Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 150 * 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 150 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 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 -78993.141 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 -78993.141

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 28 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 150 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 040426,6229.487,-1110.544,37,1.7,37,-10.8 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.147,0.148

_SM_DEPTHo 4.18 KALMAN_X 166670.8,-557.6,-540.9,-307147.8,8632.9

_SM_ANGLEo -48.5 KALMAN_Y 119436.5,1058.2,467.5,-16536.9,-5025.2

GPS2 041338,6229.547,-1110.553,10,1.6,15,-10.8 MHEAD_RNG_PITCHd_Wd 326.1,25196,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21935,50.62,0.756,0,0,601,558.06 ALTIM_BOTTOM_PING 675.9,72.2

SM_GC 4.26,11.90,0.00,0.00,0.028,0.000,0.000,31,1882,603,-11.25,-0.51,558.06 _24V_AH 23.3,36.099

IRIDIUM_FIX 6202.67,-1104.91,131207,080819 _10V_AH 10.1,16.727

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53690,1060

HUMID 2052 CFSIZE 260165632,249372672

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 131207,102908,6233.870,-1113.059,35,1.4,35,-10.8

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 64.58 SBE_CT 770 24 431.08

Roll_motor 117 75 205.57 SBE_O2 739 19 327.17

VBD_pump_during_apogee 441 1288 13245.59 WL_BB2F 670 105 1639.91

VBD_pump_during_surface 50 756 892.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 177.78 nil 0 0 0.00

Iridium_during_connect 75 160 280.85 nil 0 0 0.00

Iridium_during_xfer 231 223 1201.38

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.68

TT8 1870 19 374.03

LPSleep 17593 2 389.15

TT8_Active 635 19 127.05

TT8_Sampling 2273 39 913.74

TT8_CF8 587 45 271.57

TT8_Kalman 33 81 27.56

Analog_circuits 1768 12 214.29

GPS_charging 0 0 0.00

Compass 2237 8 180.82

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 34 1882 1115

46 -0.95 -146.6 4.2 -0.0 1 191 11.18 2.58 -127.53 0.000 4 0.109 0.075 2285 500 3476

308 -0.95 -146.6 17.9 -6.7 13 313 0.00 2.50 0.00 0.000 6 0.000 0.040 2285 1906 3476

635 -0.95 -146.6 43.1 -8.3 29 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

944 -0.95 -146.6 69.1 -9.7 44 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

1254 -0.95 -146.6 95.0 -7.9 59 1255 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1911 3476

1563 -0.95 -146.6 117.5 -6.9 74 1564 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

1872 -0.95 -146.6 139.6 -7.7 89 1876 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3298 3476

1927 -0.95 -146.6 144.1 -8.0 91 1934 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1905 3477

2242 -0.95 -146.6 169.9 -8.3 107 2244 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3476

2552 -0.95 -146.6 195.1 -8.0 122 2556 0.00 2.53 0.00 0.000 4 0.000 0.046 2285 3308 3476

2616 -0.95 -146.6 200.2 -8.4 125 2620 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1898 3476

2942 -0.95 -146.6 226.8 -8.5 141 2943 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

3251 -0.95 -146.6 252.7 -8.3 156 3255 0.00 2.53 0.00 0.000 4 0.000 0.047 2285 3302 3477

3300 -0.95 -146.6 257.0 -8.6 158 3305 0.00 2.53 0.00 0.000 6 0.000 0.042 2285 1905 3476

3622 -0.95 -146.6 282.2 -7.7 174 3623 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3476

3931 -0.95 -146.6 305.4 -7.2 189 3934 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3298 3476

4013 -0.95 -146.6 311.8 -7.2 192 4020 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1902 3476

4329 -0.95 -146.6 335.3 -7.5 208 4330 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

4638 -0.95 -146.6 358.9 -7.4 223 4639 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

4947 -0.95 -146.6 382.1 -7.1 238 4951 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3305 3476

5001 -0.95 -146.6 386.1 -7.6 240 5009 0.00 2.55 0.00 0.000 6 0.000 0.044 2285 1901 3475

5317 -0.95 -146.6 406.6 -6.4 256 5318 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

5627 -0.95 -146.6 424.7 -5.8 271 5628 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

5936 -0.95 -146.6 443.1 -6.2 286 5937 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

6245 -0.95 -146.6 462.5 -6.4 301 6249 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3300 3476

6316 -0.95 -146.6 467.7 -7.8 304 6320 0.00 2.55 0.00 0.000 6 0.000 0.046 2285 1897 3476

6637 -0.95 -146.6 490.2 -6.8 320 6642 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3299 3475

6692 -0.95 -146.6 494.0 -7.3 322 6699 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1906 3475

7007 -0.95 -146.6 515.4 -7.1 338 7008 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

7317 -0.95 -146.6 536.3 -6.6 353 7318 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

7626 -0.95 -146.6 556.0 -6.5 368 7627 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

7936 -0.95 -146.6 576.1 -6.7 383 7940 0.00 2.55 0.00 0.000 4 0.000 0.053 2285 3304 3474

8030 -0.95 -146.6 582.7 -7.3 387 8034 0.00 2.55 0.00 0.000 6 0.000 0.048 2285 1907 3474

8350 -0.95 -146.6 606.0 -7.2 403 8355 0.00 2.55 0.00 0.000 4 0.000 0.055 2285 3303 3474

8434 -0.95 -146.6 612.0 -7.1 407 8439 0.00 2.55 0.00 0.000 6 0.000 0.049 2285 1895 3474

8760 -0.95 -146.6 633.7 -6.9 423 8761 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1896 3474

9070 -0.95 -146.6 651.8 -5.5 438 9074 0.00 2.58 0.00 0.000 4 0.000 0.058 2285 3297 3474

9204 -0.95 -146.6 659.5 -5.6 444 9209 0.00 2.53 0.00 0.000 6 0.000 0.050 2285 1901 3474

9526 -0.95 -146.6 679.8 -6.5 460 9527 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

9834 -0.95 -146.6 701.5 -7.0 475 9838 0.00 2.58 0.00 0.000 4 0.000 0.059 2285 3303 3474

9978 -0.95 -146.6 711.9 -6.9 481 9985 0.00 2.58 0.00 0.000 6 0.000 0.054 2285 1899 3473

10294 -0.95 -146.6 732.3 -6.7 497 10298 0.00 2.58 0.00 0.000 4 0.000 0.062 2285 3295 3473

10376 end dive: BOTTOM_OBSTACLE_DETECTED

state 10376 begin apogee

10383 -0.36 0.0 738.3 7.1 501 10510 0.60 0.00 123.65 1.289 6 0.074 0.000 2415 2102 2878

10511 end apogee: CONTROL_FINISHED_OK

state 10511 begin climb

10512 0.95 146.6 742.9 0.0 507 10643 1.27 2.70 122.62 1.246 4 0.051 0.065 2701 3491 2280

10762 1.02 201.9 736.0 4.4 519 10815 0.00 2.55 46.75 1.239 6 0.000 0.052 2701 2100 2054

11124 1.02 201.9 712.2 7.0 537 11128 0.00 2.67 0.00 0.000 4 0.000 0.075 2701 687 2053

11200 1.02 201.9 705.9 8.1 540 11208 0.00 2.55 0.00 0.000 6 0.000 0.051 2701 2084 2053

11516 1.02 201.9 683.3 6.5 556 11517 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2084 2052

11826 1.02 201.9 665.3 6.1 571 11827 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2085 2052

12135 1.02 201.9 646.4 6.2 586 12136 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2085 2051

12444 1.02 201.9 626.2 6.7 601 12448 0.00 2.60 0.00 0.000 4 0.000 0.071 2701 687 2050

12498 1.02 201.9 622.3 7.0 603 12505 0.00 2.53 0.00 0.000 6 0.000 0.048 2701 2104 2050

12813 1.02 201.9 602.2 6.5 619 12814 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2049

13123 1.02 201.9 582.3 6.0 634 13124 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2105 2050

13432 1.03 210.4 564.4 5.7 649 13441 0.00 0.00 7.30 1.208 6 0.000 0.000 2701 2105 2019

13741 1.03 210.4 544.3 6.6 664 13745 0.00 2.60 0.00 0.000 4 0.000 0.066 2701 690 2020

13829 1.03 210.4 538.0 7.3 668 13834 0.00 2.53 0.00 0.000 6 0.000 0.044 2701 2102 2020

14156 1.03 210.4 516.0 6.3 684 14157 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2102 2020

14465 1.03 210.4 496.7 6.8 699 14466 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2103 2020

14774 1.03 210.4 476.6 6.3 714 14778 0.00 2.62 0.00 0.000 4 0.000 0.065 2701 689 2021

14835 1.03 210.4 472.5 6.4 717 14839 0.00 2.50 0.00 0.000 6 0.000 0.043 2701 2103 2021

15160 1.03 210.4 450.8 6.6 733 15161 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2021

15469 1.03 210.4 430.8 6.5 748 15470 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2021

15779 1.03 210.4 410.7 6.7 763 15783 0.00 2.53 0.00 0.000 4 0.000 0.054 2701 3504 2021

15862 1.03 210.4 404.5 7.7 767 15866 0.00 2.53 0.00 0.000 6 0.000 0.045 2701 2091 2022

16187 1.03 210.4 380.2 7.6 783 16188 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2091 2021

16496 1.03 210.4 358.5 6.6 798 16497 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2091 2022

16806 1.04 220.1 340.3 5.7 813 16820 0.00 2.62 9.65 1.055 4 0.000 0.066 2701 694 1980

16870 1.06 235.4 336.5 5.5 815 16889 0.10 2.47 13.02 1.042 6 0.051 0.040 2746 2104 1918

17196 1.06 235.4 312.0 7.8 831 17197 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1918

17505 1.06 235.4 286.8 8.6 846 17507 0.12 0.00 0.00 0.000 6 0.084 0.000 2721 2107 1918

17814 1.06 235.4 261.5 8.0 861 17816 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2106 1918

18123 1.06 235.4 237.5 7.9 876 18125 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1918

18433 1.06 235.4 213.9 7.6 891 18434 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2107 1919

18742 1.06 235.4 189.8 7.7 906 18747 0.00 2.60 0.00 0.000 4 0.000 0.061 2721 689 1919

18808 1.06 235.4 184.3 7.6 909 18813 0.00 2.50 0.00 0.000 6 0.000 0.039 2721 2099 1918

19135 1.06 235.4 159.7 7.4 925 19136 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2102 1919

19445 1.06 235.4 137.2 7.0 940 19446 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2102 1919

19754 1.06 235.4 114.9 7.4 955 19755 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2102 1920

20063 1.06 235.4 92.7 6.9 970 20067 0.00 2.58 0.00 0.000 4 0.000 0.060 2721 693 1919

20117 1.06 235.4 88.4 7.5 972 20124 0.00 2.50 0.00 0.000 6 0.000 0.039 2721 2106 1920

20433 1.06 235.4 64.7 7.7 988 20434 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2106 1920

20742 1.06 235.4 43.4 6.9 1003 20743 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2106 1920

21052 1.06 236.6 21.0 6.0 1018 21053 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2106 1920

21361 1.08 255.0 4.5 5.5 1033 21382 0.00 2.70 16.42 0.838 4 0.000 0.061 2721 691 1838

21572 1.33 459.2 3.7 -0.1 1042 21681 0.28 2.47 101.75 0.762 6 0.038 0.040 2802 2106 1005

21932 end climb: NO_VERTICAL_VELOCITY

state 21932 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	150	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	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	-78993.141	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	040426,6229.487,-1110.544,37,1.7,37,-10.8	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.147,0.148
_SM_DEPTHo	4.18	KALMAN_X	166670.8,-557.6,-540.9,-307147.8,8632.9
_SM_ANGLEo	-48.5	KALMAN_Y	119436.5,1058.2,467.5,-16536.9,-5025.2
GPS2	041338,6229.547,-1110.553,10,1.6,15,-10.8	MHEAD_RNG_PITCHd_Wd	326.1,25196,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21935,50.62,0.756,0,0,601,558.06	ALTIM_BOTTOM_PING	675.9,72.2
SM_GC	4.26,11.90,0.00,0.00,0.028,0.000,0.000,31,1882,603,-11.25,-0.51,558.06	_24V_AH	23.3,36.099
IRIDIUM_FIX	6202.67,-1104.91,131207,080819	_10V_AH	10.1,16.727
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53690,1060
HUMID	2052	CFSIZE	260165632,249372672
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	131207,102908,6233.870,-1113.059,35,1.4,35,-10.8
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	64.58	SBE_CT	770	24	431.08
Roll_motor	117	75	205.57	SBE_O2	739	19	327.17
VBD_pump_during_apogee	441	1288	13245.59	WL_BB2F	670	105	1639.91
VBD_pump_during_surface	50	756	892.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	177.78	nil	0	0	0.00
Iridium_during_connect	75	160	280.85	nil	0	0	0.00
Iridium_during_xfer	231	223	1201.38
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.68
TT8	1870	19	374.03
LPSleep	17593	2	389.15
TT8_Active	635	19	127.05
TT8_Sampling	2273	39	913.74
TT8_CF8	587	45	271.57
TT8_Kalman	33	81	27.56
Analog_circuits	1768	12	214.29
GPS_charging	0	0	0.00
Compass	2237	8	180.82
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	34	1882	1115
46	-0.95	-146.6	4.2	-0.0	1	191	11.18	2.58	-127.53	0.000	4	0.109	0.075	2285	500	3476
308	-0.95	-146.6	17.9	-6.7	13	313	0.00	2.50	0.00	0.000	6	0.000	0.040	2285	1906	3476
635	-0.95	-146.6	43.1	-8.3	29	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
944	-0.95	-146.6	69.1	-9.7	44	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
1254	-0.95	-146.6	95.0	-7.9	59	1255	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1911	3476
1563	-0.95	-146.6	117.5	-6.9	74	1564	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
1872	-0.95	-146.6	139.6	-7.7	89	1876	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3298	3476
1927	-0.95	-146.6	144.1	-8.0	91	1934	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1905	3477
2242	-0.95	-146.6	169.9	-8.3	107	2244	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3476
2552	-0.95	-146.6	195.1	-8.0	122	2556	0.00	2.53	0.00	0.000	4	0.000	0.046	2285	3308	3476
2616	-0.95	-146.6	200.2	-8.4	125	2620	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1898	3476
2942	-0.95	-146.6	226.8	-8.5	141	2943	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
3251	-0.95	-146.6	252.7	-8.3	156	3255	0.00	2.53	0.00	0.000	4	0.000	0.047	2285	3302	3477
3300	-0.95	-146.6	257.0	-8.6	158	3305	0.00	2.53	0.00	0.000	6	0.000	0.042	2285	1905	3476
3622	-0.95	-146.6	282.2	-7.7	174	3623	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3476
3931	-0.95	-146.6	305.4	-7.2	189	3934	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3298	3476
4013	-0.95	-146.6	311.8	-7.2	192	4020	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1902	3476
4329	-0.95	-146.6	335.3	-7.5	208	4330	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
4638	-0.95	-146.6	358.9	-7.4	223	4639	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
4947	-0.95	-146.6	382.1	-7.1	238	4951	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3305	3476
5001	-0.95	-146.6	386.1	-7.6	240	5009	0.00	2.55	0.00	0.000	6	0.000	0.044	2285	1901	3475
5317	-0.95	-146.6	406.6	-6.4	256	5318	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
5627	-0.95	-146.6	424.7	-5.8	271	5628	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
5936	-0.95	-146.6	443.1	-6.2	286	5937	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
6245	-0.95	-146.6	462.5	-6.4	301	6249	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3300	3476
6316	-0.95	-146.6	467.7	-7.8	304	6320	0.00	2.55	0.00	0.000	6	0.000	0.046	2285	1897	3476
6637	-0.95	-146.6	490.2	-6.8	320	6642	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3299	3475
6692	-0.95	-146.6	494.0	-7.3	322	6699	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1906	3475
7007	-0.95	-146.6	515.4	-7.1	338	7008	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
7317	-0.95	-146.6	536.3	-6.6	353	7318	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
7626	-0.95	-146.6	556.0	-6.5	368	7627	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
7936	-0.95	-146.6	576.1	-6.7	383	7940	0.00	2.55	0.00	0.000	4	0.000	0.053	2285	3304	3474
8030	-0.95	-146.6	582.7	-7.3	387	8034	0.00	2.55	0.00	0.000	6	0.000	0.048	2285	1907	3474
8350	-0.95	-146.6	606.0	-7.2	403	8355	0.00	2.55	0.00	0.000	4	0.000	0.055	2285	3303	3474
8434	-0.95	-146.6	612.0	-7.1	407	8439	0.00	2.55	0.00	0.000	6	0.000	0.049	2285	1895	3474
8760	-0.95	-146.6	633.7	-6.9	423	8761	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1896	3474
9070	-0.95	-146.6	651.8	-5.5	438	9074	0.00	2.58	0.00	0.000	4	0.000	0.058	2285	3297	3474
9204	-0.95	-146.6	659.5	-5.6	444	9209	0.00	2.53	0.00	0.000	6	0.000	0.050	2285	1901	3474
9526	-0.95	-146.6	679.8	-6.5	460	9527	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
9834	-0.95	-146.6	701.5	-7.0	475	9838	0.00	2.58	0.00	0.000	4	0.000	0.059	2285	3303	3474
9978	-0.95	-146.6	711.9	-6.9	481	9985	0.00	2.58	0.00	0.000	6	0.000	0.054	2285	1899	3473
10294	-0.95	-146.6	732.3	-6.7	497	10298	0.00	2.58	0.00	0.000	4	0.000	0.062	2285	3295	3473
10376	end dive: BOTTOM_OBSTACLE_DETECTED
state	10376	begin apogee
10383	-0.36	0.0	738.3	7.1	501	10510	0.60	0.00	123.65	1.289	6	0.074	0.000	2415	2102	2878
10511	end apogee: CONTROL_FINISHED_OK
state	10511	begin climb
10512	0.95	146.6	742.9	0.0	507	10643	1.27	2.70	122.62	1.246	4	0.051	0.065	2701	3491	2280
10762	1.02	201.9	736.0	4.4	519	10815	0.00	2.55	46.75	1.239	6	0.000	0.052	2701	2100	2054
11124	1.02	201.9	712.2	7.0	537	11128	0.00	2.67	0.00	0.000	4	0.000	0.075	2701	687	2053
11200	1.02	201.9	705.9	8.1	540	11208	0.00	2.55	0.00	0.000	6	0.000	0.051	2701	2084	2053
11516	1.02	201.9	683.3	6.5	556	11517	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2084	2052
11826	1.02	201.9	665.3	6.1	571	11827	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2085	2052
12135	1.02	201.9	646.4	6.2	586	12136	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2085	2051
12444	1.02	201.9	626.2	6.7	601	12448	0.00	2.60	0.00	0.000	4	0.000	0.071	2701	687	2050
12498	1.02	201.9	622.3	7.0	603	12505	0.00	2.53	0.00	0.000	6	0.000	0.048	2701	2104	2050
12813	1.02	201.9	602.2	6.5	619	12814	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2049
13123	1.02	201.9	582.3	6.0	634	13124	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2105	2050
13432	1.03	210.4	564.4	5.7	649	13441	0.00	0.00	7.30	1.208	6	0.000	0.000	2701	2105	2019
13741	1.03	210.4	544.3	6.6	664	13745	0.00	2.60	0.00	0.000	4	0.000	0.066	2701	690	2020
13829	1.03	210.4	538.0	7.3	668	13834	0.00	2.53	0.00	0.000	6	0.000	0.044	2701	2102	2020
14156	1.03	210.4	516.0	6.3	684	14157	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2102	2020
14465	1.03	210.4	496.7	6.8	699	14466	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2103	2020
14774	1.03	210.4	476.6	6.3	714	14778	0.00	2.62	0.00	0.000	4	0.000	0.065	2701	689	2021
14835	1.03	210.4	472.5	6.4	717	14839	0.00	2.50	0.00	0.000	6	0.000	0.043	2701	2103	2021
15160	1.03	210.4	450.8	6.6	733	15161	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2021
15469	1.03	210.4	430.8	6.5	748	15470	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2021
15779	1.03	210.4	410.7	6.7	763	15783	0.00	2.53	0.00	0.000	4	0.000	0.054	2701	3504	2021
15862	1.03	210.4	404.5	7.7	767	15866	0.00	2.53	0.00	0.000	6	0.000	0.045	2701	2091	2022
16187	1.03	210.4	380.2	7.6	783	16188	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2091	2021
16496	1.03	210.4	358.5	6.6	798	16497	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2091	2022
16806	1.04	220.1	340.3	5.7	813	16820	0.00	2.62	9.65	1.055	4	0.000	0.066	2701	694	1980
16870	1.06	235.4	336.5	5.5	815	16889	0.10	2.47	13.02	1.042	6	0.051	0.040	2746	2104	1918
17196	1.06	235.4	312.0	7.8	831	17197	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1918
17505	1.06	235.4	286.8	8.6	846	17507	0.12	0.00	0.00	0.000	6	0.084	0.000	2721	2107	1918
17814	1.06	235.4	261.5	8.0	861	17816	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2106	1918
18123	1.06	235.4	237.5	7.9	876	18125	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1918
18433	1.06	235.4	213.9	7.6	891	18434	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2107	1919
18742	1.06	235.4	189.8	7.7	906	18747	0.00	2.60	0.00	0.000	4	0.000	0.061	2721	689	1919
18808	1.06	235.4	184.3	7.6	909	18813	0.00	2.50	0.00	0.000	6	0.000	0.039	2721	2099	1918
19135	1.06	235.4	159.7	7.4	925	19136	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2102	1919
19445	1.06	235.4	137.2	7.0	940	19446	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2102	1919
19754	1.06	235.4	114.9	7.4	955	19755	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2102	1920
20063	1.06	235.4	92.7	6.9	970	20067	0.00	2.58	0.00	0.000	4	0.000	0.060	2721	693	1919
20117	1.06	235.4	88.4	7.5	972	20124	0.00	2.50	0.00	0.000	6	0.000	0.039	2721	2106	1920
20433	1.06	235.4	64.7	7.7	988	20434	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2106	1920
20742	1.06	235.4	43.4	6.9	1003	20743	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2106	1920
21052	1.06	236.6	21.0	6.0	1018	21053	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2106	1920
21361	1.08	255.0	4.5	5.5	1033	21382	0.00	2.70	16.42	0.838	4	0.000	0.061	2721	691	1838
21572	1.33	459.2	3.7	-0.1	1042	21681	0.28	2.47	101.75	0.762	6	0.038	0.040	2802	2106	1005
21932	end climb: NO_VERTICAL_VELOCITY
state	21932	begin surface