Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 163 * 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 163 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 25 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 -79219.148 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 -79219.148

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 25 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 163 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 173437,6229.000,-1140.506,48,1.4,48,-11.1 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.116,0.173

_SM_DEPTHo 4.29 KALMAN_X 196610.0,-98.7,-161.7,-364289.3,7301.3

_SM_ANGLEo -44.7 KALMAN_Y 98787.0,1311.3,-69.3,3331.9,-7757.5

GPS2 174439,6228.962,-1140.427,11,1.6,11,-11.1 MHEAD_RNG_PITCHd_Wd 337.3,39374,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22595,35.22,0.738,0,0,603,558.06 ALTIM_BOTTOM_PING 750.4,59.4

SM_GC 4.50,12.07,0.00,0.00,0.028,0.000,0.000,34,1896,604,-11.25,-0.11,557.81 _24V_AH 23.3,38.465

IRIDIUM_FIX 6207.28,-1301.08,161207,212143 _10V_AH 10.1,18.042

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53675,1091

HUMID 2046 CFSIZE 260165632,248475648

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.90 GPS 171207,001056,6230.212,-1141.462,37,1.9,37,-11.1

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 113 68.04 SBE_CT 805 24 450.68

Roll_motor 108 80 202.75 SBE_O2 736 19 325.97

VBD_pump_during_apogee 488 1328 15114.23 WL_BB2F 665 105 1627.31

VBD_pump_during_surface 35 737 605.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 187.73 nil 0 0 0.00

Iridium_during_connect 178 160 663.96 nil 0 0 0.00

Iridium_during_xfer 180 223 938.76

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.37

TT8 1927 19 385.51

LPSleep 18121 2 400.83

TT8_Active 667 19 133.49

TT8_Sampling 2301 39 925.12

TT8_CF8 633 45 293.15

TT8_Kalman 33 81 27.57

Analog_circuits 1807 12 219.10

GPS_charging 0 0 0.00

Compass 2255 8 182.25

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

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.70 0.000 2 0.000 0.000 33 1874 1121

46 -0.95 -146.6 4.5 -0.0 1 198 11.27 2.60 -134.48 0.000 4 0.114 0.074 2286 503 3477

446 -0.95 -146.6 27.1 -7.5 19 450 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1901 3477

768 -0.95 -146.6 45.7 -4.3 35 769 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3477

1076 -0.95 -146.6 69.1 -7.8 50 1081 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3295 3477

1125 -0.95 -146.6 72.3 -7.1 52 1130 0.00 2.53 0.00 0.000 6 0.000 0.043 2286 1904 3477

1447 -0.95 -146.6 95.0 -7.8 68 1448 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3477

1756 -0.95 -146.6 121.3 -8.4 83 1760 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3298 3477

1810 -0.95 -146.6 126.2 -8.8 85 1817 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1902 3477

2126 -0.95 -146.6 151.8 -7.8 101 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

2436 -0.95 -146.6 175.9 -8.1 116 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

2747 -0.95 -146.6 200.4 -7.7 131 2748 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

3055 -0.95 -146.6 225.6 -8.2 146 3056 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

3364 -0.95 -146.6 250.8 -8.1 161 3368 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3302 3477

3425 -0.95 -146.6 256.2 -8.5 164 3429 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1897 3477

3751 -0.95 -146.6 282.1 -7.6 180 3755 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3299 3477

3812 -0.95 -146.6 286.9 -7.8 183 3816 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1893 3477

4137 -0.95 -146.6 310.9 -7.7 199 4138 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3477

4446 -0.95 -146.6 334.4 -7.5 214 4448 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3476

4755 -0.95 -146.6 357.4 -7.3 229 4757 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1893 3477

5065 -0.95 -146.6 380.1 -7.3 244 5069 0.00 2.50 0.00 0.000 4 0.000 0.050 2286 3297 3476

5158 -0.95 -146.6 387.3 -7.5 248 5163 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1906 3476

5479 -0.95 -146.6 410.1 -7.2 264 5480 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

5789 -0.95 -146.6 432.2 -7.2 279 5790 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

6098 -0.95 -146.6 454.6 -7.2 294 6102 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3298 3476

6197 -0.95 -146.6 462.0 -8.1 298 6204 0.00 2.55 0.00 0.000 6 0.000 0.047 2286 1901 3476

6513 -0.95 -146.6 484.6 -7.5 314 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3475

6822 -0.95 -146.6 507.2 -7.3 329 6826 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3296 3475

6876 -0.95 -146.6 511.3 -7.6 331 6883 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1907 3475

7192 -0.95 -146.6 534.9 -7.6 347 7193 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3475

7501 -0.95 -146.6 558.9 -7.8 362 7502 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3475

7810 -0.95 -146.6 581.9 -7.1 377 7811 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3475

8119 -0.95 -146.6 602.8 -6.9 392 8121 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3475

8428 -0.95 -146.6 625.0 -7.3 407 8430 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3475

8738 -0.95 -146.6 647.6 -7.4 422 8739 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3475

9047 -0.95 -146.6 670.1 -7.1 437 9051 0.00 2.55 0.00 0.000 4 0.000 0.058 2286 3298 3475

9132 -0.95 -146.6 676.1 -7.2 441 9136 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1901 3475

9457 -0.95 -146.6 695.0 -5.7 457 9462 0.00 2.53 0.00 0.000 4 0.000 0.058 2286 3293 3475

9508 -0.95 -146.6 698.1 -5.9 459 9513 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1897 3475

9823 -0.95 -146.6 713.4 -4.4 474 9824 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3474

10134 -0.95 -146.6 729.7 -6.4 489 10138 0.00 2.62 0.00 0.000 4 0.000 0.073 2286 489 3474

10188 -0.95 -146.6 733.9 -8.3 491 10195 0.00 2.50 0.00 0.000 6 0.000 0.050 2286 1886 3474

10503 -0.95 -146.6 757.7 -7.0 507 10504 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1886 3474

10813 -0.95 -146.6 776.3 -5.8 522 10818 0.00 2.62 0.00 0.000 4 0.000 0.065 2285 3298 3474

10879 -0.95 -146.6 780.4 -6.5 525 10884 0.00 2.55 0.00 0.000 6 0.000 0.059 2286 1904 3474

11205 end dive: BOTTOM_OBSTACLE_DETECTED

state 11205 begin apogee

11210 -0.36 0.0 800.1 5.7 541 11338 0.60 0.00 124.47 1.328 6 0.076 0.000 2415 2097 2878

11339 end apogee: CONTROL_FINISHED_OK

state 11339 begin climb

11340 0.95 146.6 803.3 0.0 547 11472 1.27 2.70 123.18 1.289 4 0.055 0.069 2697 3499 2280

11698 0.96 157.8 790.0 5.7 563 11713 0.00 2.62 10.43 1.281 6 0.000 0.059 2697 2098 2234

12034 0.99 184.1 773.6 5.2 580 12059 0.00 0.00 22.90 1.316 6 0.000 0.000 2697 2098 2127

12364 0.99 184.1 752.8 6.4 596 12368 0.00 2.65 0.00 0.000 4 0.000 0.066 2697 3503 2126

12457 0.99 184.1 745.8 7.4 600 12461 0.00 2.60 0.00 0.000 6 0.000 0.058 2697 2098 2125

12778 0.99 184.1 725.6 6.1 616 12783 0.00 2.70 0.00 0.000 4 0.000 0.081 2697 688 2124

12895 1.00 189.0 718.6 5.9 621 12907 0.00 2.55 4.85 1.279 6 0.000 0.052 2697 2103 2107

13216 1.04 222.5 702.1 5.0 637 13247 0.10 0.00 28.88 1.319 6 0.054 0.000 2737 2104 1971

13545 1.04 222.5 677.5 8.2 653 13546 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2104 1970

13854 1.04 222.5 652.6 7.9 668 13855 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2105 1970

14163 1.04 222.5 629.4 7.3 683 14167 0.00 2.58 0.00 0.000 4 0.000 0.058 2737 3507 1970

14291 1.04 222.5 619.0 8.5 689 14296 0.00 2.58 0.00 0.000 6 0.000 0.049 2737 2090 1970

14617 1.04 222.5 594.2 7.6 705 14618 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2089 1970

14927 1.04 222.5 570.9 8.6 720 14928 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2089 1970

15236 1.04 222.5 546.7 8.1 735 15237 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2089 1971

15545 1.04 222.5 519.6 9.2 750 15546 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2089 1971

15854 1.04 222.5 493.8 7.9 765 15855 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2089 1971

16163 1.04 222.5 468.5 8.2 780 16165 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2089 1972

16473 1.04 222.5 443.4 8.0 795 16477 0.00 2.58 0.00 0.000 4 0.000 0.052 2737 3506 1973

16549 1.04 222.5 436.6 8.4 798 16556 0.00 2.53 0.00 0.000 6 0.000 0.044 2737 2095 1974

16865 1.04 222.5 410.9 8.2 814 16866 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2095 1973

17174 1.04 222.5 386.8 7.7 829 17175 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2095 1973

17483 1.04 222.5 363.4 7.5 844 17488 0.00 2.58 0.00 0.000 4 0.000 0.051 2737 3509 1974

17555 1.04 222.5 357.6 7.9 847 17559 0.00 2.53 0.00 0.000 6 0.000 0.043 2737 2106 1974

17876 1.04 222.5 333.1 7.6 863 17877 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2106 1974

18185 1.04 222.5 309.9 7.7 878 18186 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2106 1974

18494 1.04 222.5 285.0 8.1 893 18499 0.00 2.53 0.00 0.000 4 0.000 0.048 2737 3506 1975

18566 1.04 222.5 278.6 8.8 896 18570 0.00 2.53 0.00 0.000 6 0.000 0.041 2737 2094 1974

18887 1.04 222.5 248.9 9.5 912 18888 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2094 1975

19196 1.04 222.5 220.1 8.7 927 19197 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2093 1975

19505 1.04 222.5 197.1 7.0 942 19506 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2094 1976

19815 1.04 225.8 177.8 5.9 957 19825 0.00 2.60 5.10 0.946 4 0.000 0.049 2737 3513 1956

19882 1.05 228.3 173.6 5.9 960 19891 0.00 2.53 3.05 0.913 6 0.000 0.039 2737 2097 1946

20207 1.05 228.3 154.1 6.2 976 20208 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2098 1947

20518 1.08 254.6 135.0 5.2 991 20541 0.00 0.00 21.35 0.897 6 0.000 0.000 2737 2098 1839

20850 1.08 254.6 114.0 7.0 1007 20851 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2098 1839

21158 1.15 313.9 95.2 4.2 1022 21207 0.00 0.00 46.92 0.839 6 0.000 0.000 2737 2098 1597

21509 1.15 313.9 62.6 9.5 1039 21513 0.00 2.60 0.00 0.000 4 0.000 0.062 2737 692 1597

21563 1.15 313.9 57.4 9.8 1041 21570 0.00 2.53 0.00 0.000 6 0.000 0.038 2737 2105 1597

21880 1.15 313.9 25.9 12.0 1057 21881 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2108 1597

22188 1.36 479.1 4.0 1.1 1072 22282 0.20 0.00 90.40 0.757 6 0.054 0.000 2794 2113 924

22582 1.61 686.0 4.0 -0.2 1091 22591 0.20 0.00 6.78 0.802 2 0.068 0.000 2841 2112 878

22592 end climb: NO_VERTICAL_VELOCITY

state 22592 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	163	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	25	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	-79219.148	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	173437,6229.000,-1140.506,48,1.4,48,-11.1	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.116,0.173
_SM_DEPTHo	4.29	KALMAN_X	196610.0,-98.7,-161.7,-364289.3,7301.3
_SM_ANGLEo	-44.7	KALMAN_Y	98787.0,1311.3,-69.3,3331.9,-7757.5
GPS2	174439,6228.962,-1140.427,11,1.6,11,-11.1	MHEAD_RNG_PITCHd_Wd	337.3,39374,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22595,35.22,0.738,0,0,603,558.06	ALTIM_BOTTOM_PING	750.4,59.4
SM_GC	4.50,12.07,0.00,0.00,0.028,0.000,0.000,34,1896,604,-11.25,-0.11,557.81	_24V_AH	23.3,38.465
IRIDIUM_FIX	6207.28,-1301.08,161207,212143	_10V_AH	10.1,18.042
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53675,1091
HUMID	2046	CFSIZE	260165632,248475648
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.90	GPS	171207,001056,6230.212,-1141.462,37,1.9,37,-11.1
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	113	68.04	SBE_CT	805	24	450.68
Roll_motor	108	80	202.75	SBE_O2	736	19	325.97
VBD_pump_during_apogee	488	1328	15114.23	WL_BB2F	665	105	1627.31
VBD_pump_during_surface	35	737	605.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	187.73	nil	0	0	0.00
Iridium_during_connect	178	160	663.96	nil	0	0	0.00
Iridium_during_xfer	180	223	938.76
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.37
TT8	1927	19	385.51
LPSleep	18121	2	400.83
TT8_Active	667	19	133.49
TT8_Sampling	2301	39	925.12
TT8_CF8	633	45	293.15
TT8_Kalman	33	81	27.57
Analog_circuits	1807	12	219.10
GPS_charging	0	0	0.00
Compass	2255	8	182.25
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
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.70	0.000	2	0.000	0.000	33	1874	1121
46	-0.95	-146.6	4.5	-0.0	1	198	11.27	2.60	-134.48	0.000	4	0.114	0.074	2286	503	3477
446	-0.95	-146.6	27.1	-7.5	19	450	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1901	3477
768	-0.95	-146.6	45.7	-4.3	35	769	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3477
1076	-0.95	-146.6	69.1	-7.8	50	1081	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3295	3477
1125	-0.95	-146.6	72.3	-7.1	52	1130	0.00	2.53	0.00	0.000	6	0.000	0.043	2286	1904	3477
1447	-0.95	-146.6	95.0	-7.8	68	1448	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3477
1756	-0.95	-146.6	121.3	-8.4	83	1760	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3298	3477
1810	-0.95	-146.6	126.2	-8.8	85	1817	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1902	3477
2126	-0.95	-146.6	151.8	-7.8	101	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
2436	-0.95	-146.6	175.9	-8.1	116	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
2747	-0.95	-146.6	200.4	-7.7	131	2748	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
3055	-0.95	-146.6	225.6	-8.2	146	3056	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
3364	-0.95	-146.6	250.8	-8.1	161	3368	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3302	3477
3425	-0.95	-146.6	256.2	-8.5	164	3429	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1897	3477
3751	-0.95	-146.6	282.1	-7.6	180	3755	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3299	3477
3812	-0.95	-146.6	286.9	-7.8	183	3816	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1893	3477
4137	-0.95	-146.6	310.9	-7.7	199	4138	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3477
4446	-0.95	-146.6	334.4	-7.5	214	4448	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3476
4755	-0.95	-146.6	357.4	-7.3	229	4757	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1893	3477
5065	-0.95	-146.6	380.1	-7.3	244	5069	0.00	2.50	0.00	0.000	4	0.000	0.050	2286	3297	3476
5158	-0.95	-146.6	387.3	-7.5	248	5163	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1906	3476
5479	-0.95	-146.6	410.1	-7.2	264	5480	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
5789	-0.95	-146.6	432.2	-7.2	279	5790	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
6098	-0.95	-146.6	454.6	-7.2	294	6102	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3298	3476
6197	-0.95	-146.6	462.0	-8.1	298	6204	0.00	2.55	0.00	0.000	6	0.000	0.047	2286	1901	3476
6513	-0.95	-146.6	484.6	-7.5	314	6514	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3475
6822	-0.95	-146.6	507.2	-7.3	329	6826	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3296	3475
6876	-0.95	-146.6	511.3	-7.6	331	6883	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1907	3475
7192	-0.95	-146.6	534.9	-7.6	347	7193	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3475
7501	-0.95	-146.6	558.9	-7.8	362	7502	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3475
7810	-0.95	-146.6	581.9	-7.1	377	7811	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3475
8119	-0.95	-146.6	602.8	-6.9	392	8121	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3475
8428	-0.95	-146.6	625.0	-7.3	407	8430	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3475
8738	-0.95	-146.6	647.6	-7.4	422	8739	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3475
9047	-0.95	-146.6	670.1	-7.1	437	9051	0.00	2.55	0.00	0.000	4	0.000	0.058	2286	3298	3475
9132	-0.95	-146.6	676.1	-7.2	441	9136	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1901	3475
9457	-0.95	-146.6	695.0	-5.7	457	9462	0.00	2.53	0.00	0.000	4	0.000	0.058	2286	3293	3475
9508	-0.95	-146.6	698.1	-5.9	459	9513	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1897	3475
9823	-0.95	-146.6	713.4	-4.4	474	9824	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3474
10134	-0.95	-146.6	729.7	-6.4	489	10138	0.00	2.62	0.00	0.000	4	0.000	0.073	2286	489	3474
10188	-0.95	-146.6	733.9	-8.3	491	10195	0.00	2.50	0.00	0.000	6	0.000	0.050	2286	1886	3474
10503	-0.95	-146.6	757.7	-7.0	507	10504	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1886	3474
10813	-0.95	-146.6	776.3	-5.8	522	10818	0.00	2.62	0.00	0.000	4	0.000	0.065	2285	3298	3474
10879	-0.95	-146.6	780.4	-6.5	525	10884	0.00	2.55	0.00	0.000	6	0.000	0.059	2286	1904	3474
11205	end dive: BOTTOM_OBSTACLE_DETECTED
state	11205	begin apogee
11210	-0.36	0.0	800.1	5.7	541	11338	0.60	0.00	124.47	1.328	6	0.076	0.000	2415	2097	2878
11339	end apogee: CONTROL_FINISHED_OK
state	11339	begin climb
11340	0.95	146.6	803.3	0.0	547	11472	1.27	2.70	123.18	1.289	4	0.055	0.069	2697	3499	2280
11698	0.96	157.8	790.0	5.7	563	11713	0.00	2.62	10.43	1.281	6	0.000	0.059	2697	2098	2234
12034	0.99	184.1	773.6	5.2	580	12059	0.00	0.00	22.90	1.316	6	0.000	0.000	2697	2098	2127
12364	0.99	184.1	752.8	6.4	596	12368	0.00	2.65	0.00	0.000	4	0.000	0.066	2697	3503	2126
12457	0.99	184.1	745.8	7.4	600	12461	0.00	2.60	0.00	0.000	6	0.000	0.058	2697	2098	2125
12778	0.99	184.1	725.6	6.1	616	12783	0.00	2.70	0.00	0.000	4	0.000	0.081	2697	688	2124
12895	1.00	189.0	718.6	5.9	621	12907	0.00	2.55	4.85	1.279	6	0.000	0.052	2697	2103	2107
13216	1.04	222.5	702.1	5.0	637	13247	0.10	0.00	28.88	1.319	6	0.054	0.000	2737	2104	1971
13545	1.04	222.5	677.5	8.2	653	13546	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2104	1970
13854	1.04	222.5	652.6	7.9	668	13855	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2105	1970
14163	1.04	222.5	629.4	7.3	683	14167	0.00	2.58	0.00	0.000	4	0.000	0.058	2737	3507	1970
14291	1.04	222.5	619.0	8.5	689	14296	0.00	2.58	0.00	0.000	6	0.000	0.049	2737	2090	1970
14617	1.04	222.5	594.2	7.6	705	14618	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2089	1970
14927	1.04	222.5	570.9	8.6	720	14928	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2089	1970
15236	1.04	222.5	546.7	8.1	735	15237	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2089	1971
15545	1.04	222.5	519.6	9.2	750	15546	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2089	1971
15854	1.04	222.5	493.8	7.9	765	15855	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2089	1971
16163	1.04	222.5	468.5	8.2	780	16165	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2089	1972
16473	1.04	222.5	443.4	8.0	795	16477	0.00	2.58	0.00	0.000	4	0.000	0.052	2737	3506	1973
16549	1.04	222.5	436.6	8.4	798	16556	0.00	2.53	0.00	0.000	6	0.000	0.044	2737	2095	1974
16865	1.04	222.5	410.9	8.2	814	16866	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2095	1973
17174	1.04	222.5	386.8	7.7	829	17175	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2095	1973
17483	1.04	222.5	363.4	7.5	844	17488	0.00	2.58	0.00	0.000	4	0.000	0.051	2737	3509	1974
17555	1.04	222.5	357.6	7.9	847	17559	0.00	2.53	0.00	0.000	6	0.000	0.043	2737	2106	1974
17876	1.04	222.5	333.1	7.6	863	17877	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2106	1974
18185	1.04	222.5	309.9	7.7	878	18186	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2106	1974
18494	1.04	222.5	285.0	8.1	893	18499	0.00	2.53	0.00	0.000	4	0.000	0.048	2737	3506	1975
18566	1.04	222.5	278.6	8.8	896	18570	0.00	2.53	0.00	0.000	6	0.000	0.041	2737	2094	1974
18887	1.04	222.5	248.9	9.5	912	18888	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2094	1975
19196	1.04	222.5	220.1	8.7	927	19197	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2093	1975
19505	1.04	222.5	197.1	7.0	942	19506	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2094	1976
19815	1.04	225.8	177.8	5.9	957	19825	0.00	2.60	5.10	0.946	4	0.000	0.049	2737	3513	1956
19882	1.05	228.3	173.6	5.9	960	19891	0.00	2.53	3.05	0.913	6	0.000	0.039	2737	2097	1946
20207	1.05	228.3	154.1	6.2	976	20208	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2098	1947
20518	1.08	254.6	135.0	5.2	991	20541	0.00	0.00	21.35	0.897	6	0.000	0.000	2737	2098	1839
20850	1.08	254.6	114.0	7.0	1007	20851	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2098	1839
21158	1.15	313.9	95.2	4.2	1022	21207	0.00	0.00	46.92	0.839	6	0.000	0.000	2737	2098	1597
21509	1.15	313.9	62.6	9.5	1039	21513	0.00	2.60	0.00	0.000	4	0.000	0.062	2737	692	1597
21563	1.15	313.9	57.4	9.8	1041	21570	0.00	2.53	0.00	0.000	6	0.000	0.038	2737	2105	1597
21880	1.15	313.9	25.9	12.0	1057	21881	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2108	1597
22188	1.36	479.1	4.0	1.1	1072	22282	0.20	0.00	90.40	0.757	6	0.054	0.000	2794	2113	924
22582	1.61	686.0	4.0	-0.2	1091	22591	0.20	0.00	6.78	0.802	2	0.068	0.000	2841	2112	878
22592	end climb: NO_VERTICAL_VELOCITY
state	22592	begin surface