Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 162 * 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 162 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -79205.891 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 -79205.891

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 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 36 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 162 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 101956,6227.692,-1140.028,40,1.5,40,-11.0 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.137,0.157

_SM_DEPTHo 4.32 KALMAN_X 193302.1,-331.0,-645.6,-359897.5,6077.2

_SM_ANGLEo -48.9 KALMAN_Y 103650.1,-931.5,-75.7,-1608.7,-6183.8

GPS2 102603,6227.682,-1139.952,12,1.7,12,-11.0 MHEAD_RNG_PITCHd_Wd 329.8,40991,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 25106,50.38,0.745,0,0,602,558.06 ALTIM_BOTTOM_PING 776.0,42.4

SM_GC 4.43,11.90,0.00,0.00,0.029,0.000,0.000,34,1884,603,-11.26,-0.45,558.06 _24V_AH 23.3,38.280

IRIDIUM_FIX 6202.67,-1146.86,161207,070706 _10V_AH 10.1,17.940

TT8_MAMPS 0.026078 DATA_FILE_SIZE 60076,1216

HUMID 2033 CFSIZE 260165632,248537088

INTERNAL_PRESSURE 9.14098 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,13,0,0

TCM_TEMP 16.70 GPS 161207,173437,6229.000,-1140.506,48,1.4,48,-11.1

XPDR_PINGS 13

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 99 58.72 SBE_CT 904 24 505.76

Roll_motor 87 77 158.30 SBE_O2 822 19 364.00

VBD_pump_during_apogee 454 1343 14209.83 WL_BB2F 715 105 1749.25

VBD_pump_during_surface 50 744 874.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 35 103 84.00 nil 0 0 0.00

Iridium_during_connect 36 160 135.76 nil 0 0 0.00

Iridium_during_xfer 187 223 971.71

Transponder_ping 10 420 97.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.91

TT8 2095 19 419.00

LPSleep 20346 2 450.04

TT8_Active 683 19 136.72

TT8_Sampling 2338 39 939.87

TT8_CF8 479 45 221.63

TT8_Kalman 33 81 27.57

Analog_circuits 1822 12 220.83

GPS_charging 0 0 0.00

Compass 2316 8 187.19

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.95 -146.6 0.0 0.0 0 45 0.00 0.00 -22.05 0.000 2 0.000 0.000 26 1877 1125

48 -0.95 -146.6 4.4 -0.0 1 208 11.02 2.55 -141.55 0.000 4 0.100 0.070 2289 497 3475

460 -0.95 -146.6 29.8 -10.8 19 465 0.00 2.50 0.00 0.000 6 0.000 0.040 2289 1898 3476

788 -0.95 -146.6 57.4 -12.0 35 789 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3475

1097 -0.95 -146.6 79.9 -6.5 50 1101 0.00 2.60 0.00 0.000 4 0.000 0.065 2289 503 3476

1145 -0.95 -146.6 83.4 -7.4 52 1149 0.00 2.47 0.00 0.000 6 0.000 0.040 2289 1896 3476

1467 -0.95 -146.6 107.3 -8.2 68 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

1777 -0.95 -146.6 130.3 -6.9 83 1778 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

2086 -0.95 -146.6 151.3 -6.9 98 2087 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

2394 -0.95 -146.6 173.3 -7.3 113 2395 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

2703 -0.95 -146.6 195.2 -6.7 128 2704 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

3012 -0.95 -146.6 215.9 -6.7 143 3014 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

3322 -0.95 -146.6 237.9 -7.1 158 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

3631 -0.95 -146.6 261.1 -7.8 173 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

3940 -0.95 -146.6 285.5 -7.9 188 3941 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

4250 -0.95 -146.6 307.4 -6.3 203 4251 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

4560 -0.95 -146.6 325.9 -5.8 218 4564 0.00 2.50 0.00 0.000 4 0.000 0.049 2289 3294 3475

4620 -0.95 -146.6 329.6 -6.1 220 4627 0.00 2.53 0.00 0.000 6 0.000 0.045 2289 1908 3476

4936 -0.95 -146.6 347.1 -5.6 236 4937 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1908 3476

5246 -0.95 -146.6 364.4 -5.8 251 5250 0.00 2.53 0.00 0.000 4 0.000 0.051 2289 3303 3476

5300 -0.95 -146.6 367.8 -6.2 253 5307 0.00 2.55 0.00 0.000 6 0.000 0.046 2289 1902 3476

5616 -0.95 -146.6 386.8 -6.0 269 5617 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

5925 -0.95 -146.6 405.8 -5.9 284 5926 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1903 3475

6234 -0.95 -146.6 423.2 -5.9 299 6236 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

6544 -0.95 -146.6 442.0 -6.1 314 6548 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3296 3475

6605 -0.95 -146.6 445.8 -6.3 317 6609 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1892 3476

6930 -0.95 -146.6 465.6 -6.2 333 6931 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1892 3476

7240 -0.95 -146.6 484.4 -5.6 348 7241 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1892 3475

7548 -0.95 -146.6 503.2 -6.1 363 7552 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3295 3474

7636 -0.95 -146.6 508.9 -6.4 367 7641 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1902 3474

7964 -0.95 -146.6 528.7 -5.9 383 7965 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

8273 -0.95 -146.6 547.0 -5.9 398 8274 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3474

8582 -0.95 -146.6 565.8 -6.1 413 8583 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

8891 -0.95 -146.6 585.0 -6.2 428 8895 0.00 2.53 0.00 0.000 4 0.000 0.054 2289 3295 3474

8945 -0.95 -146.6 588.5 -6.7 430 8953 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1895 3474

9261 -0.95 -146.6 607.5 -6.2 446 9262 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3474

9571 -0.95 -146.6 624.8 -5.3 461 9572 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3474

9880 -0.95 -146.6 642.0 -5.4 476 9884 0.00 2.55 0.00 0.000 4 0.000 0.057 2289 3297 3473

9964 -0.95 -146.6 646.8 -5.7 480 9968 0.00 2.53 0.00 0.000 6 0.000 0.050 2289 1901 3474

10289 -0.95 -146.6 666.2 -6.1 496 10290 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

10598 -0.95 -146.6 686.1 -6.8 511 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

10908 -0.95 -146.6 707.8 -6.8 526 10909 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

11218 -0.95 -146.6 725.4 -5.3 541 11220 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3473

11527 -0.95 -146.6 742.6 -5.3 556 11531 0.00 2.55 0.00 0.000 4 0.000 0.059 2289 3292 3473

11610 -0.95 -146.6 747.5 -6.1 560 11615 0.00 2.55 0.00 0.000 6 0.000 0.053 2289 1897 3473

11937 -0.95 -146.6 766.7 -6.0 576 11938 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3473

12246 -0.95 -146.6 783.7 -5.5 591 12251 0.00 2.62 0.00 0.000 4 0.000 0.077 2289 493 3472

12286 -0.95 -146.6 786.1 -5.5 593 12290 0.00 2.53 0.00 0.000 6 0.000 0.056 2289 1897 3472

12611 -0.95 -146.6 804.0 -5.6 609 12612 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3471

12692 end dive: BOTTOM_OBSTACLE_DETECTED

state 12692 begin apogee

12697 -0.36 0.0 809.6 6.9 613 12824 0.60 0.00 124.40 1.343 6 0.068 0.000 2421 2108 2878

12825 end apogee: CONTROL_FINISHED_OK

state 12825 begin climb

12827 0.95 146.6 812.5 0.0 619 12956 1.27 0.00 124.25 1.309 6 0.054 0.000 2702 2108 2280

13264 0.96 158.2 794.4 5.7 641 13277 0.00 0.00 10.80 1.313 6 0.000 0.000 2702 2108 2232

13573 0.96 158.2 773.9 7.1 656 13577 0.00 2.70 0.00 0.000 4 0.000 0.077 2702 692 2230

13644 0.96 158.2 769.2 6.2 659 13648 0.00 2.58 0.00 0.000 6 0.000 0.056 2702 2102 2231

13965 1.00 186.2 751.6 5.2 675 13991 0.00 0.00 24.27 1.342 6 0.000 0.000 2702 2102 2118

14294 1.00 186.2 731.8 6.2 691 14295 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2117

14604 1.02 204.9 713.7 5.4 706 14624 0.00 0.00 16.42 1.339 6 0.000 0.000 2702 2103 2042

14933 1.02 204.9 693.9 6.5 722 14934 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2041

15242 1.02 204.9 671.3 7.6 737 15246 0.00 2.65 0.00 0.000 4 0.000 0.071 2702 687 2041

15307 1.02 204.9 665.8 8.9 740 15312 0.00 2.55 0.00 0.000 6 0.000 0.048 2702 2097 2041

15635 1.02 204.9 639.7 7.8 756 15636 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2040

15944 1.02 204.9 617.4 7.0 771 15948 0.00 2.65 0.00 0.000 4 0.000 0.068 2702 685 2041

16027 1.02 204.9 610.1 9.1 775 16031 0.00 2.50 0.00 0.000 6 0.000 0.047 2702 2103 2041

16353 1.02 204.9 587.7 6.5 791 16354 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2041

16662 1.04 224.3 569.2 5.4 806 16682 0.00 0.00 17.05 1.216 6 0.000 0.000 2702 2104 1963

16991 1.04 225.9 550.2 6.0 822 16992 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 1963

17300 1.05 229.0 531.7 5.9 837 17310 0.00 2.67 5.28 1.151 4 0.000 0.065 2702 690 1943

17361 1.05 229.0 527.9 7.3 840 17365 0.00 2.50 0.00 0.000 6 0.000 0.043 2702 2105 1943

17686 1.05 229.0 507.5 6.5 856 17688 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 1944

17995 1.05 229.0 486.4 6.9 871 17997 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1944

18305 1.05 229.0 465.0 7.2 886 18306 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1944

18614 1.05 229.0 443.1 7.1 901 18615 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2107 1945

18923 1.05 229.0 420.1 7.8 916 18924 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1945

19233 1.05 229.0 396.5 7.6 931 19237 0.00 2.62 0.00 0.000 4 0.000 0.064 2703 687 1945

19293 1.05 229.0 391.4 9.0 934 19298 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2106 1945

19619 1.05 229.0 366.2 7.6 950 19620 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 1946

19928 1.05 229.0 344.2 6.9 965 19929 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2107 1946

20238 1.07 244.5 325.7 5.5 980 20259 0.12 0.00 14.23 1.044 6 0.045 0.000 2753 2110 1880

20567 1.07 244.5 302.5 7.0 996 20569 0.12 0.00 0.00 0.000 6 0.084 0.000 2727 2110 1880

20876 1.08 254.1 284.1 5.7 1011 20890 0.00 2.67 8.70 1.012 4 0.000 0.063 2727 689 1841

20965 1.08 254.1 278.5 6.0 1015 20969 0.00 2.50 0.00 0.000 6 0.000 0.040 2727 2099 1841

21290 1.08 254.1 257.8 7.0 1031 21291 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2103 1842

21600 1.08 254.1 238.3 6.1 1046 21601 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2103 1841

21909 1.08 254.1 211.3 8.7 1061 21910 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2103 1841

22218 1.08 254.1 184.8 8.1 1076 22219 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2103 1841

22528 1.08 254.1 159.0 7.9 1091 22529 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2103 1842

22837 1.08 254.1 135.9 7.4 1106 22841 0.00 2.60 0.00 0.000 4 0.000 0.061 2727 689 1843

22891 1.08 254.1 131.5 7.1 1108 22898 0.00 2.47 0.00 0.000 6 0.000 0.039 2727 2097 1842

23207 1.08 254.1 107.7 8.0 1124 23208 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2098 1843

23516 1.08 254.1 79.4 9.8 1139 23517 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2098 1843

23825 1.08 254.1 52.6 8.0 1154 23827 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2098 1843

24135 1.08 254.1 27.7 9.8 1169 24136 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2098 1843

24444 1.08 254.1 3.7 7.7 1184 24445 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2099 1843

24753 1.33 459.9 3.8 -0.1 1199 24866 0.22 0.00 108.70 0.757 6 0.041 0.000 2794 2098 1002

25103 end climb: NO_VERTICAL_VELOCITY

state 25103 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	162	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-79205.891	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	101956,6227.692,-1140.028,40,1.5,40,-11.0	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.137,0.157
_SM_DEPTHo	4.32	KALMAN_X	193302.1,-331.0,-645.6,-359897.5,6077.2
_SM_ANGLEo	-48.9	KALMAN_Y	103650.1,-931.5,-75.7,-1608.7,-6183.8
GPS2	102603,6227.682,-1139.952,12,1.7,12,-11.0	MHEAD_RNG_PITCHd_Wd	329.8,40991,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	25106,50.38,0.745,0,0,602,558.06	ALTIM_BOTTOM_PING	776.0,42.4
SM_GC	4.43,11.90,0.00,0.00,0.029,0.000,0.000,34,1884,603,-11.26,-0.45,558.06	_24V_AH	23.3,38.280
IRIDIUM_FIX	6202.67,-1146.86,161207,070706	_10V_AH	10.1,17.940
TT8_MAMPS	0.026078	DATA_FILE_SIZE	60076,1216
HUMID	2033	CFSIZE	260165632,248537088
INTERNAL_PRESSURE	9.14098	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP	16.70	GPS	161207,173437,6229.000,-1140.506,48,1.4,48,-11.1
XPDR_PINGS	13

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	99	58.72	SBE_CT	904	24	505.76
Roll_motor	87	77	158.30	SBE_O2	822	19	364.00
VBD_pump_during_apogee	454	1343	14209.83	WL_BB2F	715	105	1749.25
VBD_pump_during_surface	50	744	874.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	35	103	84.00	nil	0	0	0.00
Iridium_during_connect	36	160	135.76	nil	0	0	0.00
Iridium_during_xfer	187	223	971.71
Transponder_ping	10	420	97.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.91
TT8	2095	19	419.00
LPSleep	20346	2	450.04
TT8_Active	683	19	136.72
TT8_Sampling	2338	39	939.87
TT8_CF8	479	45	221.63
TT8_Kalman	33	81	27.57
Analog_circuits	1822	12	220.83
GPS_charging	0	0	0.00
Compass	2316	8	187.19
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.95	-146.6	0.0	0.0	0	45	0.00	0.00	-22.05	0.000	2	0.000	0.000	26	1877	1125
48	-0.95	-146.6	4.4	-0.0	1	208	11.02	2.55	-141.55	0.000	4	0.100	0.070	2289	497	3475
460	-0.95	-146.6	29.8	-10.8	19	465	0.00	2.50	0.00	0.000	6	0.000	0.040	2289	1898	3476
788	-0.95	-146.6	57.4	-12.0	35	789	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3475
1097	-0.95	-146.6	79.9	-6.5	50	1101	0.00	2.60	0.00	0.000	4	0.000	0.065	2289	503	3476
1145	-0.95	-146.6	83.4	-7.4	52	1149	0.00	2.47	0.00	0.000	6	0.000	0.040	2289	1896	3476
1467	-0.95	-146.6	107.3	-8.2	68	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
1777	-0.95	-146.6	130.3	-6.9	83	1778	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
2086	-0.95	-146.6	151.3	-6.9	98	2087	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
2394	-0.95	-146.6	173.3	-7.3	113	2395	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
2703	-0.95	-146.6	195.2	-6.7	128	2704	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
3012	-0.95	-146.6	215.9	-6.7	143	3014	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
3322	-0.95	-146.6	237.9	-7.1	158	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
3631	-0.95	-146.6	261.1	-7.8	173	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
3940	-0.95	-146.6	285.5	-7.9	188	3941	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
4250	-0.95	-146.6	307.4	-6.3	203	4251	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
4560	-0.95	-146.6	325.9	-5.8	218	4564	0.00	2.50	0.00	0.000	4	0.000	0.049	2289	3294	3475
4620	-0.95	-146.6	329.6	-6.1	220	4627	0.00	2.53	0.00	0.000	6	0.000	0.045	2289	1908	3476
4936	-0.95	-146.6	347.1	-5.6	236	4937	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1908	3476
5246	-0.95	-146.6	364.4	-5.8	251	5250	0.00	2.53	0.00	0.000	4	0.000	0.051	2289	3303	3476
5300	-0.95	-146.6	367.8	-6.2	253	5307	0.00	2.55	0.00	0.000	6	0.000	0.046	2289	1902	3476
5616	-0.95	-146.6	386.8	-6.0	269	5617	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
5925	-0.95	-146.6	405.8	-5.9	284	5926	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1903	3475
6234	-0.95	-146.6	423.2	-5.9	299	6236	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
6544	-0.95	-146.6	442.0	-6.1	314	6548	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3296	3475
6605	-0.95	-146.6	445.8	-6.3	317	6609	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1892	3476
6930	-0.95	-146.6	465.6	-6.2	333	6931	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1892	3476
7240	-0.95	-146.6	484.4	-5.6	348	7241	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1892	3475
7548	-0.95	-146.6	503.2	-6.1	363	7552	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3295	3474
7636	-0.95	-146.6	508.9	-6.4	367	7641	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1902	3474
7964	-0.95	-146.6	528.7	-5.9	383	7965	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
8273	-0.95	-146.6	547.0	-5.9	398	8274	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3474
8582	-0.95	-146.6	565.8	-6.1	413	8583	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
8891	-0.95	-146.6	585.0	-6.2	428	8895	0.00	2.53	0.00	0.000	4	0.000	0.054	2289	3295	3474
8945	-0.95	-146.6	588.5	-6.7	430	8953	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1895	3474
9261	-0.95	-146.6	607.5	-6.2	446	9262	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3474
9571	-0.95	-146.6	624.8	-5.3	461	9572	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3474
9880	-0.95	-146.6	642.0	-5.4	476	9884	0.00	2.55	0.00	0.000	4	0.000	0.057	2289	3297	3473
9964	-0.95	-146.6	646.8	-5.7	480	9968	0.00	2.53	0.00	0.000	6	0.000	0.050	2289	1901	3474
10289	-0.95	-146.6	666.2	-6.1	496	10290	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
10598	-0.95	-146.6	686.1	-6.8	511	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
10908	-0.95	-146.6	707.8	-6.8	526	10909	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
11218	-0.95	-146.6	725.4	-5.3	541	11220	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3473
11527	-0.95	-146.6	742.6	-5.3	556	11531	0.00	2.55	0.00	0.000	4	0.000	0.059	2289	3292	3473
11610	-0.95	-146.6	747.5	-6.1	560	11615	0.00	2.55	0.00	0.000	6	0.000	0.053	2289	1897	3473
11937	-0.95	-146.6	766.7	-6.0	576	11938	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3473
12246	-0.95	-146.6	783.7	-5.5	591	12251	0.00	2.62	0.00	0.000	4	0.000	0.077	2289	493	3472
12286	-0.95	-146.6	786.1	-5.5	593	12290	0.00	2.53	0.00	0.000	6	0.000	0.056	2289	1897	3472
12611	-0.95	-146.6	804.0	-5.6	609	12612	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3471
12692	end dive: BOTTOM_OBSTACLE_DETECTED
state	12692	begin apogee
12697	-0.36	0.0	809.6	6.9	613	12824	0.60	0.00	124.40	1.343	6	0.068	0.000	2421	2108	2878
12825	end apogee: CONTROL_FINISHED_OK
state	12825	begin climb
12827	0.95	146.6	812.5	0.0	619	12956	1.27	0.00	124.25	1.309	6	0.054	0.000	2702	2108	2280
13264	0.96	158.2	794.4	5.7	641	13277	0.00	0.00	10.80	1.313	6	0.000	0.000	2702	2108	2232
13573	0.96	158.2	773.9	7.1	656	13577	0.00	2.70	0.00	0.000	4	0.000	0.077	2702	692	2230
13644	0.96	158.2	769.2	6.2	659	13648	0.00	2.58	0.00	0.000	6	0.000	0.056	2702	2102	2231
13965	1.00	186.2	751.6	5.2	675	13991	0.00	0.00	24.27	1.342	6	0.000	0.000	2702	2102	2118
14294	1.00	186.2	731.8	6.2	691	14295	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2117
14604	1.02	204.9	713.7	5.4	706	14624	0.00	0.00	16.42	1.339	6	0.000	0.000	2702	2103	2042
14933	1.02	204.9	693.9	6.5	722	14934	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2041
15242	1.02	204.9	671.3	7.6	737	15246	0.00	2.65	0.00	0.000	4	0.000	0.071	2702	687	2041
15307	1.02	204.9	665.8	8.9	740	15312	0.00	2.55	0.00	0.000	6	0.000	0.048	2702	2097	2041
15635	1.02	204.9	639.7	7.8	756	15636	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2040
15944	1.02	204.9	617.4	7.0	771	15948	0.00	2.65	0.00	0.000	4	0.000	0.068	2702	685	2041
16027	1.02	204.9	610.1	9.1	775	16031	0.00	2.50	0.00	0.000	6	0.000	0.047	2702	2103	2041
16353	1.02	204.9	587.7	6.5	791	16354	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2041
16662	1.04	224.3	569.2	5.4	806	16682	0.00	0.00	17.05	1.216	6	0.000	0.000	2702	2104	1963
16991	1.04	225.9	550.2	6.0	822	16992	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	1963
17300	1.05	229.0	531.7	5.9	837	17310	0.00	2.67	5.28	1.151	4	0.000	0.065	2702	690	1943
17361	1.05	229.0	527.9	7.3	840	17365	0.00	2.50	0.00	0.000	6	0.000	0.043	2702	2105	1943
17686	1.05	229.0	507.5	6.5	856	17688	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	1944
17995	1.05	229.0	486.4	6.9	871	17997	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1944
18305	1.05	229.0	465.0	7.2	886	18306	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1944
18614	1.05	229.0	443.1	7.1	901	18615	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2107	1945
18923	1.05	229.0	420.1	7.8	916	18924	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1945
19233	1.05	229.0	396.5	7.6	931	19237	0.00	2.62	0.00	0.000	4	0.000	0.064	2703	687	1945
19293	1.05	229.0	391.4	9.0	934	19298	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2106	1945
19619	1.05	229.0	366.2	7.6	950	19620	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	1946
19928	1.05	229.0	344.2	6.9	965	19929	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2107	1946
20238	1.07	244.5	325.7	5.5	980	20259	0.12	0.00	14.23	1.044	6	0.045	0.000	2753	2110	1880
20567	1.07	244.5	302.5	7.0	996	20569	0.12	0.00	0.00	0.000	6	0.084	0.000	2727	2110	1880
20876	1.08	254.1	284.1	5.7	1011	20890	0.00	2.67	8.70	1.012	4	0.000	0.063	2727	689	1841
20965	1.08	254.1	278.5	6.0	1015	20969	0.00	2.50	0.00	0.000	6	0.000	0.040	2727	2099	1841
21290	1.08	254.1	257.8	7.0	1031	21291	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2103	1842
21600	1.08	254.1	238.3	6.1	1046	21601	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2103	1841
21909	1.08	254.1	211.3	8.7	1061	21910	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2103	1841
22218	1.08	254.1	184.8	8.1	1076	22219	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2103	1841
22528	1.08	254.1	159.0	7.9	1091	22529	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2103	1842
22837	1.08	254.1	135.9	7.4	1106	22841	0.00	2.60	0.00	0.000	4	0.000	0.061	2727	689	1843
22891	1.08	254.1	131.5	7.1	1108	22898	0.00	2.47	0.00	0.000	6	0.000	0.039	2727	2097	1842
23207	1.08	254.1	107.7	8.0	1124	23208	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2098	1843
23516	1.08	254.1	79.4	9.8	1139	23517	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2098	1843
23825	1.08	254.1	52.6	8.0	1154	23827	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2098	1843
24135	1.08	254.1	27.7	9.8	1169	24136	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2098	1843
24444	1.08	254.1	3.7	7.7	1184	24445	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	2099	1843
24753	1.33	459.9	3.8	-0.1	1199	24866	0.22	0.00	108.70	0.757	6	0.041	0.000	2794	2098	1002
25103	end climb: NO_VERTICAL_VELOCITY
state	25103	begin surface