Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 146 * 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 146 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 26 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 -78900.617 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 -78900.617

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 26 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 146 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 002337,6223.357,-1102.564,39,1.9,39,-10.7 TGT_NAME FW

_CALLS 4 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.154,0.141

_SM_DEPTHo 4.24 KALMAN_X 164741.6,720.4,-8069.8,-291740.1,67847.4

_SM_ANGLEo -55.3 KALMAN_Y 115873.0,-817.3,10360.0,-32608.2,-79492.8

GPS2 004220,6223.248,-1102.321,15,1.8,15,-10.7 MHEAD_RNG_PITCHd_Wd 323.0,34563,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 24046,47.50,0.762,0,0,602,558.06 ALTIM_BOTTOM_PING 725.2,106.4

SM_GC 4.43,11.90,0.00,0.00,0.028,0.000,0.000,33,1894,603,-11.26,-0.11,558.06 _24V_AH 23.3,35.396

IRIDIUM_FIX 6158.08,-1057.68,121207,040422 _10V_AH 10.1,16.313

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56807,1166

HUMID 2029 CFSIZE 260165632,249643008

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.80 GPS 121207,073307,6224.347,-1108.154,39,1.5,44,-10.7

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 115 68.68 SBE_CT 864 24 483.32

Roll_motor 97 78 178.09 SBE_O2 788 19 349.01

VBD_pump_during_apogee 456 1366 14529.08 WL_BB2F 673 105 1648.15

VBD_pump_during_surface 47 761 842.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 149 103 359.71 nil 0 0 0.00

Iridium_during_connect 218 160 814.52 nil 0 0 0.00

Iridium_during_xfer 448 223 2329.29

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.43

TT8 2003 19 400.67

LPSleep 19632 2 434.25

TT8_Active 690 19 138.04

TT8_Sampling 2275 39 914.79

TT8_CF8 1036 45 479.67

TT8_Kalman 33 81 27.56

Analog_circuits 1807 12 219.02

GPS_charging 0 0 0.00

Compass 2242 8 181.19

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 44 0.00 0.00 -21.90 0.000 2 0.000 0.000 28 1880 1117

47 -0.95 -146.6 4.3 -0.0 1 220 11.38 2.60 -153.75 0.000 4 0.116 0.071 2288 498 3476

309 -0.95 -146.6 10.9 -8.0 13 314 0.00 2.47 0.00 0.000 6 0.000 0.038 2288 1905 3476

633 -0.95 -146.6 34.9 -8.2 29 634 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3476

941 -0.95 -146.6 58.3 -7.1 44 942 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3476

1250 -0.95 -146.6 82.8 -7.8 59 1254 0.00 2.50 0.00 0.000 4 0.000 0.047 2288 3297 3476

1304 -0.95 -146.6 87.3 -8.8 61 1311 0.00 2.53 0.00 0.000 6 0.000 0.042 2288 1904 3476

1621 -0.95 -146.6 111.8 -8.1 77 1623 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3476

1930 -0.95 -146.6 137.5 -8.5 92 1934 0.00 2.50 0.00 0.000 4 0.000 0.046 2288 3297 3476

2006 -0.95 -146.6 144.6 -9.2 95 2013 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1897 3476

2322 -0.95 -146.6 167.7 -6.8 111 2323 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1897 3476

2631 -0.95 -146.6 189.6 -7.2 126 2636 0.00 2.53 0.00 0.000 4 0.000 0.046 2288 3302 3476

2693 -0.95 -146.6 194.2 -7.5 129 2697 0.00 2.50 0.00 0.000 6 0.000 0.042 2288 1891 3476

3018 -0.95 -146.6 219.6 -7.9 145 3019 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1891 3476

3328 -0.95 -146.6 243.0 -7.3 160 3329 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1890 3476

3637 -0.95 -146.6 266.1 -7.3 175 3641 0.00 2.53 0.00 0.000 4 0.000 0.047 2288 3295 3476

3702 -0.95 -146.6 271.3 -7.5 178 3706 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1901 3475

4029 -0.95 -146.6 293.4 -6.4 194 4030 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

4338 -0.95 -146.6 313.3 -6.4 209 4339 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

4647 -0.95 -146.6 334.0 -7.0 224 4651 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3295 3475

4724 -0.95 -146.6 339.4 -6.6 227 4730 0.00 2.50 0.00 0.000 6 0.000 0.043 2288 1894 3475

5039 -0.95 -146.6 360.3 -6.4 243 5040 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3475

5349 -0.95 -146.6 380.1 -6.3 258 5353 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3295 3475

5414 -0.95 -146.6 384.6 -6.6 261 5418 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1903 3476

5741 -0.95 -146.6 403.8 -5.4 277 5742 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1903 3475

6050 -0.95 -146.6 422.8 -6.3 292 6051 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3475

6359 -0.95 -146.6 443.1 -6.3 307 6360 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3476

6668 -0.95 -146.6 463.6 -7.0 322 6673 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3299 3475

6730 -0.95 -146.6 468.0 -7.3 325 6734 0.00 2.50 0.00 0.000 6 0.000 0.045 2288 1899 3475

7055 -0.95 -146.6 490.2 -6.9 341 7056 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3475

7365 -0.95 -146.6 511.9 -7.2 356 7369 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3298 3474

7436 -0.95 -146.6 517.4 -8.2 359 7440 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1892 3474

7757 -0.95 -146.6 539.6 -6.8 375 7758 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3474

8066 -0.95 -146.6 559.7 -6.6 390 8070 0.00 2.55 0.00 0.000 4 0.000 0.052 2288 3297 3474

8165 -0.95 -146.6 566.7 -7.2 394 8172 0.00 2.50 0.00 0.000 6 0.000 0.046 2288 1900 3474

8480 -0.95 -146.6 589.0 -7.4 410 8485 0.00 2.55 0.00 0.000 4 0.000 0.054 2288 3301 3474

8564 -0.95 -146.6 595.4 -7.8 414 8569 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1900 3474

8890 -0.95 -146.6 618.4 -6.8 430 8891 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

9199 -0.95 -146.6 638.8 -6.5 445 9200 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

9509 -0.95 -146.6 660.1 -6.9 460 9510 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

9818 -0.95 -146.6 679.8 -5.9 475 9822 0.00 2.55 0.00 0.000 4 0.000 0.054 2288 3300 3474

9895 -0.95 -146.6 684.5 -6.2 478 9902 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1904 3474

10211 -0.95 -146.6 703.3 -6.1 494 10212 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3474

10520 -0.95 -146.6 722.8 -6.3 509 10521 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3474

10830 -0.95 -146.6 740.9 -5.8 524 10831 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3473

11139 -0.95 -146.6 759.1 -6.1 539 11140 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3473

11448 -0.95 -146.6 779.1 -6.3 554 11449 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3473

11757 -0.95 -146.6 798.4 -6.3 569 11761 0.00 2.58 0.00 0.000 4 0.000 0.063 2288 3291 3473

11796 -0.95 -146.6 800.9 -6.7 571 11800 0.00 2.55 0.00 0.000 6 0.000 0.056 2288 1904 3473

12121 -0.95 -146.6 819.2 -4.9 587 12122 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3473

12161 end dive: BOTTOM_OBSTACLE_DETECTED

state 12161 begin apogee

12166 -0.36 0.0 821.7 5.4 589 12293 0.60 0.00 124.32 1.367 6 0.074 0.000 2418 2096 2878

12294 end apogee: CONTROL_FINISHED_OK

state 12294 begin climb

12296 0.95 146.6 825.3 0.0 595 12428 1.30 2.72 124.25 1.328 4 0.057 0.070 2703 3506 2280

12466 0.95 146.6 819.7 6.4 604 12470 0.00 2.62 0.00 0.000 6 0.000 0.056 2703 2096 2280

12793 1.00 192.3 802.6 4.6 620 12838 0.00 2.70 39.38 1.330 4 0.000 0.067 2703 3499 2093

12917 1.00 192.3 795.1 6.4 626 12921 0.00 2.60 0.00 0.000 6 0.000 0.058 2703 2099 2092

13242 1.00 192.3 769.6 9.4 642 13246 0.00 2.67 0.00 0.000 4 0.000 0.078 2703 691 2091

13307 1.00 192.3 763.0 10.3 645 13312 0.00 2.55 0.00 0.000 6 0.000 0.053 2703 2098 2091

13634 1.00 192.3 732.1 8.6 661 13635 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2090

13943 1.03 212.0 713.2 5.4 676 13965 0.00 2.67 16.83 1.325 4 0.000 0.061 2703 3507 2013

14056 1.03 213.8 706.9 5.9 681 14061 0.00 2.60 0.00 0.000 6 0.000 0.052 2703 2091 2013

14381 1.03 213.8 688.8 6.1 697 14383 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2012

14691 1.03 213.8 667.6 6.9 712 14692 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2012

15000 1.03 213.8 645.1 7.7 727 15001 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2012

15309 1.03 213.8 621.5 7.4 742 15310 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2012

15619 1.03 213.8 600.0 6.6 757 15620 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2012

15928 1.03 213.8 580.8 6.2 772 15929 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2013

16237 1.03 213.8 561.5 6.3 787 16238 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2091 2013

16546 1.03 213.8 541.4 6.8 802 16551 0.00 2.60 0.00 0.000 4 0.000 0.053 2703 3507 2014

16608 1.03 213.8 537.0 6.4 805 16612 0.00 2.53 0.00 0.000 6 0.000 0.046 2703 2098 2014

16933 1.03 213.8 515.0 6.7 821 16934 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2014

17243 1.03 213.8 493.7 6.8 836 17247 0.00 0.00 3.05 1.043 6 0.000 0.000 2703 2098 2006

17552 1.03 213.8 472.2 6.9 851 17553 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2006

17861 1.03 213.8 451.2 6.9 866 17862 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2006

18170 1.03 213.8 429.0 7.2 881 18172 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2007

18479 1.03 213.8 407.1 7.0 896 18481 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2007

18789 1.03 213.8 387.5 6.1 911 18790 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2007

19098 1.05 234.0 369.9 5.4 926 19119 0.00 0.00 17.60 1.062 6 0.000 0.000 2703 2098 1923

19427 1.09 264.1 352.5 5.1 942 19455 0.12 0.00 24.92 1.037 6 0.047 0.000 2752 2098 1801

19756 1.09 264.1 329.6 7.0 958 19757 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2098 1801

20066 1.09 264.1 306.8 7.8 973 20067 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2098 1801

20375 1.09 264.1 283.5 7.1 988 20376 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2098 1801

20684 1.09 264.1 260.5 7.8 1003 20685 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1801

20994 1.09 264.1 233.5 9.0 1018 20995 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2098 1802

21303 1.09 264.1 206.5 8.7 1033 21304 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1801

21612 1.09 264.1 180.2 8.4 1048 21613 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1801

21921 1.09 264.1 153.9 8.5 1063 21922 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1802

22231 1.09 264.1 127.5 8.6 1078 22232 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2096 1802

22540 1.09 264.1 101.9 8.1 1093 22541 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1802

22850 1.09 264.1 75.3 8.6 1108 22851 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2097 1802

23160 1.09 264.1 48.3 8.7 1123 23164 0.00 2.55 0.00 0.000 4 0.000 0.047 2752 3511 1802

23214 1.09 264.1 43.0 9.4 1125 23221 0.00 2.53 0.00 0.000 6 0.000 0.039 2752 2094 1802

23532 1.09 264.1 14.7 9.0 1141 23533 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2094 1802

23840 1.34 465.4 3.8 -0.0 1156 23949 0.15 0.00 105.88 0.776 6 0.053 0.000 2796 2088 979

24043 end climb: NO_VERTICAL_VELOCITY

state 24043 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	146	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	26	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	-78900.617	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	002337,6223.357,-1102.564,39,1.9,39,-10.7	TGT_NAME	FW
_CALLS	4	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.154,0.141
_SM_DEPTHo	4.24	KALMAN_X	164741.6,720.4,-8069.8,-291740.1,67847.4
_SM_ANGLEo	-55.3	KALMAN_Y	115873.0,-817.3,10360.0,-32608.2,-79492.8
GPS2	004220,6223.248,-1102.321,15,1.8,15,-10.7	MHEAD_RNG_PITCHd_Wd	323.0,34563,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	24046,47.50,0.762,0,0,602,558.06	ALTIM_BOTTOM_PING	725.2,106.4
SM_GC	4.43,11.90,0.00,0.00,0.028,0.000,0.000,33,1894,603,-11.26,-0.11,558.06	_24V_AH	23.3,35.396
IRIDIUM_FIX	6158.08,-1057.68,121207,040422	_10V_AH	10.1,16.313
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56807,1166
HUMID	2029	CFSIZE	260165632,249643008
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.80	GPS	121207,073307,6224.347,-1108.154,39,1.5,44,-10.7
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	115	68.68	SBE_CT	864	24	483.32
Roll_motor	97	78	178.09	SBE_O2	788	19	349.01
VBD_pump_during_apogee	456	1366	14529.08	WL_BB2F	673	105	1648.15
VBD_pump_during_surface	47	761	842.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	149	103	359.71	nil	0	0	0.00
Iridium_during_connect	218	160	814.52	nil	0	0	0.00
Iridium_during_xfer	448	223	2329.29
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.43
TT8	2003	19	400.67
LPSleep	19632	2	434.25
TT8_Active	690	19	138.04
TT8_Sampling	2275	39	914.79
TT8_CF8	1036	45	479.67
TT8_Kalman	33	81	27.56
Analog_circuits	1807	12	219.02
GPS_charging	0	0	0.00
Compass	2242	8	181.19
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	44	0.00	0.00	-21.90	0.000	2	0.000	0.000	28	1880	1117
47	-0.95	-146.6	4.3	-0.0	1	220	11.38	2.60	-153.75	0.000	4	0.116	0.071	2288	498	3476
309	-0.95	-146.6	10.9	-8.0	13	314	0.00	2.47	0.00	0.000	6	0.000	0.038	2288	1905	3476
633	-0.95	-146.6	34.9	-8.2	29	634	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3476
941	-0.95	-146.6	58.3	-7.1	44	942	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3476
1250	-0.95	-146.6	82.8	-7.8	59	1254	0.00	2.50	0.00	0.000	4	0.000	0.047	2288	3297	3476
1304	-0.95	-146.6	87.3	-8.8	61	1311	0.00	2.53	0.00	0.000	6	0.000	0.042	2288	1904	3476
1621	-0.95	-146.6	111.8	-8.1	77	1623	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3476
1930	-0.95	-146.6	137.5	-8.5	92	1934	0.00	2.50	0.00	0.000	4	0.000	0.046	2288	3297	3476
2006	-0.95	-146.6	144.6	-9.2	95	2013	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1897	3476
2322	-0.95	-146.6	167.7	-6.8	111	2323	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1897	3476
2631	-0.95	-146.6	189.6	-7.2	126	2636	0.00	2.53	0.00	0.000	4	0.000	0.046	2288	3302	3476
2693	-0.95	-146.6	194.2	-7.5	129	2697	0.00	2.50	0.00	0.000	6	0.000	0.042	2288	1891	3476
3018	-0.95	-146.6	219.6	-7.9	145	3019	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1891	3476
3328	-0.95	-146.6	243.0	-7.3	160	3329	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1890	3476
3637	-0.95	-146.6	266.1	-7.3	175	3641	0.00	2.53	0.00	0.000	4	0.000	0.047	2288	3295	3476
3702	-0.95	-146.6	271.3	-7.5	178	3706	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1901	3475
4029	-0.95	-146.6	293.4	-6.4	194	4030	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
4338	-0.95	-146.6	313.3	-6.4	209	4339	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
4647	-0.95	-146.6	334.0	-7.0	224	4651	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3295	3475
4724	-0.95	-146.6	339.4	-6.6	227	4730	0.00	2.50	0.00	0.000	6	0.000	0.043	2288	1894	3475
5039	-0.95	-146.6	360.3	-6.4	243	5040	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3475
5349	-0.95	-146.6	380.1	-6.3	258	5353	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3295	3475
5414	-0.95	-146.6	384.6	-6.6	261	5418	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1903	3476
5741	-0.95	-146.6	403.8	-5.4	277	5742	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1903	3475
6050	-0.95	-146.6	422.8	-6.3	292	6051	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3475
6359	-0.95	-146.6	443.1	-6.3	307	6360	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3476
6668	-0.95	-146.6	463.6	-7.0	322	6673	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3299	3475
6730	-0.95	-146.6	468.0	-7.3	325	6734	0.00	2.50	0.00	0.000	6	0.000	0.045	2288	1899	3475
7055	-0.95	-146.6	490.2	-6.9	341	7056	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3475
7365	-0.95	-146.6	511.9	-7.2	356	7369	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3298	3474
7436	-0.95	-146.6	517.4	-8.2	359	7440	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1892	3474
7757	-0.95	-146.6	539.6	-6.8	375	7758	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3474
8066	-0.95	-146.6	559.7	-6.6	390	8070	0.00	2.55	0.00	0.000	4	0.000	0.052	2288	3297	3474
8165	-0.95	-146.6	566.7	-7.2	394	8172	0.00	2.50	0.00	0.000	6	0.000	0.046	2288	1900	3474
8480	-0.95	-146.6	589.0	-7.4	410	8485	0.00	2.55	0.00	0.000	4	0.000	0.054	2288	3301	3474
8564	-0.95	-146.6	595.4	-7.8	414	8569	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1900	3474
8890	-0.95	-146.6	618.4	-6.8	430	8891	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
9199	-0.95	-146.6	638.8	-6.5	445	9200	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
9509	-0.95	-146.6	660.1	-6.9	460	9510	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
9818	-0.95	-146.6	679.8	-5.9	475	9822	0.00	2.55	0.00	0.000	4	0.000	0.054	2288	3300	3474
9895	-0.95	-146.6	684.5	-6.2	478	9902	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1904	3474
10211	-0.95	-146.6	703.3	-6.1	494	10212	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3474
10520	-0.95	-146.6	722.8	-6.3	509	10521	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3474
10830	-0.95	-146.6	740.9	-5.8	524	10831	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3473
11139	-0.95	-146.6	759.1	-6.1	539	11140	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3473
11448	-0.95	-146.6	779.1	-6.3	554	11449	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3473
11757	-0.95	-146.6	798.4	-6.3	569	11761	0.00	2.58	0.00	0.000	4	0.000	0.063	2288	3291	3473
11796	-0.95	-146.6	800.9	-6.7	571	11800	0.00	2.55	0.00	0.000	6	0.000	0.056	2288	1904	3473
12121	-0.95	-146.6	819.2	-4.9	587	12122	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3473
12161	end dive: BOTTOM_OBSTACLE_DETECTED
state	12161	begin apogee
12166	-0.36	0.0	821.7	5.4	589	12293	0.60	0.00	124.32	1.367	6	0.074	0.000	2418	2096	2878
12294	end apogee: CONTROL_FINISHED_OK
state	12294	begin climb
12296	0.95	146.6	825.3	0.0	595	12428	1.30	2.72	124.25	1.328	4	0.057	0.070	2703	3506	2280
12466	0.95	146.6	819.7	6.4	604	12470	0.00	2.62	0.00	0.000	6	0.000	0.056	2703	2096	2280
12793	1.00	192.3	802.6	4.6	620	12838	0.00	2.70	39.38	1.330	4	0.000	0.067	2703	3499	2093
12917	1.00	192.3	795.1	6.4	626	12921	0.00	2.60	0.00	0.000	6	0.000	0.058	2703	2099	2092
13242	1.00	192.3	769.6	9.4	642	13246	0.00	2.67	0.00	0.000	4	0.000	0.078	2703	691	2091
13307	1.00	192.3	763.0	10.3	645	13312	0.00	2.55	0.00	0.000	6	0.000	0.053	2703	2098	2091
13634	1.00	192.3	732.1	8.6	661	13635	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2090
13943	1.03	212.0	713.2	5.4	676	13965	0.00	2.67	16.83	1.325	4	0.000	0.061	2703	3507	2013
14056	1.03	213.8	706.9	5.9	681	14061	0.00	2.60	0.00	0.000	6	0.000	0.052	2703	2091	2013
14381	1.03	213.8	688.8	6.1	697	14383	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2012
14691	1.03	213.8	667.6	6.9	712	14692	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2012
15000	1.03	213.8	645.1	7.7	727	15001	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2012
15309	1.03	213.8	621.5	7.4	742	15310	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2012
15619	1.03	213.8	600.0	6.6	757	15620	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2012
15928	1.03	213.8	580.8	6.2	772	15929	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2013
16237	1.03	213.8	561.5	6.3	787	16238	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2091	2013
16546	1.03	213.8	541.4	6.8	802	16551	0.00	2.60	0.00	0.000	4	0.000	0.053	2703	3507	2014
16608	1.03	213.8	537.0	6.4	805	16612	0.00	2.53	0.00	0.000	6	0.000	0.046	2703	2098	2014
16933	1.03	213.8	515.0	6.7	821	16934	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2014
17243	1.03	213.8	493.7	6.8	836	17247	0.00	0.00	3.05	1.043	6	0.000	0.000	2703	2098	2006
17552	1.03	213.8	472.2	6.9	851	17553	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2006
17861	1.03	213.8	451.2	6.9	866	17862	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2006
18170	1.03	213.8	429.0	7.2	881	18172	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2007
18479	1.03	213.8	407.1	7.0	896	18481	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2007
18789	1.03	213.8	387.5	6.1	911	18790	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2007
19098	1.05	234.0	369.9	5.4	926	19119	0.00	0.00	17.60	1.062	6	0.000	0.000	2703	2098	1923
19427	1.09	264.1	352.5	5.1	942	19455	0.12	0.00	24.92	1.037	6	0.047	0.000	2752	2098	1801
19756	1.09	264.1	329.6	7.0	958	19757	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2098	1801
20066	1.09	264.1	306.8	7.8	973	20067	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2098	1801
20375	1.09	264.1	283.5	7.1	988	20376	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2098	1801
20684	1.09	264.1	260.5	7.8	1003	20685	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1801
20994	1.09	264.1	233.5	9.0	1018	20995	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2098	1802
21303	1.09	264.1	206.5	8.7	1033	21304	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1801
21612	1.09	264.1	180.2	8.4	1048	21613	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1801
21921	1.09	264.1	153.9	8.5	1063	21922	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1802
22231	1.09	264.1	127.5	8.6	1078	22232	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2096	1802
22540	1.09	264.1	101.9	8.1	1093	22541	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1802
22850	1.09	264.1	75.3	8.6	1108	22851	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2097	1802
23160	1.09	264.1	48.3	8.7	1123	23164	0.00	2.55	0.00	0.000	4	0.000	0.047	2752	3511	1802
23214	1.09	264.1	43.0	9.4	1125	23221	0.00	2.53	0.00	0.000	6	0.000	0.039	2752	2094	1802
23532	1.09	264.1	14.7	9.0	1141	23533	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2094	1802
23840	1.34	465.4	3.8	-0.0	1156	23949	0.15	0.00	105.88	0.776	6	0.053	0.000	2796	2088	979
24043	end climb: NO_VERTICAL_VELOCITY
state	24043	begin surface