Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 141 * 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 141 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -78802.938 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 -78802.938

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 25 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 141 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 170133,6223.909,-1045.672,39,1.4,41,-10.5 TGT_NAME EW

_CALLS 2 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.107

_SM_DEPTHo 4.25 KALMAN_X 147029.4,-242.3,-2591.4,-263882.3,13088.6

_SM_ANGLEo -59.1 KALMAN_Y 135001.3,-13.2,915.1,-41941.4,-4717.3

GPS2 171208,6223.878,-1045.715,15,1.4,15,-10.5 MHEAD_RNG_PITCHd_Wd 311.3,12425,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21566,138.25,0.745,2,0,602,558.06 ALTIM_BOTTOM_PING 625.3,89.8

SM_GC 4.30,11.95,0.00,0.00,0.028,0.000,0.000,26,1883,602,-11.27,-0.48,558.30 _24V_AH 23.3,34.429

IRIDIUM_FIX 6158.08,-1048.58,101207,212121 _10V_AH 10.1,15.813

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50556,1042

HUMID 2045 CFSIZE 260165632,249987072

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,2,0

TCM_TEMP 18.80 GPS 101207,232307,6225.212,-1046.121,35,0.8,35,-10.5

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 109 65.10 SBE_CT 777 24 434.96

Roll_motor 98 75 171.68 SBE_O2 705 19 312.16

VBD_pump_during_apogee 377 1265 11119.67 WL_BB2F 663 105 1623.14

VBD_pump_during_surface 138 744 2399.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 187.94 nil 0 0 0.00

Iridium_during_connect 71 160 266.35 nil 0 0 0.00

Iridium_during_xfer 316 223 1646.80

Transponder_ping 6 420 58.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.30

TT8 1830 19 366.04

LPSleep 17440 2 385.76

TT8_Active 732 19 146.56

TT8_Sampling 2107 39 847.13

TT8_CF8 663 45 306.92

TT8_Kalman 33 81 27.56

Analog_circuits 1755 12 212.82

GPS_charging 0 0 0.00

Compass 2081 8 168.15

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.88 0.000 2 0.000 0.000 28 1886 1121

46 -0.95 -146.6 4.1 -0.0 1 211 11.25 2.60 -143.55 0.000 4 0.110 0.059 2290 3301 3476

217 -0.95 -146.6 5.8 -6.4 9 221 0.00 2.53 0.00 0.000 6 0.000 0.041 2289 1893 3476

544 -0.95 -146.6 28.2 -7.0 25 548 0.00 2.55 0.00 0.000 4 0.000 0.046 2289 3309 3476

800 -0.95 -146.6 45.6 -7.4 36 807 0.00 2.55 0.00 0.000 6 0.000 0.041 2289 1897 3476

1116 -0.95 -146.6 66.3 -6.3 52 1120 0.00 2.53 0.00 0.000 4 0.000 0.046 2289 3309 3476

1203 -0.95 -146.6 72.5 -6.7 56 1208 0.00 2.53 0.00 0.000 6 0.000 0.041 2289 1907 3476

1532 -0.95 -146.6 95.9 -7.4 72 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

1840 -0.95 -146.6 119.0 -7.5 87 1841 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

2149 -0.95 -146.6 142.1 -7.5 102 2150 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3476

2458 -0.95 -146.6 164.3 -7.1 117 2459 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

2767 -0.95 -146.6 185.6 -6.5 132 2771 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3310 3476

2828 -0.95 -146.6 189.4 -5.9 135 2832 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1898 3476

3154 -0.95 -146.6 212.8 -7.1 151 3155 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

3463 -0.95 -146.6 235.5 -7.7 166 3464 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3476

3772 -0.95 -146.6 258.3 -7.1 181 3777 0.00 2.53 0.00 0.000 4 0.000 0.047 2289 3307 3476

3861 -0.95 -146.6 264.8 -7.3 185 3865 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1896 3476

4188 -0.95 -146.6 287.0 -7.0 201 4189 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

4497 -0.95 -146.6 307.6 -6.5 216 4498 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

4806 -0.95 -146.6 328.4 -6.7 231 4811 0.00 2.55 0.00 0.000 4 0.000 0.048 2289 3314 3476

4861 -0.95 -146.6 332.2 -6.8 233 4868 0.00 2.55 0.00 0.000 6 0.000 0.043 2289 1901 3476

5177 -0.95 -146.6 353.3 -6.9 249 5178 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

5486 -0.95 -146.6 374.5 -7.1 264 5487 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

5795 -0.95 -146.6 394.2 -6.1 279 5799 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3306 3476

5878 -0.95 -146.6 399.5 -6.4 283 5883 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1898 3476

6204 -0.95 -146.6 419.1 -6.1 299 6205 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6513 -0.95 -146.6 438.6 -6.5 314 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6823 -0.95 -146.6 460.2 -7.2 329 6824 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

7132 -0.95 -146.6 481.9 -6.7 344 7133 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1898 3476

7441 -0.95 -146.6 502.5 -6.7 359 7445 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3307 3476

7518 -0.95 -146.6 507.9 -7.1 362 7524 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1902 3475

7833 -0.95 -146.6 529.4 -7.0 378 7834 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

8142 -0.95 -146.6 551.6 -7.4 393 8143 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1902 3475

8452 -0.95 -146.6 574.5 -6.8 408 8456 0.00 2.55 0.00 0.000 4 0.000 0.054 2289 3312 3475

8539 -0.95 -146.6 580.8 -7.0 412 8544 0.00 2.55 0.00 0.000 6 0.000 0.046 2289 1906 3475

8866 -0.95 -146.6 602.6 -6.7 428 8867 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3475

9175 -0.95 -146.6 621.8 -6.1 443 9177 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3475

9485 -0.95 -146.6 639.4 -6.1 458 9486 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3475

9794 -0.95 -146.6 657.6 -6.4 473 9795 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1906 3475

10104 -0.95 -146.6 676.5 -6.0 488 10105 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1906 3474

10412 -0.95 -146.6 696.0 -6.3 503 10417 0.00 2.58 0.00 0.000 4 0.000 0.061 2289 3311 3474

10484 -0.95 -146.6 700.6 -6.7 506 10488 0.00 2.60 0.00 0.000 6 0.000 0.054 2289 1905 3474

10556 end dive: BOTTOM_OBSTACLE_DETECTED

state 10556 begin apogee

10561 -0.36 0.0 705.2 6.4 510 10687 0.60 0.00 122.70 1.266 6 0.070 0.000 2422 2105 2878

10688 end apogee: CONTROL_FINISHED_OK

state 10688 begin climb

10689 0.95 146.6 705.5 0.0 516 10816 1.23 0.00 122.28 1.221 6 0.046 0.000 2706 2104 2280

11121 0.97 166.7 690.7 5.4 537 11140 0.00 0.00 17.65 1.232 6 0.000 0.000 2705 2104 2198

11449 0.99 181.0 671.8 5.6 553 11464 0.00 0.00 13.20 1.246 6 0.000 0.000 2705 2104 2139

11758 1.01 195.8 654.5 5.6 568 11779 0.00 2.65 13.30 1.246 4 0.000 0.063 2705 3492 2079

11908 1.01 195.8 644.3 7.2 574 11915 0.00 2.58 0.00 0.000 6 0.000 0.052 2705 2093 2078

12223 1.01 195.8 623.1 6.7 590 12227 0.00 2.65 0.00 0.000 4 0.000 0.075 2706 692 2078

12288 1.01 195.8 618.3 7.4 593 12293 0.00 2.53 0.00 0.000 6 0.000 0.048 2706 2102 2077

12615 1.01 195.8 597.6 6.7 609 12619 0.00 2.65 0.00 0.000 4 0.000 0.069 2706 687 2078

12680 1.01 195.8 593.3 6.5 612 12684 0.00 2.55 0.00 0.000 6 0.000 0.048 2706 2097 2077

13007 1.01 195.8 569.0 7.4 628 13008 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2098 2076

13316 1.02 202.4 548.4 5.8 643 13324 0.00 0.00 6.10 1.190 6 0.000 0.000 2706 2098 2052

13625 1.06 235.5 531.7 5.0 658 13655 0.00 0.00 28.15 1.179 6 0.000 0.000 2706 2099 1917

13955 1.06 239.8 513.0 5.9 674 13961 0.00 0.00 4.90 1.129 6 0.000 0.000 2706 2100 1900

14263 1.06 239.8 493.6 6.4 689 14265 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2101 1900

14573 1.06 239.8 474.2 6.1 704 14577 0.00 2.62 0.00 0.000 4 0.000 0.064 2706 685 1900

14638 1.06 239.8 469.9 6.3 707 14643 0.00 2.53 0.00 0.000 6 0.000 0.043 2705 2100 1900

14965 1.07 243.5 449.7 5.9 723 14971 0.00 0.00 4.35 1.083 6 0.000 0.000 2706 2103 1885

15274 1.07 243.5 429.8 6.7 738 15279 0.00 2.60 0.00 0.000 4 0.000 0.064 2706 690 1885

15340 1.07 243.5 424.8 7.3 741 15344 0.00 2.53 0.00 0.000 6 0.000 0.041 2706 2095 1885

15667 1.07 243.5 403.2 6.2 757 15668 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2098 1885

15976 1.07 243.5 383.4 6.4 772 15977 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2098 1886

16285 1.08 256.1 365.0 5.6 787 16307 0.12 2.67 11.52 1.065 4 0.048 0.063 2751 687 1833

16345 1.08 256.1 360.5 7.5 789 16352 0.00 2.53 0.00 0.000 6 0.000 0.041 2751 2103 1833

16660 1.08 256.1 335.8 8.2 805 16661 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2105 1833

16970 1.08 256.1 308.6 9.1 820 16971 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2105 1833

17279 1.08 256.1 281.3 8.2 835 17280 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2105 1834

17588 1.08 256.1 256.4 7.8 850 17590 0.10 0.00 0.00 0.000 6 0.094 0.000 2732 2105 1834

17897 1.08 256.1 235.1 6.6 865 17898 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1834

18207 1.08 256.1 214.8 6.5 880 18208 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2105 1834

18516 1.08 256.1 195.0 6.4 895 18520 0.00 2.60 0.00 0.000 4 0.000 0.061 2731 687 1834

18581 1.08 256.1 190.4 7.4 898 18585 0.00 2.53 0.00 0.000 6 0.000 0.040 2731 2104 1834

18908 1.08 256.1 167.6 7.0 914 18909 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1835

19217 1.08 256.1 146.7 6.9 929 19219 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2106 1835

19527 1.08 256.1 126.0 6.8 944 19531 0.00 2.60 0.00 0.000 4 0.000 0.060 2731 690 1835

19598 1.08 256.1 120.5 8.1 947 19602 0.00 2.47 0.00 0.000 6 0.000 0.038 2731 2103 1835

19919 1.08 256.1 97.7 6.8 963 19920 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1835

20228 1.08 256.1 75.6 7.5 978 20229 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1835

20538 1.08 256.1 52.4 8.3 993 20539 0.00 0.00 0.00 0.000 6 0.000 0.000 2731 2106 1835

20847 1.11 282.3 30.5 5.2 1008 20870 0.00 0.00 21.20 0.875 6 0.000 0.000 2731 2106 1727

21178 1.11 282.3 7.8 7.2 1024 21182 0.00 2.62 0.00 0.000 4 0.000 0.061 2731 687 1726

21220 1.11 282.3 3.8 7.6 1026 21225 0.00 2.50 0.00 0.000 6 0.000 0.039 2731 2110 1726

21548 1.36 485.1 3.6 -0.0 1042 21562 0.22 0.00 11.75 0.875 2 0.038 0.000 2806 2116 1669

21563 end climb: NO_VERTICAL_VELOCITY

state 21563 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	141	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-78802.938	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	170133,6223.909,-1045.672,39,1.4,41,-10.5	TGT_NAME	EW
_CALLS	2	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.107
_SM_DEPTHo	4.25	KALMAN_X	147029.4,-242.3,-2591.4,-263882.3,13088.6
_SM_ANGLEo	-59.1	KALMAN_Y	135001.3,-13.2,915.1,-41941.4,-4717.3
GPS2	171208,6223.878,-1045.715,15,1.4,15,-10.5	MHEAD_RNG_PITCHd_Wd	311.3,12425,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21566,138.25,0.745,2,0,602,558.06	ALTIM_BOTTOM_PING	625.3,89.8
SM_GC	4.30,11.95,0.00,0.00,0.028,0.000,0.000,26,1883,602,-11.27,-0.48,558.30	_24V_AH	23.3,34.429
IRIDIUM_FIX	6158.08,-1048.58,101207,212121	_10V_AH	10.1,15.813
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50556,1042
HUMID	2045	CFSIZE	260165632,249987072
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
TCM_TEMP	18.80	GPS	101207,232307,6225.212,-1046.121,35,0.8,35,-10.5
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	109	65.10	SBE_CT	777	24	434.96
Roll_motor	98	75	171.68	SBE_O2	705	19	312.16
VBD_pump_during_apogee	377	1265	11119.67	WL_BB2F	663	105	1623.14
VBD_pump_during_surface	138	744	2399.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	187.94	nil	0	0	0.00
Iridium_during_connect	71	160	266.35	nil	0	0	0.00
Iridium_during_xfer	316	223	1646.80
Transponder_ping	6	420	58.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.30
TT8	1830	19	366.04
LPSleep	17440	2	385.76
TT8_Active	732	19	146.56
TT8_Sampling	2107	39	847.13
TT8_CF8	663	45	306.92
TT8_Kalman	33	81	27.56
Analog_circuits	1755	12	212.82
GPS_charging	0	0	0.00
Compass	2081	8	168.15
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.88	0.000	2	0.000	0.000	28	1886	1121
46	-0.95	-146.6	4.1	-0.0	1	211	11.25	2.60	-143.55	0.000	4	0.110	0.059	2290	3301	3476
217	-0.95	-146.6	5.8	-6.4	9	221	0.00	2.53	0.00	0.000	6	0.000	0.041	2289	1893	3476
544	-0.95	-146.6	28.2	-7.0	25	548	0.00	2.55	0.00	0.000	4	0.000	0.046	2289	3309	3476
800	-0.95	-146.6	45.6	-7.4	36	807	0.00	2.55	0.00	0.000	6	0.000	0.041	2289	1897	3476
1116	-0.95	-146.6	66.3	-6.3	52	1120	0.00	2.53	0.00	0.000	4	0.000	0.046	2289	3309	3476
1203	-0.95	-146.6	72.5	-6.7	56	1208	0.00	2.53	0.00	0.000	6	0.000	0.041	2289	1907	3476
1532	-0.95	-146.6	95.9	-7.4	72	1533	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
1840	-0.95	-146.6	119.0	-7.5	87	1841	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
2149	-0.95	-146.6	142.1	-7.5	102	2150	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3476
2458	-0.95	-146.6	164.3	-7.1	117	2459	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
2767	-0.95	-146.6	185.6	-6.5	132	2771	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3310	3476
2828	-0.95	-146.6	189.4	-5.9	135	2832	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1898	3476
3154	-0.95	-146.6	212.8	-7.1	151	3155	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
3463	-0.95	-146.6	235.5	-7.7	166	3464	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3476
3772	-0.95	-146.6	258.3	-7.1	181	3777	0.00	2.53	0.00	0.000	4	0.000	0.047	2289	3307	3476
3861	-0.95	-146.6	264.8	-7.3	185	3865	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1896	3476
4188	-0.95	-146.6	287.0	-7.0	201	4189	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
4497	-0.95	-146.6	307.6	-6.5	216	4498	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
4806	-0.95	-146.6	328.4	-6.7	231	4811	0.00	2.55	0.00	0.000	4	0.000	0.048	2289	3314	3476
4861	-0.95	-146.6	332.2	-6.8	233	4868	0.00	2.55	0.00	0.000	6	0.000	0.043	2289	1901	3476
5177	-0.95	-146.6	353.3	-6.9	249	5178	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
5486	-0.95	-146.6	374.5	-7.1	264	5487	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
5795	-0.95	-146.6	394.2	-6.1	279	5799	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3306	3476
5878	-0.95	-146.6	399.5	-6.4	283	5883	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1898	3476
6204	-0.95	-146.6	419.1	-6.1	299	6205	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6513	-0.95	-146.6	438.6	-6.5	314	6514	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6823	-0.95	-146.6	460.2	-7.2	329	6824	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
7132	-0.95	-146.6	481.9	-6.7	344	7133	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1898	3476
7441	-0.95	-146.6	502.5	-6.7	359	7445	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3307	3476
7518	-0.95	-146.6	507.9	-7.1	362	7524	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1902	3475
7833	-0.95	-146.6	529.4	-7.0	378	7834	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
8142	-0.95	-146.6	551.6	-7.4	393	8143	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1902	3475
8452	-0.95	-146.6	574.5	-6.8	408	8456	0.00	2.55	0.00	0.000	4	0.000	0.054	2289	3312	3475
8539	-0.95	-146.6	580.8	-7.0	412	8544	0.00	2.55	0.00	0.000	6	0.000	0.046	2289	1906	3475
8866	-0.95	-146.6	602.6	-6.7	428	8867	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3475
9175	-0.95	-146.6	621.8	-6.1	443	9177	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3475
9485	-0.95	-146.6	639.4	-6.1	458	9486	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3475
9794	-0.95	-146.6	657.6	-6.4	473	9795	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1906	3475
10104	-0.95	-146.6	676.5	-6.0	488	10105	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1906	3474
10412	-0.95	-146.6	696.0	-6.3	503	10417	0.00	2.58	0.00	0.000	4	0.000	0.061	2289	3311	3474
10484	-0.95	-146.6	700.6	-6.7	506	10488	0.00	2.60	0.00	0.000	6	0.000	0.054	2289	1905	3474
10556	end dive: BOTTOM_OBSTACLE_DETECTED
state	10556	begin apogee
10561	-0.36	0.0	705.2	6.4	510	10687	0.60	0.00	122.70	1.266	6	0.070	0.000	2422	2105	2878
10688	end apogee: CONTROL_FINISHED_OK
state	10688	begin climb
10689	0.95	146.6	705.5	0.0	516	10816	1.23	0.00	122.28	1.221	6	0.046	0.000	2706	2104	2280
11121	0.97	166.7	690.7	5.4	537	11140	0.00	0.00	17.65	1.232	6	0.000	0.000	2705	2104	2198
11449	0.99	181.0	671.8	5.6	553	11464	0.00	0.00	13.20	1.246	6	0.000	0.000	2705	2104	2139
11758	1.01	195.8	654.5	5.6	568	11779	0.00	2.65	13.30	1.246	4	0.000	0.063	2705	3492	2079
11908	1.01	195.8	644.3	7.2	574	11915	0.00	2.58	0.00	0.000	6	0.000	0.052	2705	2093	2078
12223	1.01	195.8	623.1	6.7	590	12227	0.00	2.65	0.00	0.000	4	0.000	0.075	2706	692	2078
12288	1.01	195.8	618.3	7.4	593	12293	0.00	2.53	0.00	0.000	6	0.000	0.048	2706	2102	2077
12615	1.01	195.8	597.6	6.7	609	12619	0.00	2.65	0.00	0.000	4	0.000	0.069	2706	687	2078
12680	1.01	195.8	593.3	6.5	612	12684	0.00	2.55	0.00	0.000	6	0.000	0.048	2706	2097	2077
13007	1.01	195.8	569.0	7.4	628	13008	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2098	2076
13316	1.02	202.4	548.4	5.8	643	13324	0.00	0.00	6.10	1.190	6	0.000	0.000	2706	2098	2052
13625	1.06	235.5	531.7	5.0	658	13655	0.00	0.00	28.15	1.179	6	0.000	0.000	2706	2099	1917
13955	1.06	239.8	513.0	5.9	674	13961	0.00	0.00	4.90	1.129	6	0.000	0.000	2706	2100	1900
14263	1.06	239.8	493.6	6.4	689	14265	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2101	1900
14573	1.06	239.8	474.2	6.1	704	14577	0.00	2.62	0.00	0.000	4	0.000	0.064	2706	685	1900
14638	1.06	239.8	469.9	6.3	707	14643	0.00	2.53	0.00	0.000	6	0.000	0.043	2705	2100	1900
14965	1.07	243.5	449.7	5.9	723	14971	0.00	0.00	4.35	1.083	6	0.000	0.000	2706	2103	1885
15274	1.07	243.5	429.8	6.7	738	15279	0.00	2.60	0.00	0.000	4	0.000	0.064	2706	690	1885
15340	1.07	243.5	424.8	7.3	741	15344	0.00	2.53	0.00	0.000	6	0.000	0.041	2706	2095	1885
15667	1.07	243.5	403.2	6.2	757	15668	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2098	1885
15976	1.07	243.5	383.4	6.4	772	15977	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2098	1886
16285	1.08	256.1	365.0	5.6	787	16307	0.12	2.67	11.52	1.065	4	0.048	0.063	2751	687	1833
16345	1.08	256.1	360.5	7.5	789	16352	0.00	2.53	0.00	0.000	6	0.000	0.041	2751	2103	1833
16660	1.08	256.1	335.8	8.2	805	16661	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2105	1833
16970	1.08	256.1	308.6	9.1	820	16971	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2105	1833
17279	1.08	256.1	281.3	8.2	835	17280	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2105	1834
17588	1.08	256.1	256.4	7.8	850	17590	0.10	0.00	0.00	0.000	6	0.094	0.000	2732	2105	1834
17897	1.08	256.1	235.1	6.6	865	17898	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1834
18207	1.08	256.1	214.8	6.5	880	18208	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2105	1834
18516	1.08	256.1	195.0	6.4	895	18520	0.00	2.60	0.00	0.000	4	0.000	0.061	2731	687	1834
18581	1.08	256.1	190.4	7.4	898	18585	0.00	2.53	0.00	0.000	6	0.000	0.040	2731	2104	1834
18908	1.08	256.1	167.6	7.0	914	18909	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1835
19217	1.08	256.1	146.7	6.9	929	19219	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2106	1835
19527	1.08	256.1	126.0	6.8	944	19531	0.00	2.60	0.00	0.000	4	0.000	0.060	2731	690	1835
19598	1.08	256.1	120.5	8.1	947	19602	0.00	2.47	0.00	0.000	6	0.000	0.038	2731	2103	1835
19919	1.08	256.1	97.7	6.8	963	19920	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1835
20228	1.08	256.1	75.6	7.5	978	20229	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1835
20538	1.08	256.1	52.4	8.3	993	20539	0.00	0.00	0.00	0.000	6	0.000	0.000	2731	2106	1835
20847	1.11	282.3	30.5	5.2	1008	20870	0.00	0.00	21.20	0.875	6	0.000	0.000	2731	2106	1727
21178	1.11	282.3	7.8	7.2	1024	21182	0.00	2.62	0.00	0.000	4	0.000	0.061	2731	687	1726
21220	1.11	282.3	3.8	7.6	1026	21225	0.00	2.50	0.00	0.000	6	0.000	0.039	2731	2110	1726
21548	1.36	485.1	3.6	-0.0	1042	21562	0.22	0.00	11.75	0.875	2	0.038	0.000	2806	2116	1669
21563	end climb: NO_VERTICAL_VELOCITY
state	21563	begin surface