Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 177 * 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 177 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -79491.461 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 -79491.461

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 177 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 122902,6233.708,-1141.991,39,1.4,39,-11.1 TGT_NAME GW

_CALLS 3 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.131,0.163

_SM_DEPTHo 4.29 KALMAN_X 241659.4,31.5,-3117.3,-407802.7,16455.7

_SM_ANGLEo -51.3 KALMAN_Y 77581.2,142.4,949.5,33543.1,-9559.0

GPS2 124302,6233.746,-1141.908,14,1.6,31,-11.1 MHEAD_RNG_PITCHd_Wd 332.3,34401,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22043,92.85,0.737,0,0,603,558.06 ALTIM_BOTTOM_PING 700.2,35.4

SM_GC 4.33,11.85,0.00,0.00,0.028,0.000,0.000,30,1880,604,-11.25,-0.59,557.81 _24V_AH 23.3,40.972

IRIDIUM_FIX 6202.67,-723.68,201207,161611 _10V_AH 10.1,19.444

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53639,1065

HUMID 2026 CFSIZE 260165632,247521280

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,0,0

TCM_TEMP 18.50 GPS 201207,190102,6237.518,-1145.418,36,1.3,36,-11.2

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.03 SBE_CT 795 24 445.10

Roll_motor 82 77 148.82 SBE_O2 719 19 318.46

VBD_pump_during_apogee 406 1305 12352.19 WL_BB2F 648 105 1585.39

VBD_pump_during_surface 92 737 1594.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 112 103 270.47 nil 0 0 0.00

Iridium_during_connect 130 160 488.00 nil 0 0 0.00

Iridium_during_xfer 321 223 1671.73

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.54

TT8 1853 19 370.59

LPSleep 17935 2 396.71

TT8_Active 693 19 138.62

TT8_Sampling 2112 39 849.02

TT8_CF8 800 45 370.27

TT8_Kalman 33 81 27.56

Analog_circuits 1709 12 207.25

GPS_charging 0 0 0.00

Compass 2069 8 167.25

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.95 -146.6 0.0 0.0 0 45 0.00 0.00 -21.65 0.000 2 0.000 0.000 28 1896 1116

48 -0.95 -146.6 4.2 -0.0 1 213 11.15 2.65 -144.57 0.000 4 0.106 0.077 2287 493 3476

466 -0.95 -146.6 28.0 -7.3 20 471 0.00 2.50 0.00 0.000 6 0.000 0.039 2287 1907 3477

794 -0.95 -146.6 51.9 -9.1 36 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3477

1103 -0.95 -146.6 75.3 -7.4 51 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

1412 -0.95 -146.6 100.7 -8.5 66 1413 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3476

1721 -0.95 -146.6 124.2 -7.4 81 1726 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3301 3477

1793 -0.95 -146.6 130.0 -7.8 84 1797 0.00 2.55 0.00 0.000 6 0.000 0.044 2287 1880 3476

2114 -0.95 -146.6 155.4 -8.3 100 2115 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1880 3477

2424 -0.95 -146.6 180.4 -8.2 115 2425 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1880 3476

2733 -0.95 -146.6 204.6 -7.5 130 2737 0.00 2.58 0.00 0.000 4 0.000 0.048 2287 3307 3476

2816 -0.95 -146.6 210.9 -7.5 134 2820 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1900 3476

3141 -0.95 -146.6 235.4 -7.9 150 3142 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

3450 -0.95 -146.6 259.1 -7.6 165 3454 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3300 3476

3516 -0.95 -146.6 264.1 -7.6 168 3520 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3476

3843 -0.95 -146.6 287.8 -7.2 184 3844 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

4152 -0.95 -146.6 309.9 -7.3 199 4156 0.00 2.55 0.00 0.000 4 0.000 0.050 2287 3302 3476

4229 -0.95 -146.6 316.1 -7.7 202 4235 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1897 3476

4544 -0.95 -146.6 339.2 -7.1 218 4545 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3476

4853 -0.95 -146.6 360.8 -7.0 233 4858 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3303 3476

4919 -0.95 -146.6 365.5 -7.2 236 4924 0.00 2.55 0.00 0.000 6 0.000 0.046 2287 1887 3475

5246 -0.95 -146.6 388.2 -7.0 252 5247 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1886 3476

5555 -0.95 -146.6 409.2 -6.8 267 5559 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3298 3475

5616 -0.95 -146.6 413.3 -6.6 270 5620 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1900 3475

5942 -0.95 -146.6 434.4 -6.5 286 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

6251 -0.95 -146.6 453.7 -5.9 301 6253 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

6561 -0.95 -146.6 471.5 -5.8 316 6565 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3303 3475

6637 -0.95 -146.6 476.4 -6.1 319 6644 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1893 3475

6953 -0.95 -146.6 494.8 -5.8 335 6954 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1889 3474

7262 -0.95 -146.6 512.8 -5.8 350 7267 0.00 2.55 0.00 0.000 4 0.000 0.054 2287 3299 3474

7385 -0.95 -146.6 520.2 -6.0 355 7392 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1903 3474

7701 -0.95 -146.6 539.1 -6.2 371 7702 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3474

8010 -0.95 -146.6 558.7 -6.5 386 8011 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3474

8319 -0.95 -146.6 578.3 -6.2 401 8320 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1903 3474

8628 -0.95 -146.6 599.8 -6.8 416 8636 0.00 2.58 0.00 0.000 4 0.000 0.058 2287 3301 3474

8720 -0.95 -146.6 606.0 -6.6 420 8725 0.00 2.55 0.00 0.000 6 0.000 0.051 2287 1900 3474

9047 -0.95 -146.6 623.2 -4.6 436 9049 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

9356 -0.95 -146.6 638.6 -5.7 451 9358 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3473

9665 -0.95 -146.6 656.8 -5.3 466 9670 0.00 2.58 0.00 0.000 4 0.000 0.061 2287 3302 3474

9720 -0.95 -146.6 660.0 -6.1 468 9727 0.00 2.58 0.00 0.000 6 0.000 0.054 2287 1894 3473

10036 -0.95 -146.6 676.8 -5.3 484 10037 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3473

10345 -0.95 -146.6 696.4 -6.5 499 10349 0.00 2.60 0.00 0.000 4 0.000 0.064 2287 3297 3472

10403 -0.95 -146.6 700.2 -6.6 501 10409 0.00 2.55 0.00 0.000 6 0.000 0.058 2287 1901 3472

10718 -0.95 -146.6 719.2 -6.0 517 10719 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3471

10840 end dive: BOTTOM_OBSTACLE_DETECTED

state 10840 begin apogee

10845 -0.36 0.0 726.3 5.4 523 10972 0.60 0.00 123.55 1.305 6 0.072 0.000 2418 2095 2878

10972 end apogee: CONTROL_FINISHED_OK

state 10972 begin climb

10974 0.95 146.6 729.3 0.0 529 11103 1.30 0.00 123.57 1.262 6 0.054 0.000 2704 2094 2280

11412 0.99 177.5 708.7 5.1 551 11440 0.00 0.00 26.73 1.273 6 0.000 0.000 2704 2094 2154

11740 0.99 177.5 687.2 8.4 567 11741 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 2153

12050 0.99 177.5 665.7 6.9 582 12051 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 2152

12359 0.99 177.5 643.3 7.0 597 12360 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2094 2151

12668 0.99 177.5 623.9 6.0 612 12672 0.00 2.60 0.00 0.000 4 0.000 0.063 2703 3500 2151

12768 0.99 177.5 617.4 6.4 616 12774 0.00 2.58 0.00 0.000 6 0.000 0.055 2704 2095 2151

13083 0.99 182.5 598.6 5.9 632 13089 0.00 0.00 4.53 1.255 6 0.000 0.000 2704 2095 2134

13392 0.99 182.5 577.3 7.3 647 13393 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2134

13701 0.99 182.5 556.8 6.0 662 13703 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2134

14011 1.03 214.7 541.1 5.0 677 14040 0.00 0.00 27.80 1.236 6 0.000 0.000 2704 2095 2002

14340 1.03 214.7 520.1 6.7 693 14341 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2002

14649 1.03 214.7 499.5 6.6 708 14650 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2096 2002

14958 1.03 214.7 477.5 7.6 723 14959 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2003

15267 1.03 214.7 453.8 7.5 738 15269 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2003

15577 1.03 214.7 432.3 6.6 753 15578 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2003

15886 1.03 214.7 411.7 6.6 768 15887 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2004

16195 1.03 214.7 390.7 6.6 783 16196 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2004

16505 1.03 214.7 370.3 6.4 798 16506 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2095 2005

16814 1.03 214.7 350.6 6.2 813 16815 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2096 2005

17123 1.04 224.4 332.2 5.7 828 17135 0.00 0.00 9.70 1.061 6 0.000 0.000 2704 2095 1963

17433 1.06 234.6 314.8 5.7 843 17444 0.00 0.00 9.50 1.041 6 0.000 0.000 2704 2095 1921

17742 1.07 243.3 296.8 5.7 858 17752 0.10 0.00 7.97 1.030 6 0.054 0.000 2744 2095 1886

18051 1.07 243.3 274.8 6.9 873 18052 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2095 1886

18360 1.07 243.3 252.6 7.1 888 18361 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2095 1886

18669 1.07 243.3 230.3 7.3 903 18674 0.00 2.58 0.00 0.000 4 0.000 0.064 2744 690 1886

18719 1.07 243.3 226.3 8.1 905 18723 0.00 2.50 0.00 0.000 6 0.000 0.041 2744 2106 1886

19034 1.07 243.3 202.6 7.5 920 19035 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2110 1886

19343 1.07 243.3 179.3 7.4 935 19344 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2110 1887

19653 1.07 243.3 157.2 7.2 950 19654 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2110 1887

19962 1.07 243.3 134.4 7.6 965 19967 0.00 2.62 0.00 0.000 4 0.000 0.062 2744 690 1887

20028 1.07 243.3 128.8 9.1 968 20033 0.00 2.50 0.00 0.000 6 0.000 0.040 2744 2109 1887

20356 1.07 243.3 103.6 7.5 984 20357 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2112 1887

20666 1.07 243.3 81.7 6.8 999 20667 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2113 1887

20974 1.07 243.3 57.6 7.5 1014 20975 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2113 1887

21283 1.07 243.3 33.4 7.9 1029 21288 0.00 2.62 0.00 0.000 4 0.000 0.061 2744 689 1888

21338 1.07 243.3 28.5 8.4 1031 21345 0.00 2.50 0.00 0.000 6 0.000 0.040 2744 2099 1888

21654 1.07 243.3 4.6 7.5 1047 21655 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2099 1888

21964 1.31 444.5 3.8 0.0 1062 22040 0.15 0.00 72.75 0.778 2 0.058 0.000 2787 2102 1340

22040 end climb: NO_VERTICAL_VELOCITY

state 22040 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	177	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-79491.461	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	122902,6233.708,-1141.991,39,1.4,39,-11.1	TGT_NAME	GW
_CALLS	3	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.131,0.163
_SM_DEPTHo	4.29	KALMAN_X	241659.4,31.5,-3117.3,-407802.7,16455.7
_SM_ANGLEo	-51.3	KALMAN_Y	77581.2,142.4,949.5,33543.1,-9559.0
GPS2	124302,6233.746,-1141.908,14,1.6,31,-11.1	MHEAD_RNG_PITCHd_Wd	332.3,34401,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22043,92.85,0.737,0,0,603,558.06	ALTIM_BOTTOM_PING	700.2,35.4
SM_GC	4.33,11.85,0.00,0.00,0.028,0.000,0.000,30,1880,604,-11.25,-0.59,557.81	_24V_AH	23.3,40.972
IRIDIUM_FIX	6202.67,-723.68,201207,161611	_10V_AH	10.1,19.444
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53639,1065
HUMID	2026	CFSIZE	260165632,247521280
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
TCM_TEMP	18.50	GPS	201207,190102,6237.518,-1145.418,36,1.3,36,-11.2
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.03	SBE_CT	795	24	445.10
Roll_motor	82	77	148.82	SBE_O2	719	19	318.46
VBD_pump_during_apogee	406	1305	12352.19	WL_BB2F	648	105	1585.39
VBD_pump_during_surface	92	737	1594.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	112	103	270.47	nil	0	0	0.00
Iridium_during_connect	130	160	488.00	nil	0	0	0.00
Iridium_during_xfer	321	223	1671.73
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.54
TT8	1853	19	370.59
LPSleep	17935	2	396.71
TT8_Active	693	19	138.62
TT8_Sampling	2112	39	849.02
TT8_CF8	800	45	370.27
TT8_Kalman	33	81	27.56
Analog_circuits	1709	12	207.25
GPS_charging	0	0	0.00
Compass	2069	8	167.25
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.95	-146.6	0.0	0.0	0	45	0.00	0.00	-21.65	0.000	2	0.000	0.000	28	1896	1116
48	-0.95	-146.6	4.2	-0.0	1	213	11.15	2.65	-144.57	0.000	4	0.106	0.077	2287	493	3476
466	-0.95	-146.6	28.0	-7.3	20	471	0.00	2.50	0.00	0.000	6	0.000	0.039	2287	1907	3477
794	-0.95	-146.6	51.9	-9.1	36	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3477
1103	-0.95	-146.6	75.3	-7.4	51	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
1412	-0.95	-146.6	100.7	-8.5	66	1413	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3476
1721	-0.95	-146.6	124.2	-7.4	81	1726	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3301	3477
1793	-0.95	-146.6	130.0	-7.8	84	1797	0.00	2.55	0.00	0.000	6	0.000	0.044	2287	1880	3476
2114	-0.95	-146.6	155.4	-8.3	100	2115	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1880	3477
2424	-0.95	-146.6	180.4	-8.2	115	2425	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1880	3476
2733	-0.95	-146.6	204.6	-7.5	130	2737	0.00	2.58	0.00	0.000	4	0.000	0.048	2287	3307	3476
2816	-0.95	-146.6	210.9	-7.5	134	2820	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1900	3476
3141	-0.95	-146.6	235.4	-7.9	150	3142	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
3450	-0.95	-146.6	259.1	-7.6	165	3454	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3300	3476
3516	-0.95	-146.6	264.1	-7.6	168	3520	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3476
3843	-0.95	-146.6	287.8	-7.2	184	3844	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
4152	-0.95	-146.6	309.9	-7.3	199	4156	0.00	2.55	0.00	0.000	4	0.000	0.050	2287	3302	3476
4229	-0.95	-146.6	316.1	-7.7	202	4235	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1897	3476
4544	-0.95	-146.6	339.2	-7.1	218	4545	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3476
4853	-0.95	-146.6	360.8	-7.0	233	4858	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3303	3476
4919	-0.95	-146.6	365.5	-7.2	236	4924	0.00	2.55	0.00	0.000	6	0.000	0.046	2287	1887	3475
5246	-0.95	-146.6	388.2	-7.0	252	5247	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1886	3476
5555	-0.95	-146.6	409.2	-6.8	267	5559	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3298	3475
5616	-0.95	-146.6	413.3	-6.6	270	5620	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1900	3475
5942	-0.95	-146.6	434.4	-6.5	286	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
6251	-0.95	-146.6	453.7	-5.9	301	6253	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
6561	-0.95	-146.6	471.5	-5.8	316	6565	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3303	3475
6637	-0.95	-146.6	476.4	-6.1	319	6644	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1893	3475
6953	-0.95	-146.6	494.8	-5.8	335	6954	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1889	3474
7262	-0.95	-146.6	512.8	-5.8	350	7267	0.00	2.55	0.00	0.000	4	0.000	0.054	2287	3299	3474
7385	-0.95	-146.6	520.2	-6.0	355	7392	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1903	3474
7701	-0.95	-146.6	539.1	-6.2	371	7702	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3474
8010	-0.95	-146.6	558.7	-6.5	386	8011	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3474
8319	-0.95	-146.6	578.3	-6.2	401	8320	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1903	3474
8628	-0.95	-146.6	599.8	-6.8	416	8636	0.00	2.58	0.00	0.000	4	0.000	0.058	2287	3301	3474
8720	-0.95	-146.6	606.0	-6.6	420	8725	0.00	2.55	0.00	0.000	6	0.000	0.051	2287	1900	3474
9047	-0.95	-146.6	623.2	-4.6	436	9049	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
9356	-0.95	-146.6	638.6	-5.7	451	9358	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3473
9665	-0.95	-146.6	656.8	-5.3	466	9670	0.00	2.58	0.00	0.000	4	0.000	0.061	2287	3302	3474
9720	-0.95	-146.6	660.0	-6.1	468	9727	0.00	2.58	0.00	0.000	6	0.000	0.054	2287	1894	3473
10036	-0.95	-146.6	676.8	-5.3	484	10037	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3473
10345	-0.95	-146.6	696.4	-6.5	499	10349	0.00	2.60	0.00	0.000	4	0.000	0.064	2287	3297	3472
10403	-0.95	-146.6	700.2	-6.6	501	10409	0.00	2.55	0.00	0.000	6	0.000	0.058	2287	1901	3472
10718	-0.95	-146.6	719.2	-6.0	517	10719	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3471
10840	end dive: BOTTOM_OBSTACLE_DETECTED
state	10840	begin apogee
10845	-0.36	0.0	726.3	5.4	523	10972	0.60	0.00	123.55	1.305	6	0.072	0.000	2418	2095	2878
10972	end apogee: CONTROL_FINISHED_OK
state	10972	begin climb
10974	0.95	146.6	729.3	0.0	529	11103	1.30	0.00	123.57	1.262	6	0.054	0.000	2704	2094	2280
11412	0.99	177.5	708.7	5.1	551	11440	0.00	0.00	26.73	1.273	6	0.000	0.000	2704	2094	2154
11740	0.99	177.5	687.2	8.4	567	11741	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	2153
12050	0.99	177.5	665.7	6.9	582	12051	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	2152
12359	0.99	177.5	643.3	7.0	597	12360	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2094	2151
12668	0.99	177.5	623.9	6.0	612	12672	0.00	2.60	0.00	0.000	4	0.000	0.063	2703	3500	2151
12768	0.99	177.5	617.4	6.4	616	12774	0.00	2.58	0.00	0.000	6	0.000	0.055	2704	2095	2151
13083	0.99	182.5	598.6	5.9	632	13089	0.00	0.00	4.53	1.255	6	0.000	0.000	2704	2095	2134
13392	0.99	182.5	577.3	7.3	647	13393	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2134
13701	0.99	182.5	556.8	6.0	662	13703	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2134
14011	1.03	214.7	541.1	5.0	677	14040	0.00	0.00	27.80	1.236	6	0.000	0.000	2704	2095	2002
14340	1.03	214.7	520.1	6.7	693	14341	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2002
14649	1.03	214.7	499.5	6.6	708	14650	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2096	2002
14958	1.03	214.7	477.5	7.6	723	14959	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2003
15267	1.03	214.7	453.8	7.5	738	15269	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2003
15577	1.03	214.7	432.3	6.6	753	15578	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2003
15886	1.03	214.7	411.7	6.6	768	15887	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2004
16195	1.03	214.7	390.7	6.6	783	16196	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2004
16505	1.03	214.7	370.3	6.4	798	16506	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2095	2005
16814	1.03	214.7	350.6	6.2	813	16815	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2096	2005
17123	1.04	224.4	332.2	5.7	828	17135	0.00	0.00	9.70	1.061	6	0.000	0.000	2704	2095	1963
17433	1.06	234.6	314.8	5.7	843	17444	0.00	0.00	9.50	1.041	6	0.000	0.000	2704	2095	1921
17742	1.07	243.3	296.8	5.7	858	17752	0.10	0.00	7.97	1.030	6	0.054	0.000	2744	2095	1886
18051	1.07	243.3	274.8	6.9	873	18052	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2095	1886
18360	1.07	243.3	252.6	7.1	888	18361	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2095	1886
18669	1.07	243.3	230.3	7.3	903	18674	0.00	2.58	0.00	0.000	4	0.000	0.064	2744	690	1886
18719	1.07	243.3	226.3	8.1	905	18723	0.00	2.50	0.00	0.000	6	0.000	0.041	2744	2106	1886
19034	1.07	243.3	202.6	7.5	920	19035	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2110	1886
19343	1.07	243.3	179.3	7.4	935	19344	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2110	1887
19653	1.07	243.3	157.2	7.2	950	19654	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2110	1887
19962	1.07	243.3	134.4	7.6	965	19967	0.00	2.62	0.00	0.000	4	0.000	0.062	2744	690	1887
20028	1.07	243.3	128.8	9.1	968	20033	0.00	2.50	0.00	0.000	6	0.000	0.040	2744	2109	1887
20356	1.07	243.3	103.6	7.5	984	20357	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2112	1887
20666	1.07	243.3	81.7	6.8	999	20667	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2113	1887
20974	1.07	243.3	57.6	7.5	1014	20975	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2113	1887
21283	1.07	243.3	33.4	7.9	1029	21288	0.00	2.62	0.00	0.000	4	0.000	0.061	2744	689	1888
21338	1.07	243.3	28.5	8.4	1031	21345	0.00	2.50	0.00	0.000	6	0.000	0.040	2744	2099	1888
21654	1.07	243.3	4.6	7.5	1047	21655	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2099	1888
21964	1.31	444.5	3.8	0.0	1062	22040	0.15	0.00	72.75	0.778	2	0.058	0.000	2787	2102	1340
22040	end climb: NO_VERTICAL_VELOCITY
state	22040	begin surface