Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 158 * 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 158 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 37 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 -79128.992 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 -79128.992

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 37 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 158 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 053332,6224.018,-1132.395,37,1.7,37,-10.9 TGT_NAME FW

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.199,0.064

_SM_DEPTHo 4.37 KALMAN_X 197667.1,230.3,-7394.5,-351587.4,38582.5

_SM_ANGLEo -57.7 KALMAN_Y 117206.4,130.7,-899.8,-22482.2,-3087.4

GPS2 054633,6223.871,-1132.645,11,1.4,11,-10.9 MHEAD_RNG_PITCHd_Wd 298.7,12977,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 25730,100.30,0.723,0,0,602,558.06 ALTIM_BOTTOM_PING 800.8,69.8

SM_GC 4.45,11.88,0.00,0.00,0.028,0.000,0.000,28,1878,603,-11.27,-0.59,558.06 _24V_AH 23.3,37.556

IRIDIUM_FIX 6158.08,-1126.79,151207,090957 _10V_AH 10.1,17.513

TT8_MAMPS 0.026845 DATA_FILE_SIZE 63168,1243

HUMID 2029 CFSIZE 260165632,248827904

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 18.80 GPS 151207,130608,6224.065,-1144.117,35,1.4,35,-11.1

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 104 61.07 SBE_CT 923 24 516.55

Roll_motor 72 75 128.14 SBE_O2 841 19 372.47

VBD_pump_during_apogee 399 1375 12799.45 WL_BB2F 732 105 1790.91

VBD_pump_during_surface 100 722 1688.51 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 112 103 270.42 nil 0 0 0.00

Iridium_during_connect 111 160 415.66 nil 0 0 0.00

Iridium_during_xfer 308 223 1601.97

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.27

TT8 2124 19 424.84

LPSleep 21097 2 466.66

TT8_Active 662 19 132.40

TT8_Sampling 2387 39 959.73

TT8_CF8 761 45 352.04

TT8_Kalman 33 81 27.58

Analog_circuits 1814 12 219.95

GPS_charging 0 0 0.00

Compass 2355 8 190.31

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

21 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.80 0.000 2 0.000 0.000 29 1881 1115

47 -0.95 -146.6 4.3 -0.0 1 212 11.10 2.60 -142.62 0.000 4 0.104 0.076 2288 495 3476

394 -0.95 -146.6 19.1 -7.3 17 398 0.00 2.47 0.00 0.000 6 0.000 0.041 2288 1897 3476

720 -0.95 -146.6 40.7 -7.0 33 724 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3297 3476

826 -0.95 -146.6 48.7 -7.0 38 830 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1906 3476

1151 -0.95 -146.6 73.0 -7.7 54 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

1461 -0.95 -146.6 96.0 -7.4 69 1462 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3475

1770 -0.95 -146.6 118.2 -7.3 84 1771 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

2079 -0.95 -146.6 140.2 -7.0 99 2080 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3475

2388 -0.95 -146.6 163.1 -7.5 114 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

2697 -0.95 -146.6 185.8 -7.3 129 2698 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

3006 -0.95 -146.6 209.2 -7.6 144 3007 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

3316 -0.95 -146.6 233.1 -7.9 159 3320 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3302 3476

3381 -0.95 -146.6 238.7 -8.7 162 3385 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1898 3476

3708 -0.95 -146.6 265.0 -8.0 178 3709 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

4017 -0.95 -146.6 289.5 -7.8 193 4022 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3299 3476

4101 -0.95 -146.6 296.3 -8.4 197 4105 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1896 3476

4426 -0.95 -146.6 320.1 -7.1 213 4427 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1896 3476

4735 -0.95 -146.6 342.1 -7.1 228 4740 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3297 3476

4812 -0.95 -146.6 347.7 -7.2 231 4819 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1905 3476

5128 -0.95 -146.6 369.8 -7.3 247 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3476

5437 -0.95 -146.6 391.1 -7.2 262 5442 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3298 3476

5531 -0.95 -146.6 398.3 -7.8 266 5536 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1907 3476

5853 -0.95 -146.6 421.5 -6.8 282 5854 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3476

6162 -0.95 -146.6 442.1 -6.5 297 6163 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1907 3476

6471 -0.95 -146.6 463.7 -7.1 312 6472 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3476

6781 -0.95 -146.6 485.7 -6.7 327 6785 0.00 2.53 0.00 0.000 4 0.000 0.051 2288 3297 3475

6869 -0.95 -146.6 492.2 -7.9 331 6873 0.00 2.55 0.00 0.000 6 0.000 0.047 2288 1901 3474

7195 -0.95 -146.6 515.3 -7.0 347 7197 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

7505 -0.95 -146.6 538.8 -7.2 362 7506 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

7814 -0.95 -146.6 560.4 -6.7 377 7815 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

8123 -0.95 -146.6 581.2 -6.4 392 8128 0.00 2.55 0.00 0.000 4 0.000 0.054 2288 3299 3475

8201 -0.95 -146.6 585.9 -6.0 395 8207 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1900 3474

8516 -0.95 -146.6 605.6 -6.4 411 8517 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

8826 -0.95 -146.6 624.9 -5.8 426 8831 0.00 2.55 0.00 0.000 4 0.000 0.056 2288 3304 3475

8903 -0.95 -146.6 629.5 -6.0 429 8907 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1900 3474

9219 -0.95 -146.6 649.2 -6.8 444 9220 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3475

9527 -0.95 -146.6 672.1 -7.5 459 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

9837 -0.95 -146.6 694.8 -7.5 474 9838 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

10146 -0.95 -146.6 717.4 -7.3 489 10147 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

10455 -0.95 -146.6 737.7 -6.3 504 10456 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

10765 -0.95 -146.6 753.6 -4.8 519 10766 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

11074 -0.95 -146.6 769.3 -5.1 534 11075 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

11384 -0.95 -146.6 785.2 -5.7 549 11385 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

11692 -0.95 -146.6 806.4 -6.7 564 11693 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3474

12001 -0.95 -146.6 827.4 -6.4 579 12006 0.00 2.58 0.00 0.000 4 0.000 0.061 2288 3298 3474

12103 -0.95 -146.6 833.0 -6.8 583 12109 0.00 2.58 0.00 0.000 6 0.000 0.058 2288 1899 3474

12417 -0.95 -146.6 851.7 -3.9 599 12419 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3474

12601 end dive: BOTTOM_OBSTACLE_DETECTED

state 12601 begin apogee

12606 -0.36 0.0 861.9 5.8 608 12735 0.60 0.00 125.15 1.376 6 0.074 0.000 2418 2090 2878

12735 end apogee: CONTROL_FINISHED_OK

state 12735 begin climb

12737 0.95 146.6 864.5 0.0 614 12866 1.27 0.00 124.60 1.327 6 0.059 0.000 2698 2090 2280

13175 0.95 152.0 842.6 5.8 636 13186 0.00 2.72 5.70 1.265 4 0.000 0.070 2698 3506 2257

13298 0.95 152.0 835.4 6.4 641 13304 0.00 2.62 0.00 0.000 6 0.000 0.061 2698 2102 2257

13613 0.95 152.0 817.5 6.1 657 13614 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2102 2256

13922 0.95 152.0 794.8 7.9 672 13923 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2102 2255

14231 0.95 152.0 771.6 6.8 687 14232 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2102 2254

14541 1.00 190.4 754.7 4.9 702 14582 0.00 2.70 32.20 1.349 4 0.000 0.061 2698 3501 2101

14660 1.00 190.4 746.9 7.7 707 14664 0.00 2.58 0.00 0.000 6 0.000 0.052 2698 2096 2100

14981 1.00 190.4 725.0 7.4 723 14982 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2100

15290 1.00 190.4 701.2 7.7 738 15291 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2100

15600 1.00 190.4 678.4 7.0 753 15601 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2100

15909 1.00 190.4 658.2 6.6 768 15910 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2100

16218 1.01 194.5 639.0 5.9 783 16225 0.00 0.00 4.65 1.203 6 0.000 0.000 2698 2097 2085

16528 1.01 195.0 621.2 6.0 798 16529 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2085

16836 1.01 195.0 601.7 6.7 813 16837 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2097 2086

17146 1.01 195.0 581.2 6.4 828 17147 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2096 2086

17455 1.01 197.2 562.4 5.9 843 17461 0.00 0.00 3.88 1.118 6 0.000 0.000 2698 2097 2074

17764 1.01 199.5 544.6 5.9 858 17769 0.00 0.00 3.28 1.084 6 0.000 0.000 2698 2097 2064

18074 1.03 211.0 526.7 5.7 873 18086 0.00 0.00 10.55 1.147 6 0.000 0.000 2698 2097 2017

18383 1.05 230.8 509.1 5.4 888 18408 0.12 2.72 17.52 1.127 4 0.051 0.067 2739 691 1935

18459 1.05 230.8 503.5 7.3 891 18463 0.00 2.53 0.00 0.000 6 0.000 0.041 2740 2106 1935

18774 1.05 230.8 481.8 6.7 906 18775 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2107 1935

19083 1.05 234.0 462.9 5.9 921 19089 0.00 0.00 3.92 1.055 6 0.000 0.000 2740 2109 1923

19392 1.05 234.0 444.5 6.0 936 19393 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2108 1922

19702 1.05 234.0 423.8 6.6 951 19703 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1923

20011 1.05 234.0 402.3 7.2 966 20012 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1924

20320 1.05 234.0 377.9 7.8 981 20321 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1924

20629 1.05 234.0 354.5 7.8 996 20630 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1924

20938 1.05 234.0 332.0 7.2 1011 20940 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1924

21248 1.05 234.0 309.0 7.4 1026 21249 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1924

21557 1.05 234.0 285.7 7.7 1041 21558 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1924

21866 1.05 234.0 262.2 7.4 1056 21867 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1924

22175 1.05 234.0 239.0 7.5 1071 22177 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1925

22485 1.05 234.0 215.1 8.2 1086 22486 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1924

22794 1.05 234.0 189.1 8.7 1101 22795 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2110 1924

23103 1.05 234.0 162.9 8.3 1116 23104 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2110 1925

23413 1.05 234.0 140.2 6.8 1131 23414 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1925

23722 1.05 234.0 120.1 6.4 1146 23723 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2111 1925

24031 1.05 234.0 100.0 6.4 1161 24035 0.00 2.62 0.00 0.000 4 0.000 0.061 2740 685 1924

24092 1.05 234.0 95.9 6.3 1164 24097 0.00 2.50 0.00 0.000 6 0.000 0.039 2740 2113 1924

24418 1.05 234.0 73.8 7.1 1180 24419 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2116 1925

24728 1.05 234.0 49.6 7.8 1195 24729 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2116 1924

25037 1.05 234.0 25.5 7.7 1210 25038 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2116 1924

25346 1.05 234.0 4.0 6.2 1225 25347 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2117 1925

25656 1.31 439.0 3.9 -0.1 1240 25727 0.15 0.00 67.78 0.765 2 0.048 0.000 2791 2118 1412

25727 end climb: NO_VERTICAL_VELOCITY

state 25727 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	158	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	37	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	-79128.992	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	053332,6224.018,-1132.395,37,1.7,37,-10.9	TGT_NAME	FW
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.199,0.064
_SM_DEPTHo	4.37	KALMAN_X	197667.1,230.3,-7394.5,-351587.4,38582.5
_SM_ANGLEo	-57.7	KALMAN_Y	117206.4,130.7,-899.8,-22482.2,-3087.4
GPS2	054633,6223.871,-1132.645,11,1.4,11,-10.9	MHEAD_RNG_PITCHd_Wd	298.7,12977,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	25730,100.30,0.723,0,0,602,558.06	ALTIM_BOTTOM_PING	800.8,69.8
SM_GC	4.45,11.88,0.00,0.00,0.028,0.000,0.000,28,1878,603,-11.27,-0.59,558.06	_24V_AH	23.3,37.556
IRIDIUM_FIX	6158.08,-1126.79,151207,090957	_10V_AH	10.1,17.513
TT8_MAMPS	0.026845	DATA_FILE_SIZE	63168,1243
HUMID	2029	CFSIZE	260165632,248827904
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	18.80	GPS	151207,130608,6224.065,-1144.117,35,1.4,35,-11.1
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	104	61.07	SBE_CT	923	24	516.55
Roll_motor	72	75	128.14	SBE_O2	841	19	372.47
VBD_pump_during_apogee	399	1375	12799.45	WL_BB2F	732	105	1790.91
VBD_pump_during_surface	100	722	1688.51	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	112	103	270.42	nil	0	0	0.00
Iridium_during_connect	111	160	415.66	nil	0	0	0.00
Iridium_during_xfer	308	223	1601.97
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.27
TT8	2124	19	424.84
LPSleep	21097	2	466.66
TT8_Active	662	19	132.40
TT8_Sampling	2387	39	959.73
TT8_CF8	761	45	352.04
TT8_Kalman	33	81	27.58
Analog_circuits	1814	12	219.95
GPS_charging	0	0	0.00
Compass	2355	8	190.31
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
21	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.80	0.000	2	0.000	0.000	29	1881	1115
47	-0.95	-146.6	4.3	-0.0	1	212	11.10	2.60	-142.62	0.000	4	0.104	0.076	2288	495	3476
394	-0.95	-146.6	19.1	-7.3	17	398	0.00	2.47	0.00	0.000	6	0.000	0.041	2288	1897	3476
720	-0.95	-146.6	40.7	-7.0	33	724	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3297	3476
826	-0.95	-146.6	48.7	-7.0	38	830	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1906	3476
1151	-0.95	-146.6	73.0	-7.7	54	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
1461	-0.95	-146.6	96.0	-7.4	69	1462	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3475
1770	-0.95	-146.6	118.2	-7.3	84	1771	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
2079	-0.95	-146.6	140.2	-7.0	99	2080	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3475
2388	-0.95	-146.6	163.1	-7.5	114	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
2697	-0.95	-146.6	185.8	-7.3	129	2698	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
3006	-0.95	-146.6	209.2	-7.6	144	3007	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
3316	-0.95	-146.6	233.1	-7.9	159	3320	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3302	3476
3381	-0.95	-146.6	238.7	-8.7	162	3385	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1898	3476
3708	-0.95	-146.6	265.0	-8.0	178	3709	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
4017	-0.95	-146.6	289.5	-7.8	193	4022	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3299	3476
4101	-0.95	-146.6	296.3	-8.4	197	4105	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1896	3476
4426	-0.95	-146.6	320.1	-7.1	213	4427	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1896	3476
4735	-0.95	-146.6	342.1	-7.1	228	4740	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3297	3476
4812	-0.95	-146.6	347.7	-7.2	231	4819	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1905	3476
5128	-0.95	-146.6	369.8	-7.3	247	5129	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3476
5437	-0.95	-146.6	391.1	-7.2	262	5442	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3298	3476
5531	-0.95	-146.6	398.3	-7.8	266	5536	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1907	3476
5853	-0.95	-146.6	421.5	-6.8	282	5854	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3476
6162	-0.95	-146.6	442.1	-6.5	297	6163	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1907	3476
6471	-0.95	-146.6	463.7	-7.1	312	6472	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3476
6781	-0.95	-146.6	485.7	-6.7	327	6785	0.00	2.53	0.00	0.000	4	0.000	0.051	2288	3297	3475
6869	-0.95	-146.6	492.2	-7.9	331	6873	0.00	2.55	0.00	0.000	6	0.000	0.047	2288	1901	3474
7195	-0.95	-146.6	515.3	-7.0	347	7197	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
7505	-0.95	-146.6	538.8	-7.2	362	7506	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
7814	-0.95	-146.6	560.4	-6.7	377	7815	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
8123	-0.95	-146.6	581.2	-6.4	392	8128	0.00	2.55	0.00	0.000	4	0.000	0.054	2288	3299	3475
8201	-0.95	-146.6	585.9	-6.0	395	8207	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1900	3474
8516	-0.95	-146.6	605.6	-6.4	411	8517	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
8826	-0.95	-146.6	624.9	-5.8	426	8831	0.00	2.55	0.00	0.000	4	0.000	0.056	2288	3304	3475
8903	-0.95	-146.6	629.5	-6.0	429	8907	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1900	3474
9219	-0.95	-146.6	649.2	-6.8	444	9220	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3475
9527	-0.95	-146.6	672.1	-7.5	459	9528	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
9837	-0.95	-146.6	694.8	-7.5	474	9838	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
10146	-0.95	-146.6	717.4	-7.3	489	10147	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
10455	-0.95	-146.6	737.7	-6.3	504	10456	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
10765	-0.95	-146.6	753.6	-4.8	519	10766	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
11074	-0.95	-146.6	769.3	-5.1	534	11075	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
11384	-0.95	-146.6	785.2	-5.7	549	11385	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
11692	-0.95	-146.6	806.4	-6.7	564	11693	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3474
12001	-0.95	-146.6	827.4	-6.4	579	12006	0.00	2.58	0.00	0.000	4	0.000	0.061	2288	3298	3474
12103	-0.95	-146.6	833.0	-6.8	583	12109	0.00	2.58	0.00	0.000	6	0.000	0.058	2288	1899	3474
12417	-0.95	-146.6	851.7	-3.9	599	12419	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3474
12601	end dive: BOTTOM_OBSTACLE_DETECTED
state	12601	begin apogee
12606	-0.36	0.0	861.9	5.8	608	12735	0.60	0.00	125.15	1.376	6	0.074	0.000	2418	2090	2878
12735	end apogee: CONTROL_FINISHED_OK
state	12735	begin climb
12737	0.95	146.6	864.5	0.0	614	12866	1.27	0.00	124.60	1.327	6	0.059	0.000	2698	2090	2280
13175	0.95	152.0	842.6	5.8	636	13186	0.00	2.72	5.70	1.265	4	0.000	0.070	2698	3506	2257
13298	0.95	152.0	835.4	6.4	641	13304	0.00	2.62	0.00	0.000	6	0.000	0.061	2698	2102	2257
13613	0.95	152.0	817.5	6.1	657	13614	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2102	2256
13922	0.95	152.0	794.8	7.9	672	13923	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2102	2255
14231	0.95	152.0	771.6	6.8	687	14232	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2102	2254
14541	1.00	190.4	754.7	4.9	702	14582	0.00	2.70	32.20	1.349	4	0.000	0.061	2698	3501	2101
14660	1.00	190.4	746.9	7.7	707	14664	0.00	2.58	0.00	0.000	6	0.000	0.052	2698	2096	2100
14981	1.00	190.4	725.0	7.4	723	14982	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2100
15290	1.00	190.4	701.2	7.7	738	15291	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2100
15600	1.00	190.4	678.4	7.0	753	15601	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2100
15909	1.00	190.4	658.2	6.6	768	15910	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2100
16218	1.01	194.5	639.0	5.9	783	16225	0.00	0.00	4.65	1.203	6	0.000	0.000	2698	2097	2085
16528	1.01	195.0	621.2	6.0	798	16529	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2085
16836	1.01	195.0	601.7	6.7	813	16837	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2097	2086
17146	1.01	195.0	581.2	6.4	828	17147	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2096	2086
17455	1.01	197.2	562.4	5.9	843	17461	0.00	0.00	3.88	1.118	6	0.000	0.000	2698	2097	2074
17764	1.01	199.5	544.6	5.9	858	17769	0.00	0.00	3.28	1.084	6	0.000	0.000	2698	2097	2064
18074	1.03	211.0	526.7	5.7	873	18086	0.00	0.00	10.55	1.147	6	0.000	0.000	2698	2097	2017
18383	1.05	230.8	509.1	5.4	888	18408	0.12	2.72	17.52	1.127	4	0.051	0.067	2739	691	1935
18459	1.05	230.8	503.5	7.3	891	18463	0.00	2.53	0.00	0.000	6	0.000	0.041	2740	2106	1935
18774	1.05	230.8	481.8	6.7	906	18775	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2107	1935
19083	1.05	234.0	462.9	5.9	921	19089	0.00	0.00	3.92	1.055	6	0.000	0.000	2740	2109	1923
19392	1.05	234.0	444.5	6.0	936	19393	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2108	1922
19702	1.05	234.0	423.8	6.6	951	19703	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1923
20011	1.05	234.0	402.3	7.2	966	20012	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1924
20320	1.05	234.0	377.9	7.8	981	20321	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1924
20629	1.05	234.0	354.5	7.8	996	20630	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1924
20938	1.05	234.0	332.0	7.2	1011	20940	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1924
21248	1.05	234.0	309.0	7.4	1026	21249	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1924
21557	1.05	234.0	285.7	7.7	1041	21558	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1924
21866	1.05	234.0	262.2	7.4	1056	21867	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1924
22175	1.05	234.0	239.0	7.5	1071	22177	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1925
22485	1.05	234.0	215.1	8.2	1086	22486	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1924
22794	1.05	234.0	189.1	8.7	1101	22795	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2110	1924
23103	1.05	234.0	162.9	8.3	1116	23104	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2110	1925
23413	1.05	234.0	140.2	6.8	1131	23414	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1925
23722	1.05	234.0	120.1	6.4	1146	23723	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2111	1925
24031	1.05	234.0	100.0	6.4	1161	24035	0.00	2.62	0.00	0.000	4	0.000	0.061	2740	685	1924
24092	1.05	234.0	95.9	6.3	1164	24097	0.00	2.50	0.00	0.000	6	0.000	0.039	2740	2113	1924
24418	1.05	234.0	73.8	7.1	1180	24419	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2116	1925
24728	1.05	234.0	49.6	7.8	1195	24729	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2116	1924
25037	1.05	234.0	25.5	7.7	1210	25038	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2116	1924
25346	1.05	234.0	4.0	6.2	1225	25347	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2117	1925
25656	1.31	439.0	3.9	-0.1	1240	25727	0.15	0.00	67.78	0.765	2	0.048	0.000	2791	2118	1412
25727	end climb: NO_VERTICAL_VELOCITY
state	25727	begin surface