7532 -0.95 -146.6 520.9 -6.8 365 7534 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3475

7842 -0.95 -146.6 541.3 -5.9 380 7843 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1899 3475

8151 -0.95 -146.6 556.7 -4.6 395 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3476

8461 -0.95 -146.6 572.8 -5.5 410 8465 0.00 2.53 0.00 0.000 4 0.000 0.051 2295 3297 3475

8527 -0.95 -146.6 576.7 -5.6 413 8531 0.00 2.50 0.00 0.000 6 0.000 0.045 2295 1901 3475

8854 -0.95 -146.6 592.3 -4.5 429 8855 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3475

9163 -0.95 -146.6 605.4 -4.1 444 9164 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3475

9472 -0.95 -146.6 620.1 -5.2 459 9473 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3475

9781 -0.95 -146.6 641.3 -7.0 474 9782 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3474

10090 -0.95 -146.6 657.2 -4.4 489 10092 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3474

10400 -0.95 -146.6 672.3 -4.9 504 10401 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1898 3474

10709 -0.95 -146.6 688.5 -5.7 519 10713 0.00 2.55 0.00 0.000 4 0.000 0.054 2295 3296 3474

10803 -0.95 -146.6 694.9 -7.0 523 10808 0.00 2.55 0.00 0.000 6 0.000 0.048 2294 1900 3473

11125 -0.95 -146.6 713.1 -5.0 539 11126 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3473

11434 -0.95 -146.6 728.5 -5.5 554 11435 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3473

11743 -0.95 -146.6 746.7 -5.6 569 11744 0.00 0.00 0.00 0.000 6 0.000 0.000 2295 1900 3473

12053 -0.95 -146.6 758.4 -3.9 584 12054 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1900 3473

12361 -0.95 -146.6 777.3 -6.8 599 12366 0.00 2.62 0.00 0.000 4 0.000 0.072 2295 493 3473

12422 -0.95 -146.6 781.8 -6.6 602 12427 0.00 2.47 0.00 0.000 6 0.000 0.051 2295 1889 3473

12748 -0.95 -146.6 805.9 -8.8 618 12753 0.00 2.60 0.00 0.000 6 0.000 0.064 2295 3304 3472

12753 end dive: BOTTOM_OBSTACLE_DETECTED

state 12753 begin apogee

12760 -0.36 0.0 806.3 8.3 618 12887 0.55 0.00 124.15 1.331 6 0.073 0.000 2417 2093 2878

12888 end apogee: CONTROL_FINISHED_OK

state 12888 begin climb

12890 0.95 146.6 807.6 0.0 624 13021 1.25 2.72 122.85 1.290 4 0.039 0.074 2710 696 2280

13161 0.95 146.6 795.3 7.6 636 13168 0.00 2.58 0.00 0.000 6 0.000 0.053 2710 2101 2280

13477 1.03 213.6 783.9 4.0 652 13539 0.00 2.70 56.67 1.305 4 0.000 0.064 2710 3506 2007

13590 1.03 213.6 775.0 9.4 657 13595 0.00 2.62 0.00 0.000 6 0.000 0.055 2710 2099 2007

13910 1.03 213.6 745.8 7.7 673 13914 0.00 2.67 0.00 0.000 4 0.000 0.077 2710 689 2006

14009 1.03 213.6 738.4 8.2 677 14015 0.00 2.55 0.00 0.000 6 0.000 0.051 2710 2104 2006

14324 1.03 213.6 711.7 8.4 693 14328 0.00 2.58 0.00 0.000 4 0.000 0.061 2710 3502 2005

14452 1.03 213.6 701.0 8.1 699 14457 0.00 2.55 0.00 0.000 6 0.000 0.051 2710 2098 2004

14778 1.03 213.6 679.2 6.8 715 14782 0.00 2.60 0.00 0.000 4 0.000 0.059 2710 3508 2004

14849 1.03 213.6 673.5 7.8 718 14853 0.00 2.58 0.00 0.000 6 0.000 0.050 2710 2103 2004

15170 1.03 213.6 650.9 7.2 734 15174 0.00 2.58 0.00 0.000 4 0.000 0.057 2710 3508 2004

15280 1.03 213.6 642.7 7.8 739 15285 0.00 2.58 0.00 0.000 6 0.000 0.048 2710 2098 2004

15607 1.03 213.6 619.6 7.1 755 15608 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2098 2004

15917 1.08 257.6 601.2 4.7 770 15957 0.00 0.00 36.62 1.224 6 0.000 0.000 2710 2098 1827

16266 1.13 293.5 583.6 4.9 787 16299 0.12 0.00 30.40 1.190 6 0.048 0.000 2757 2098 1681

16595 1.13 293.5 559.3 8.2 803 16600 0.00 2.62 0.00 0.000 4 0.000 0.070 2757 691 1681

16644 1.13 293.5 554.7 8.7 805 16649 0.00 2.50 0.00 0.000 6 0.000 0.042 2756 2109 1681

16966 1.13 293.5 525.1 9.3 821 16967 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1681

17275 1.13 293.5 496.0 9.7 836 17276 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1682

17584 1.13 293.5 466.9 9.2 851 17585 0.00 0.00 0.00 0.000 6 0.000 0.000 2758 2113 1682

17893 1.13 293.5 436.5 10.2 866 17895 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1683

18203 1.13 293.5 405.9 9.4 881 18204 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1683

18512 1.13 293.5 376.6 9.5 896 18513 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1683

18821 1.13 293.5 348.7 8.8 911 18822 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2113 1683

19130 1.13 293.5 320.7 8.9 926 19135 0.00 2.62 0.00 0.000 4 0.000 0.063 2757 687 1683

19196 1.13 293.5 314.3 9.5 929 19201 0.00 2.50 0.00 0.000 6 0.000 0.040 2757 2105 1683

19523 1.13 293.5 284.8 9.3 945 19524 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2110 1683

19832 1.13 293.5 254.5 9.9 960 19837 0.00 2.62 0.00 0.000 4 0.000 0.062 2757 687 1684

19881 1.13 293.5 249.3 10.5 962 19886 0.00 2.53 0.00 0.000 6 0.000 0.039 2757 2104 1684

20202 1.13 293.5 215.6 10.6 978 20203 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2108 1684

20511 1.13 293.5 184.6 9.6 993 20516 0.00 2.60 0.00 0.000 4 0.000 0.061 2757 690 1684

20561 1.13 293.5 179.6 10.8 995 20565 0.00 2.47 0.00 0.000 6 0.000 0.038 2757 2103 1684

20882 1.13 293.5 148.8 10.0 1011 20883 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2107 1684

21191 1.13 293.5 121.4 7.8 1026 21195 0.00 2.60 0.00 0.000 4 0.000 0.061 2757 690 1685

21245 1.13 293.5 117.5 6.7 1028 21252 0.00 2.50 0.00 0.000 6 0.000 0.038 2757 2101 1685

21561 1.13 293.5 94.7 7.3 1044 21565 0.00 2.50 0.00 0.000 4 0.000 0.047 2757 3501 1685

21627 1.13 293.5 88.2 10.5 1047 21632 0.00 2.50 0.00 0.000 6 0.000 0.039 2757 2094 1686

21954 1.13 293.5 52.7 8.3 1063 21956 0.00 0.00 0.00 0.000 6 0.000 0.000 2757 2094 1686

22263 1.13 293.5 18.3 11.5 1078 22268 0.00 2.53 0.00 0.000 4 0.000 0.045 2757 3501 1686

22363 1.13 293.5 9.1 7.9 1082 22370 0.00 2.50 0.00 0.000 6 0.000 0.041 2757 2097 1686

22680 1.38 495.0 3.4 -0.0 1098 22792 0.17 0.00 106.05 0.767 6 0.054 0.000 2807 2092 859

22823 end climb: NO_VERTICAL_VELOCITY

state 22824 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	136	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-78730.844	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	092837,6215.273,-1041.990,35,1.3,35,-10.4	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.078,0.193
_SM_DEPTHo	3.88	KALMAN_X	129726.6,-752.6,-369.1,-244960.2,116.4
_SM_ANGLEo	-54.0	KALMAN_Y	145447.8,57.9,256.6,-67759.7,-3584.9
GPS2	093609,6215.255,-1041.962,13,1.1,13,-10.4	MHEAD_RNG_PITCHd_Wd	348.3,23770,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22826,32.72,0.750,0,0,603,558.06	ALTIM_BOTTOM_PING	725.0,90.9
SM_GC	4.14,11.88,0.00,0.00,0.025,0.000,0.000,31,1891,604,-11.26,-0.25,557.81	_24V_AH	23.3,33.517
IRIDIUM_FIX	6148.92,-1035.20,091207,070701	_10V_AH	10.1,15.335
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56967,1105
HUMID	2048	CFSIZE	260165632,250302464
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	16.80	GPS	091207,160608,6217.110,-1044.019,32,1.2,32,-10.5
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	59.66	SBE_CT	813	24	454.99
Roll_motor	122	76	218.70	SBE_O2	748	19	331.44
VBD_pump_during_apogee	476	1330	14782.28	WL_BB2F	658	105	1610.43
VBD_pump_during_surface	32	750	571.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.49	nil	0	0	0.00
Iridium_during_connect	33	160	125.67	nil	0	0	0.00
Iridium_during_xfer	281	223	1462.97
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.91
TT8	1942	19	388.50
LPSleep	18282	2	404.39
TT8_Active	687	19	137.41
TT8_Sampling	2284	39	918.16
TT8_CF8	535	45	247.78
TT8_Kalman	33	81	27.56
Analog_circuits	1830	12	221.92
GPS_charging	0	0	0.00
Compass	2242	8	181.20
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	-3.62	0.000	2	0.000	0.000	27	1910	690
28	-0.95	-146.6	3.9	-0.0	0	211	11.12	0.00	-168.73	0.000	6	0.102	0.000	2295	1913	3476
510	-0.95	-146.6	32.7	-9.2	24	514	0.00	2.50	0.00	0.000	4	0.000	0.047	2295	3300	3476
571	-0.95	-146.6	37.4	-8.0	27	576	0.00	2.47	0.00	0.000	6	0.000	0.042	2295	1894	3476
897	-0.95	-146.6	59.8	-5.5	43	898	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1894	3476
1206	-0.95	-146.6	79.9	-7.6	58	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1893	3476
1515	-0.95	-146.6	101.9	-6.9	73	1519	0.00	2.53	0.00	0.000	4	0.000	0.045	2295	3302	3476
1586	-0.95	-146.6	107.9	-8.8	76	1590	0.00	2.53	0.00	0.000	6	0.000	0.041	2295	1884	3476
1907	-0.95	-146.6	131.5	-7.0	92	1908	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1884	3476
2217	-0.95	-146.6	148.9	-4.9	107	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1885	3476
2526	-0.95	-146.6	165.0	-5.2	122	2527	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1884	3476
2835	-0.95	-146.6	180.7	-5.0	137	2836	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1884	3476
3144	-0.95	-146.6	196.0	-5.3	152	3149	0.00	2.53	0.00	0.000	4	0.000	0.046	2295	3295	3476
3216	-0.95	-146.6	200.4	-6.6	155	3220	0.00	2.53	0.00	0.000	6	0.000	0.042	2295	1898	3475
3537	-0.95	-146.6	221.7	-6.8	171	3538	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1899	3476
3847	-0.95	-146.6	242.5	-6.7	186	3851	0.00	2.50	0.00	0.000	4	0.000	0.046	2295	3295	3476
3901	-0.95	-146.6	246.2	-7.0	188	3907	0.00	2.50	0.00	0.000	6	0.000	0.041	2295	1906	3476
4217	-0.95	-146.6	265.3	-5.8	204	4218	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1906	3476
4526	-0.95	-146.6	286.4	-7.4	219	4527	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1906	3476
4835	-0.95	-146.6	310.0	-7.9	234	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1906	3476
5144	-0.95	-146.6	336.7	-8.6	249	5148	0.00	2.47	0.00	0.000	4	0.000	0.048	2295	3294	3475
5209	-0.95	-146.6	342.9	-9.3	252	5214	0.00	2.50	0.00	0.000	6	0.000	0.044	2295	1898	3476
5536	-0.95	-146.6	370.0	-9.0	268	5537	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1899	3476
5845	-0.95	-146.6	395.6	-8.4	283	5846	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1899	3476
6155	-0.95	-146.6	420.5	-7.6	298	6159	0.00	2.53	0.00	0.000	4	0.000	0.048	2295	3302	3476
6203	-0.95	-146.6	424.9	-8.6	300	6212	0.00	2.53	0.00	0.000	6	0.000	0.044	2295	1904	3476
6527	-0.95	-146.6	452.5	-7.5	316	6528	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1905	3476
6837	-0.95	-146.6	474.9	-7.1	331	6838	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1905	3476
7146	-0.95	-146.6	495.1	-6.6	346	7150	0.00	2.50	0.00	0.000	4	0.000	0.050	2295	3294	3475
7206	-0.95	-146.6	499.5	-6.9	349	7211	0.00	2.50	0.00	0.000	6	0.000	0.045	2295	1900	3476
7532	-0.95	-146.6	520.9	-6.8	365	7534	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3475
7842	-0.95	-146.6	541.3	-5.9	380	7843	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1899	3475
8151	-0.95	-146.6	556.7	-4.6	395	8152	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3476
8461	-0.95	-146.6	572.8	-5.5	410	8465	0.00	2.53	0.00	0.000	4	0.000	0.051	2295	3297	3475
8527	-0.95	-146.6	576.7	-5.6	413	8531	0.00	2.50	0.00	0.000	6	0.000	0.045	2295	1901	3475
8854	-0.95	-146.6	592.3	-4.5	429	8855	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3475
9163	-0.95	-146.6	605.4	-4.1	444	9164	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3475
9472	-0.95	-146.6	620.1	-5.2	459	9473	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3475
9781	-0.95	-146.6	641.3	-7.0	474	9782	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3474
10090	-0.95	-146.6	657.2	-4.4	489	10092	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3474
10400	-0.95	-146.6	672.3	-4.9	504	10401	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1898	3474
10709	-0.95	-146.6	688.5	-5.7	519	10713	0.00	2.55	0.00	0.000	4	0.000	0.054	2295	3296	3474
10803	-0.95	-146.6	694.9	-7.0	523	10808	0.00	2.55	0.00	0.000	6	0.000	0.048	2294	1900	3473
11125	-0.95	-146.6	713.1	-5.0	539	11126	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3473
11434	-0.95	-146.6	728.5	-5.5	554	11435	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3473
11743	-0.95	-146.6	746.7	-5.6	569	11744	0.00	0.00	0.00	0.000	6	0.000	0.000	2295	1900	3473
12053	-0.95	-146.6	758.4	-3.9	584	12054	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1900	3473
12361	-0.95	-146.6	777.3	-6.8	599	12366	0.00	2.62	0.00	0.000	4	0.000	0.072	2295	493	3473
12422	-0.95	-146.6	781.8	-6.6	602	12427	0.00	2.47	0.00	0.000	6	0.000	0.051	2295	1889	3473
12748	-0.95	-146.6	805.9	-8.8	618	12753	0.00	2.60	0.00	0.000	6	0.000	0.064	2295	3304	3472
12753	end dive: BOTTOM_OBSTACLE_DETECTED
state	12753	begin apogee
12760	-0.36	0.0	806.3	8.3	618	12887	0.55	0.00	124.15	1.331	6	0.073	0.000	2417	2093	2878
12888	end apogee: CONTROL_FINISHED_OK
state	12888	begin climb
12890	0.95	146.6	807.6	0.0	624	13021	1.25	2.72	122.85	1.290	4	0.039	0.074	2710	696	2280
13161	0.95	146.6	795.3	7.6	636	13168	0.00	2.58	0.00	0.000	6	0.000	0.053	2710	2101	2280
13477	1.03	213.6	783.9	4.0	652	13539	0.00	2.70	56.67	1.305	4	0.000	0.064	2710	3506	2007
13590	1.03	213.6	775.0	9.4	657	13595	0.00	2.62	0.00	0.000	6	0.000	0.055	2710	2099	2007
13910	1.03	213.6	745.8	7.7	673	13914	0.00	2.67	0.00	0.000	4	0.000	0.077	2710	689	2006
14009	1.03	213.6	738.4	8.2	677	14015	0.00	2.55	0.00	0.000	6	0.000	0.051	2710	2104	2006
14324	1.03	213.6	711.7	8.4	693	14328	0.00	2.58	0.00	0.000	4	0.000	0.061	2710	3502	2005
14452	1.03	213.6	701.0	8.1	699	14457	0.00	2.55	0.00	0.000	6	0.000	0.051	2710	2098	2004
14778	1.03	213.6	679.2	6.8	715	14782	0.00	2.60	0.00	0.000	4	0.000	0.059	2710	3508	2004
14849	1.03	213.6	673.5	7.8	718	14853	0.00	2.58	0.00	0.000	6	0.000	0.050	2710	2103	2004
15170	1.03	213.6	650.9	7.2	734	15174	0.00	2.58	0.00	0.000	4	0.000	0.057	2710	3508	2004
15280	1.03	213.6	642.7	7.8	739	15285	0.00	2.58	0.00	0.000	6	0.000	0.048	2710	2098	2004
15607	1.03	213.6	619.6	7.1	755	15608	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2098	2004
15917	1.08	257.6	601.2	4.7	770	15957	0.00	0.00	36.62	1.224	6	0.000	0.000	2710	2098	1827
16266	1.13	293.5	583.6	4.9	787	16299	0.12	0.00	30.40	1.190	6	0.048	0.000	2757	2098	1681
16595	1.13	293.5	559.3	8.2	803	16600	0.00	2.62	0.00	0.000	4	0.000	0.070	2757	691	1681
16644	1.13	293.5	554.7	8.7	805	16649	0.00	2.50	0.00	0.000	6	0.000	0.042	2756	2109	1681
16966	1.13	293.5	525.1	9.3	821	16967	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1681
17275	1.13	293.5	496.0	9.7	836	17276	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1682
17584	1.13	293.5	466.9	9.2	851	17585	0.00	0.00	0.00	0.000	6	0.000	0.000	2758	2113	1682
17893	1.13	293.5	436.5	10.2	866	17895	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1683
18203	1.13	293.5	405.9	9.4	881	18204	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1683
18512	1.13	293.5	376.6	9.5	896	18513	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1683
18821	1.13	293.5	348.7	8.8	911	18822	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2113	1683
19130	1.13	293.5	320.7	8.9	926	19135	0.00	2.62	0.00	0.000	4	0.000	0.063	2757	687	1683
19196	1.13	293.5	314.3	9.5	929	19201	0.00	2.50	0.00	0.000	6	0.000	0.040	2757	2105	1683
19523	1.13	293.5	284.8	9.3	945	19524	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2110	1683
19832	1.13	293.5	254.5	9.9	960	19837	0.00	2.62	0.00	0.000	4	0.000	0.062	2757	687	1684
19881	1.13	293.5	249.3	10.5	962	19886	0.00	2.53	0.00	0.000	6	0.000	0.039	2757	2104	1684
20202	1.13	293.5	215.6	10.6	978	20203	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2108	1684
20511	1.13	293.5	184.6	9.6	993	20516	0.00	2.60	0.00	0.000	4	0.000	0.061	2757	690	1684
20561	1.13	293.5	179.6	10.8	995	20565	0.00	2.47	0.00	0.000	6	0.000	0.038	2757	2103	1684
20882	1.13	293.5	148.8	10.0	1011	20883	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2107	1684
21191	1.13	293.5	121.4	7.8	1026	21195	0.00	2.60	0.00	0.000	4	0.000	0.061	2757	690	1685
21245	1.13	293.5	117.5	6.7	1028	21252	0.00	2.50	0.00	0.000	6	0.000	0.038	2757	2101	1685
21561	1.13	293.5	94.7	7.3	1044	21565	0.00	2.50	0.00	0.000	4	0.000	0.047	2757	3501	1685
21627	1.13	293.5	88.2	10.5	1047	21632	0.00	2.50	0.00	0.000	6	0.000	0.039	2757	2094	1686
21954	1.13	293.5	52.7	8.3	1063	21956	0.00	0.00	0.00	0.000	6	0.000	0.000	2757	2094	1686
22263	1.13	293.5	18.3	11.5	1078	22268	0.00	2.53	0.00	0.000	4	0.000	0.045	2757	3501	1686
22363	1.13	293.5	9.1	7.9	1082	22370	0.00	2.50	0.00	0.000	6	0.000	0.041	2757	2097	1686
22680	1.38	495.0	3.4	-0.0	1098	22792	0.17	0.00	106.05	0.767	6	0.054	0.000	2807	2092	859
22823	end climb: NO_VERTICAL_VELOCITY
state	22824	begin surface