Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 173 * 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 173 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 26 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 -79409.875 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 -79409.875

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 26 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 173 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 094907,6232.499,-1134.851,41,1.6,41,-11.0 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,0.032

_SM_DEPTHo 4.41 KALMAN_X 224060.5,698.4,-762.9,-386930.2,8119.9

_SM_ANGLEo -50.0 KALMAN_Y 91617.9,-188.5,-1509.2,19923.3,6504.2

GPS2 095844,6232.452,-1134.750,13,1.4,13,-11.0 MHEAD_RNG_PITCHd_Wd 289.8,40940,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23084,52.30,0.740,0,0,603,558.06 ALTIM_BOTTOM_PING 726.1,37.4

SM_GC 4.38,12.23,0.00,0.00,0.035,0.000,0.000,30,1890,604,-11.27,-0.28,557.81 _24V_AH 23.3,40.252

IRIDIUM_FIX 6207.28,-1130.49,191207,131302 _10V_AH 10.1,19.041

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56874,1116

HUMID 2033 CFSIZE 260165632,247787520

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,16,0,0

TCM_TEMP 18.80 GPS 191207,163326,6231.697,-1138.000,36,1.9,36,-11.0

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.98 SBE_CT 829 24 463.62

Roll_motor 123 75 218.15 SBE_O2 754 19 333.91

VBD_pump_during_apogee 449 1324 13880.04 WL_BB2F 680 105 1665.11

VBD_pump_during_surface 52 740 901.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 183.73 nil 0 0 0.00

Iridium_during_connect 71 160 267.35 nil 0 0 0.00

Iridium_during_xfer 254 223 1321.96

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.53

TT8 1979 19 395.93

LPSleep 18466 2 408.45

TT8_Active 681 19 136.28

TT8_Sampling 2387 39 959.90

TT8_CF8 620 45 287.02

TT8_Kalman 33 81 27.60

Analog_circuits 1855 12 224.86

GPS_charging 0 0 0.00

Compass 2343 8 189.35

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.40 0.000 2 0.000 0.000 28 1881 1115

46 -0.95 -146.6 4.5 -0.0 1 212 11.15 2.55 -145.65 0.000 4 0.105 0.076 2288 500 3476

357 -0.95 -146.6 17.5 -11.5 15 362 0.00 2.50 0.00 0.000 6 0.000 0.042 2288 1906 3475

680 -0.95 -146.6 42.7 -11.1 31 682 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1908 3475

988 -0.95 -146.6 68.8 -8.1 46 990 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1909 3476

1298 -0.95 -146.6 89.9 -6.3 61 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1909 3476

1607 -0.95 -146.6 112.2 -7.3 76 1608 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1908 3475

1916 -0.95 -146.6 134.7 -6.7 91 1920 0.00 2.50 0.00 0.000 4 0.000 0.049 2288 3297 3476

1987 -0.95 -146.6 139.8 -6.7 94 1991 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1905 3476

2308 -0.95 -146.6 161.5 -6.8 110 2309 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3475

2618 -0.95 -146.6 181.9 -6.2 125 2619 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1905 3475

2927 -0.95 -146.6 202.8 -6.8 140 2931 0.00 2.50 0.00 0.000 4 0.000 0.048 2288 3301 3476

3010 -0.95 -146.6 208.8 -7.7 144 3014 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1894 3475

3335 -0.95 -146.6 230.7 -6.8 160 3336 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3475

3645 -0.95 -146.6 251.3 -6.5 175 3649 0.00 2.55 0.00 0.000 4 0.000 0.049 2288 3307 3475

3710 -0.95 -146.6 255.6 -6.1 178 3714 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1899 3476

4037 -0.95 -146.6 276.1 -6.2 194 4039 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3476

4346 -0.95 -146.6 296.2 -6.7 209 4350 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3300 3475

4411 -0.95 -146.6 300.8 -7.0 212 4416 0.00 2.55 0.00 0.000 6 0.000 0.045 2288 1899 3476

4738 -0.95 -146.6 322.8 -6.7 228 4739 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

5047 -0.95 -146.6 342.4 -6.3 243 5052 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3299 3475

5141 -0.95 -146.6 348.9 -6.7 247 5146 0.00 2.55 0.00 0.000 6 0.000 0.046 2288 1901 3475

5463 -0.95 -146.6 369.5 -6.4 263 5464 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

5772 -0.95 -146.6 389.2 -6.6 278 5776 0.00 2.53 0.00 0.000 4 0.000 0.051 2288 3300 3475

5855 -0.95 -146.6 394.9 -7.4 282 5859 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1901 3475

6180 -0.95 -146.6 417.5 -7.6 298 6181 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

6489 -0.95 -146.6 441.6 -7.9 313 6494 0.00 2.55 0.00 0.000 4 0.000 0.051 2288 3303 3475

6561 -0.95 -146.6 447.2 -8.1 316 6565 0.00 2.55 0.00 0.000 6 0.000 0.047 2288 1907 3475

6882 -0.95 -146.6 470.5 -7.5 332 6883 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3474

7191 -0.95 -146.6 492.4 -6.6 347 7192 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1906 3474

7500 -0.95 -146.6 512.5 -6.6 362 7505 0.00 2.53 0.00 0.000 4 0.000 0.054 2288 3299 3474

7567 -0.95 -146.6 517.0 -6.3 365 7571 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1902 3474

7893 -0.95 -146.6 539.6 -7.0 381 7895 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3473

8203 -0.95 -146.6 559.9 -6.2 396 8204 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3473

8513 -0.95 -146.6 579.1 -6.0 411 8517 0.00 2.55 0.00 0.000 4 0.000 0.055 2288 3299 3474

8596 -0.95 -146.6 584.5 -6.5 415 8601 0.00 2.53 0.00 0.000 6 0.000 0.049 2288 1900 3474

8923 -0.95 -146.6 603.9 -6.2 431 8927 0.00 2.58 0.00 0.000 4 0.000 0.057 2288 3305 3474

8983 -0.95 -146.6 607.9 -6.3 434 8988 0.00 2.55 0.00 0.000 6 0.000 0.050 2288 1896 3474

9309 -0.95 -146.6 629.2 -6.4 450 9310 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1896 3474

9619 -0.95 -146.6 650.2 -6.7 465 9624 0.00 2.58 0.00 0.000 4 0.000 0.059 2288 3305 3473

9696 -0.95 -146.6 655.4 -7.0 468 9703 0.00 2.58 0.00 0.000 6 0.000 0.051 2288 1887 3474

10012 -0.95 -146.6 673.5 -6.0 484 10013 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1888 3473

10322 -0.95 -146.6 693.9 -6.3 499 10326 0.00 2.60 0.00 0.000 4 0.000 0.064 2288 3295 3473

10427 -0.95 -146.6 700.8 -7.1 504 10431 0.00 2.53 0.00 0.000 6 0.000 0.058 2288 1902 3473

10752 -0.95 -146.6 721.0 -6.5 520 10753 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3472

11061 -0.95 -146.6 742.0 -7.1 535 11062 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3471

11225 end dive: BOTTOM_OBSTACLE_DETECTED

state 11225 begin apogee

11230 -0.36 0.0 753.8 7.0 543 11357 0.60 0.00 123.75 1.325 6 0.074 0.000 2418 2094 2878

11357 end apogee: CONTROL_FINISHED_OK

state 11357 begin climb

11359 0.95 146.6 757.3 0.0 549 11492 1.30 2.72 124.00 1.275 4 0.054 0.071 2704 3491 2280

11570 0.95 146.6 749.3 7.8 559 11577 0.00 2.58 0.00 0.000 6 0.000 0.058 2704 2104 2279

11886 0.99 183.2 729.0 4.9 575 11919 0.00 0.00 31.42 1.289 6 0.000 0.000 2704 2104 2131

12215 0.99 183.2 706.8 7.2 591 12216 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2104 2131

12525 0.99 183.2 686.0 6.8 606 12529 0.00 2.62 0.00 0.000 4 0.000 0.065 2704 3505 2129

12608 0.99 183.2 679.8 7.3 610 12613 0.00 2.60 0.00 0.000 6 0.000 0.058 2704 2098 2129

12934 0.99 183.2 657.4 7.0 626 12935 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2097 2128

13243 0.99 183.2 637.8 6.3 641 13247 0.00 2.62 0.00 0.000 4 0.000 0.065 2704 3499 2127

13432 1.00 190.0 625.3 5.8 649 13443 0.00 2.55 6.10 1.286 6 0.000 0.054 2704 2099 2103

13764 1.04 225.1 607.6 5.0 666 13796 0.00 0.00 30.17 1.270 6 0.000 0.000 2704 2099 1960

14093 1.04 225.1 588.3 6.3 682 14094 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2099 1959

14402 1.04 225.1 568.5 6.2 697 14406 0.00 2.58 0.00 0.000 4 0.000 0.057 2704 3506 1959

14473 1.04 225.1 563.8 6.4 700 14477 0.00 2.55 0.00 0.000 6 0.000 0.048 2705 2094 1960

14795 1.04 225.1 544.3 6.3 716 14796 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1960

15103 1.04 225.1 522.6 6.8 731 15105 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1960

15413 1.04 225.1 503.2 6.6 746 15414 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1961

15722 1.04 225.1 480.8 7.0 761 15723 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1961

16031 1.04 225.1 458.4 7.2 776 16032 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1962

16341 1.04 225.1 436.0 7.1 791 16342 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1962

16650 1.04 225.1 414.3 6.8 806 16651 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1962

16959 1.04 225.1 391.8 7.3 821 16960 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 1963

17268 1.04 225.1 369.8 7.1 836 17273 0.00 2.58 0.00 0.000 4 0.000 0.066 2705 691 1964

17334 1.04 225.1 365.1 7.6 839 17339 0.00 2.47 0.00 0.000 6 0.000 0.042 2704 2105 1964

17661 1.04 225.1 342.7 6.7 855 17662 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2108 1964

17970 1.04 226.0 323.5 6.0 870 17972 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2109 1964

18280 1.04 226.0 304.4 6.2 885 18289 0.00 2.65 3.03 0.967 4 0.000 0.063 2704 694 1956

18356 1.04 226.0 299.1 6.7 888 18361 0.00 2.50 0.00 0.000 6 0.000 0.041 2704 2102 1956

18678 1.04 226.0 278.6 6.4 904 18679 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2105 1957

18987 1.04 226.0 257.8 6.7 919 18988 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2105 1957

19296 1.04 226.0 238.1 6.1 934 19297 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2105 1957

19606 1.06 237.3 220.0 5.7 949 19621 0.00 2.67 10.40 0.976 4 0.000 0.062 2704 685 1909

19688 1.06 237.3 214.8 6.9 952 19693 0.00 2.53 0.00 0.000 6 0.000 0.041 2705 2105 1909

20014 1.06 238.7 194.5 6.0 968 20016 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2108 1909

20324 1.07 245.9 175.9 5.8 983 20334 0.10 0.00 7.80 0.959 6 0.055 0.000 2748 2108 1875

20633 1.07 245.9 153.2 7.6 998 20637 0.00 2.62 0.00 0.000 4 0.000 0.062 2748 685 1875

20694 1.07 245.9 148.0 8.3 1001 20698 0.00 2.50 0.00 0.000 6 0.000 0.041 2748 2101 1875

21020 1.07 245.9 122.4 8.2 1017 21021 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2104 1875

21329 1.07 245.9 96.6 8.2 1032 21330 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2104 1875

21638 1.07 245.9 72.8 7.4 1047 21643 0.00 2.53 0.00 0.000 4 0.000 0.049 2748 3504 1875

21716 1.07 245.9 66.1 7.8 1050 21723 0.00 2.53 0.00 0.000 6 0.000 0.041 2748 2092 1875

22033 1.07 245.9 41.8 8.2 1066 22037 0.00 2.55 0.00 0.000 4 0.000 0.049 2748 3500 1875

22094 1.07 245.9 36.3 9.6 1069 22098 0.00 2.47 0.00 0.000 6 0.000 0.041 2748 2095 1876

22420 1.07 245.9 9.4 9.5 1085 22421 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2095 1875

22729 1.31 439.0 3.7 0.2 1100 22840 0.15 2.62 102.80 0.763 4 0.061 0.049 2790 3506 1087

23064 1.55 638.3 3.8 0.1 1115 23080 0.20 2.55 10.25 0.801 2 0.056 0.048 2837 2103 1014

23081 end climb: NO_VERTICAL_VELOCITY

state 23081 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	173	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	26	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	-79409.875	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	094907,6232.499,-1134.851,41,1.6,41,-11.0	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,0.032
_SM_DEPTHo	4.41	KALMAN_X	224060.5,698.4,-762.9,-386930.2,8119.9
_SM_ANGLEo	-50.0	KALMAN_Y	91617.9,-188.5,-1509.2,19923.3,6504.2
GPS2	095844,6232.452,-1134.750,13,1.4,13,-11.0	MHEAD_RNG_PITCHd_Wd	289.8,40940,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23084,52.30,0.740,0,0,603,558.06	ALTIM_BOTTOM_PING	726.1,37.4
SM_GC	4.38,12.23,0.00,0.00,0.035,0.000,0.000,30,1890,604,-11.27,-0.28,557.81	_24V_AH	23.3,40.252
IRIDIUM_FIX	6207.28,-1130.49,191207,131302	_10V_AH	10.1,19.041
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56874,1116
HUMID	2033	CFSIZE	260165632,247787520
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,16,0,0
TCM_TEMP	18.80	GPS	191207,163326,6231.697,-1138.000,36,1.9,36,-11.0
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.98	SBE_CT	829	24	463.62
Roll_motor	123	75	218.15	SBE_O2	754	19	333.91
VBD_pump_during_apogee	449	1324	13880.04	WL_BB2F	680	105	1665.11
VBD_pump_during_surface	52	740	901.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	183.73	nil	0	0	0.00
Iridium_during_connect	71	160	267.35	nil	0	0	0.00
Iridium_during_xfer	254	223	1321.96
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.53
TT8	1979	19	395.93
LPSleep	18466	2	408.45
TT8_Active	681	19	136.28
TT8_Sampling	2387	39	959.90
TT8_CF8	620	45	287.02
TT8_Kalman	33	81	27.60
Analog_circuits	1855	12	224.86
GPS_charging	0	0	0.00
Compass	2343	8	189.35
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.40	0.000	2	0.000	0.000	28	1881	1115
46	-0.95	-146.6	4.5	-0.0	1	212	11.15	2.55	-145.65	0.000	4	0.105	0.076	2288	500	3476
357	-0.95	-146.6	17.5	-11.5	15	362	0.00	2.50	0.00	0.000	6	0.000	0.042	2288	1906	3475
680	-0.95	-146.6	42.7	-11.1	31	682	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1908	3475
988	-0.95	-146.6	68.8	-8.1	46	990	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1909	3476
1298	-0.95	-146.6	89.9	-6.3	61	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1909	3476
1607	-0.95	-146.6	112.2	-7.3	76	1608	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1908	3475
1916	-0.95	-146.6	134.7	-6.7	91	1920	0.00	2.50	0.00	0.000	4	0.000	0.049	2288	3297	3476
1987	-0.95	-146.6	139.8	-6.7	94	1991	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1905	3476
2308	-0.95	-146.6	161.5	-6.8	110	2309	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3475
2618	-0.95	-146.6	181.9	-6.2	125	2619	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1905	3475
2927	-0.95	-146.6	202.8	-6.8	140	2931	0.00	2.50	0.00	0.000	4	0.000	0.048	2288	3301	3476
3010	-0.95	-146.6	208.8	-7.7	144	3014	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1894	3475
3335	-0.95	-146.6	230.7	-6.8	160	3336	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3475
3645	-0.95	-146.6	251.3	-6.5	175	3649	0.00	2.55	0.00	0.000	4	0.000	0.049	2288	3307	3475
3710	-0.95	-146.6	255.6	-6.1	178	3714	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1899	3476
4037	-0.95	-146.6	276.1	-6.2	194	4039	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3476
4346	-0.95	-146.6	296.2	-6.7	209	4350	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3300	3475
4411	-0.95	-146.6	300.8	-7.0	212	4416	0.00	2.55	0.00	0.000	6	0.000	0.045	2288	1899	3476
4738	-0.95	-146.6	322.8	-6.7	228	4739	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
5047	-0.95	-146.6	342.4	-6.3	243	5052	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3299	3475
5141	-0.95	-146.6	348.9	-6.7	247	5146	0.00	2.55	0.00	0.000	6	0.000	0.046	2288	1901	3475
5463	-0.95	-146.6	369.5	-6.4	263	5464	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
5772	-0.95	-146.6	389.2	-6.6	278	5776	0.00	2.53	0.00	0.000	4	0.000	0.051	2288	3300	3475
5855	-0.95	-146.6	394.9	-7.4	282	5859	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1901	3475
6180	-0.95	-146.6	417.5	-7.6	298	6181	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
6489	-0.95	-146.6	441.6	-7.9	313	6494	0.00	2.55	0.00	0.000	4	0.000	0.051	2288	3303	3475
6561	-0.95	-146.6	447.2	-8.1	316	6565	0.00	2.55	0.00	0.000	6	0.000	0.047	2288	1907	3475
6882	-0.95	-146.6	470.5	-7.5	332	6883	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3474
7191	-0.95	-146.6	492.4	-6.6	347	7192	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1906	3474
7500	-0.95	-146.6	512.5	-6.6	362	7505	0.00	2.53	0.00	0.000	4	0.000	0.054	2288	3299	3474
7567	-0.95	-146.6	517.0	-6.3	365	7571	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1902	3474
7893	-0.95	-146.6	539.6	-7.0	381	7895	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3473
8203	-0.95	-146.6	559.9	-6.2	396	8204	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3473
8513	-0.95	-146.6	579.1	-6.0	411	8517	0.00	2.55	0.00	0.000	4	0.000	0.055	2288	3299	3474
8596	-0.95	-146.6	584.5	-6.5	415	8601	0.00	2.53	0.00	0.000	6	0.000	0.049	2288	1900	3474
8923	-0.95	-146.6	603.9	-6.2	431	8927	0.00	2.58	0.00	0.000	4	0.000	0.057	2288	3305	3474
8983	-0.95	-146.6	607.9	-6.3	434	8988	0.00	2.55	0.00	0.000	6	0.000	0.050	2288	1896	3474
9309	-0.95	-146.6	629.2	-6.4	450	9310	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1896	3474
9619	-0.95	-146.6	650.2	-6.7	465	9624	0.00	2.58	0.00	0.000	4	0.000	0.059	2288	3305	3473
9696	-0.95	-146.6	655.4	-7.0	468	9703	0.00	2.58	0.00	0.000	6	0.000	0.051	2288	1887	3474
10012	-0.95	-146.6	673.5	-6.0	484	10013	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1888	3473
10322	-0.95	-146.6	693.9	-6.3	499	10326	0.00	2.60	0.00	0.000	4	0.000	0.064	2288	3295	3473
10427	-0.95	-146.6	700.8	-7.1	504	10431	0.00	2.53	0.00	0.000	6	0.000	0.058	2288	1902	3473
10752	-0.95	-146.6	721.0	-6.5	520	10753	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3472
11061	-0.95	-146.6	742.0	-7.1	535	11062	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3471
11225	end dive: BOTTOM_OBSTACLE_DETECTED
state	11225	begin apogee
11230	-0.36	0.0	753.8	7.0	543	11357	0.60	0.00	123.75	1.325	6	0.074	0.000	2418	2094	2878
11357	end apogee: CONTROL_FINISHED_OK
state	11357	begin climb
11359	0.95	146.6	757.3	0.0	549	11492	1.30	2.72	124.00	1.275	4	0.054	0.071	2704	3491	2280
11570	0.95	146.6	749.3	7.8	559	11577	0.00	2.58	0.00	0.000	6	0.000	0.058	2704	2104	2279
11886	0.99	183.2	729.0	4.9	575	11919	0.00	0.00	31.42	1.289	6	0.000	0.000	2704	2104	2131
12215	0.99	183.2	706.8	7.2	591	12216	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2104	2131
12525	0.99	183.2	686.0	6.8	606	12529	0.00	2.62	0.00	0.000	4	0.000	0.065	2704	3505	2129
12608	0.99	183.2	679.8	7.3	610	12613	0.00	2.60	0.00	0.000	6	0.000	0.058	2704	2098	2129
12934	0.99	183.2	657.4	7.0	626	12935	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2097	2128
13243	0.99	183.2	637.8	6.3	641	13247	0.00	2.62	0.00	0.000	4	0.000	0.065	2704	3499	2127
13432	1.00	190.0	625.3	5.8	649	13443	0.00	2.55	6.10	1.286	6	0.000	0.054	2704	2099	2103
13764	1.04	225.1	607.6	5.0	666	13796	0.00	0.00	30.17	1.270	6	0.000	0.000	2704	2099	1960
14093	1.04	225.1	588.3	6.3	682	14094	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2099	1959
14402	1.04	225.1	568.5	6.2	697	14406	0.00	2.58	0.00	0.000	4	0.000	0.057	2704	3506	1959
14473	1.04	225.1	563.8	6.4	700	14477	0.00	2.55	0.00	0.000	6	0.000	0.048	2705	2094	1960
14795	1.04	225.1	544.3	6.3	716	14796	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1960
15103	1.04	225.1	522.6	6.8	731	15105	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1960
15413	1.04	225.1	503.2	6.6	746	15414	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1961
15722	1.04	225.1	480.8	7.0	761	15723	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1961
16031	1.04	225.1	458.4	7.2	776	16032	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1962
16341	1.04	225.1	436.0	7.1	791	16342	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1962
16650	1.04	225.1	414.3	6.8	806	16651	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1962
16959	1.04	225.1	391.8	7.3	821	16960	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	1963
17268	1.04	225.1	369.8	7.1	836	17273	0.00	2.58	0.00	0.000	4	0.000	0.066	2705	691	1964
17334	1.04	225.1	365.1	7.6	839	17339	0.00	2.47	0.00	0.000	6	0.000	0.042	2704	2105	1964
17661	1.04	225.1	342.7	6.7	855	17662	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2108	1964
17970	1.04	226.0	323.5	6.0	870	17972	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2109	1964
18280	1.04	226.0	304.4	6.2	885	18289	0.00	2.65	3.03	0.967	4	0.000	0.063	2704	694	1956
18356	1.04	226.0	299.1	6.7	888	18361	0.00	2.50	0.00	0.000	6	0.000	0.041	2704	2102	1956
18678	1.04	226.0	278.6	6.4	904	18679	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2105	1957
18987	1.04	226.0	257.8	6.7	919	18988	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2105	1957
19296	1.04	226.0	238.1	6.1	934	19297	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2105	1957
19606	1.06	237.3	220.0	5.7	949	19621	0.00	2.67	10.40	0.976	4	0.000	0.062	2704	685	1909
19688	1.06	237.3	214.8	6.9	952	19693	0.00	2.53	0.00	0.000	6	0.000	0.041	2705	2105	1909
20014	1.06	238.7	194.5	6.0	968	20016	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2108	1909
20324	1.07	245.9	175.9	5.8	983	20334	0.10	0.00	7.80	0.959	6	0.055	0.000	2748	2108	1875
20633	1.07	245.9	153.2	7.6	998	20637	0.00	2.62	0.00	0.000	4	0.000	0.062	2748	685	1875
20694	1.07	245.9	148.0	8.3	1001	20698	0.00	2.50	0.00	0.000	6	0.000	0.041	2748	2101	1875
21020	1.07	245.9	122.4	8.2	1017	21021	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2104	1875
21329	1.07	245.9	96.6	8.2	1032	21330	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2104	1875
21638	1.07	245.9	72.8	7.4	1047	21643	0.00	2.53	0.00	0.000	4	0.000	0.049	2748	3504	1875
21716	1.07	245.9	66.1	7.8	1050	21723	0.00	2.53	0.00	0.000	6	0.000	0.041	2748	2092	1875
22033	1.07	245.9	41.8	8.2	1066	22037	0.00	2.55	0.00	0.000	4	0.000	0.049	2748	3500	1875
22094	1.07	245.9	36.3	9.6	1069	22098	0.00	2.47	0.00	0.000	6	0.000	0.041	2748	2095	1876
22420	1.07	245.9	9.4	9.5	1085	22421	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2095	1875
22729	1.31	439.0	3.7	0.2	1100	22840	0.15	2.62	102.80	0.763	4	0.061	0.049	2790	3506	1087
23064	1.55	638.3	3.8	0.1	1115	23080	0.20	2.55	10.25	0.801	2	0.056	0.048	2837	2103	1014
23081	end climb: NO_VERTICAL_VELOCITY
state	23081	begin surface