Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 179 * 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 179 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 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 -79520.023 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 -79520.023

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 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 179 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 010308,6238.854,-1155.180,37,1.3,37,-11.3 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 5 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,0.166

_SM_DEPTHo 4.19 KALMAN_X 239058.2,-184.5,-4806.2,-415200.0,15221.7

_SM_ANGLEo -55.0 KALMAN_Y 77653.6,-323.4,1124.7,43213.2,-6570.4

GPS2 011233,6238.839,-1155.395,10,1.5,10,-11.3 MHEAD_RNG_PITCHd_Wd 333.9,21034,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22121,17.00,0.742,0,0,603,558.06 ALTIM_BOTTOM_PING 650.7,95.7

SM_GC 4.25,12.07,0.00,0.00,0.026,0.000,0.000,28,1867,604,-11.27,-0.93,557.81 _24V_AH 23.3,41.314

IRIDIUM_FIX 6216.53,-1151.63,211207,050500 _10V_AH 10.1,19.637

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53626,1069

HUMID 2022 CFSIZE 260165632,247382016

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.80 GPS 211207,073038,6242.615,-1203.161,37,1.0,37,-11.4

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 63.04 SBE_CT 788 24 441.06

Roll_motor 123 79 227.01 SBE_O2 721 19 319.51

VBD_pump_during_apogee 486 1333 15120.15 WL_BB2F 672 105 1644.13

VBD_pump_during_surface 17 741 293.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 177.11 nil 0 0 0.00

Iridium_during_connect 73 160 274.19 nil 0 0 0.00

Iridium_during_xfer 251 223 1306.51

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.88

TT8 1889 19 377.88

LPSleep 17662 2 390.68

TT8_Active 663 19 132.65

TT8_Sampling 2298 39 923.90

TT8_CF8 611 45 283.06

TT8_Kalman 33 81 27.56

Analog_circuits 1819 12 220.48

GPS_charging 0 0 0.00

Compass 2264 8 182.97

RAFOS 0 0 0.00

Guidance and control:

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -20.23 0.000 2 0.000 0.000 29 1890 1082

46 -0.95 -146.6 4.2 -0.0 1 218 11.12 2.62 -152.88 0.000 4 0.105 0.077 2284 495 3476

471 -0.95 -146.6 26.9 -11.4 20 478 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1898 3476

787 -0.95 -146.6 50.8 -7.0 36 788 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

1096 -0.95 -146.6 76.4 -8.4 51 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

1406 -0.95 -146.6 100.0 -7.7 66 1410 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3300 3476

1471 -0.95 -146.6 105.1 -7.8 69 1476 0.00 2.55 0.00 0.000 6 0.000 0.043 2285 1882 3476

1800 -0.95 -146.6 129.8 -7.5 85 1801 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1882 3476

2109 -0.95 -146.6 151.0 -6.2 100 2113 0.00 2.58 0.00 0.000 4 0.000 0.047 2285 3305 3476

2208 -0.95 -146.6 157.4 -6.1 104 2215 0.00 2.55 0.00 0.000 6 0.000 0.043 2285 1901 3476

2525 -0.95 -146.6 175.5 -5.7 120 2526 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

2834 -0.95 -146.6 192.6 -5.8 135 2838 0.00 2.53 0.00 0.000 4 0.000 0.047 2285 3305 3476

2905 -0.95 -146.6 197.4 -6.6 138 2909 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1898 3476

3226 -0.95 -146.6 219.8 -7.5 154 3227 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

3536 -0.95 -146.6 242.8 -7.8 169 3540 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3298 3476

3613 -0.95 -146.6 249.1 -7.7 172 3619 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1890 3476

3929 -0.95 -146.6 273.3 -7.7 188 3930 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1890 3476

4237 -0.95 -146.6 295.7 -6.9 203 4242 0.00 2.55 0.00 0.000 4 0.000 0.049 2285 3301 3476

4326 -0.95 -146.6 302.2 -7.3 207 4330 0.00 2.55 0.00 0.000 6 0.000 0.044 2285 1902 3476

4653 -0.95 -146.6 324.2 -6.6 223 4654 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

4962 -0.95 -146.6 346.3 -7.0 238 4966 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3300 3476

5033 -0.95 -146.6 351.7 -7.8 241 5037 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1896 3476

5354 -0.95 -146.6 377.1 -8.4 257 5355 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3476

5663 -0.95 -146.6 401.8 -7.7 272 5667 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3297 3476

5728 -0.95 -146.6 407.0 -8.0 275 5733 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1898 3476

6056 -0.95 -146.6 430.8 -7.5 291 6057 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

6365 -0.95 -146.6 452.7 -6.7 306 6369 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3300 3476

6452 -0.95 -146.6 458.8 -6.6 310 6457 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1900 3475

6780 -0.95 -146.6 479.6 -6.6 326 6781 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

7090 -0.95 -146.6 500.2 -7.0 341 7094 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3305 3475

7144 -0.95 -146.6 504.3 -7.6 343 7151 0.00 2.55 0.00 0.000 6 0.000 0.046 2285 1892 3475

7460 -0.95 -146.6 529.8 -8.6 359 7461 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1892 3475

7769 -0.95 -146.6 556.2 -8.5 374 7770 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1892 3475

8078 -0.95 -146.6 581.1 -7.5 389 8083 0.00 2.58 0.00 0.000 4 0.000 0.055 2284 3297 3475

8162 -0.95 -146.6 587.6 -8.1 393 8166 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1901 3475

8488 -0.95 -146.6 607.4 -5.5 409 8489 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

8797 -0.95 -146.6 626.5 -6.7 424 8798 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3475

9107 -0.95 -146.6 643.7 -5.1 439 9108 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

9415 -0.95 -146.6 658.7 -5.0 454 9420 0.00 2.58 0.00 0.000 4 0.000 0.060 2285 3294 3474

9477 -0.95 -146.6 662.0 -5.4 457 9482 0.00 2.55 0.00 0.000 6 0.000 0.054 2284 1900 3474

9803 -0.95 -146.6 681.2 -6.0 473 9805 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

10113 -0.95 -146.6 697.8 -5.6 488 10114 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3473

10422 -0.95 -146.6 714.5 -5.1 503 10423 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3471

10731 -0.95 -146.6 735.1 -5.9 518 10736 0.00 2.58 0.00 0.000 4 0.000 0.064 2285 3294 3470

10751 end dive: BOTTOM_OBSTACLE_DETECTED

state 10751 begin apogee

10758 -0.36 0.0 736.6 7.4 519 10884 0.57 0.00 123.35 1.334 6 0.072 0.000 2413 2095 2878

10885 end apogee: CONTROL_FINISHED_OK

state 10885 begin climb

10887 0.95 146.6 740.7 0.0 525 11018 1.30 2.75 122.80 1.297 4 0.055 0.076 2702 695 2280

11099 0.98 173.2 733.1 5.2 535 11128 0.00 2.55 23.23 1.280 6 0.000 0.054 2701 2085 2171

11449 0.98 173.2 709.0 6.3 552 11454 0.00 2.67 0.00 0.000 4 0.000 0.067 2702 3507 2170

11549 0.98 173.2 702.5 6.3 556 11556 0.00 2.60 0.00 0.000 6 0.000 0.057 2702 2104 2170

11865 1.02 202.1 687.2 5.1 572 11892 0.00 0.00 25.10 1.310 6 0.000 0.000 2701 2104 2053

12194 1.02 202.1 664.6 7.3 588 12198 0.00 2.62 0.00 0.000 4 0.000 0.064 2702 3505 2052

12248 1.02 202.1 660.6 7.4 590 12255 0.00 2.62 0.00 0.000 6 0.000 0.056 2702 2099 2051

12564 1.02 208.2 639.9 5.8 606 12571 0.00 0.00 5.70 1.277 6 0.000 0.000 2702 2099 2029

12873 1.02 208.2 623.3 6.8 621 12877 0.00 2.67 0.00 0.000 4 0.000 0.079 2702 687 2029

12944 1.02 208.2 617.7 8.1 624 12948 0.00 2.55 0.00 0.000 6 0.000 0.051 2702 2105 2029

13265 1.02 208.2 591.4 8.2 640 13266 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2028

13574 1.02 208.2 569.6 6.3 655 13575 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 2028

13884 1.02 208.2 549.8 6.6 670 13888 0.00 2.65 0.00 0.000 4 0.000 0.070 2702 689 2028

13944 1.02 208.2 545.3 7.1 673 13949 0.00 2.53 0.00 0.000 6 0.000 0.048 2702 2104 2028

14270 1.02 208.2 520.4 8.6 689 14271 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2028

14580 1.02 208.2 493.3 8.3 704 14581 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2028

14889 1.02 208.2 470.9 6.7 719 14890 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2027

15198 1.02 208.2 450.9 6.5 734 15199 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 2029

15507 1.02 208.2 430.5 6.7 749 15509 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 2029

15816 1.02 208.2 409.7 6.6 764 15817 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 2030

16126 1.02 208.2 387.3 7.7 779 16130 0.00 2.65 0.00 0.000 4 0.000 0.064 2702 685 2030

16187 1.02 208.2 382.3 8.2 782 16191 0.00 2.50 0.00 0.000 6 0.000 0.042 2702 2101 2030

16512 1.02 208.2 356.2 8.0 798 16513 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2031

16821 1.02 208.2 331.8 7.8 813 16822 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2031

17131 1.02 208.2 308.7 7.3 828 17132 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2032

17440 1.02 208.2 288.4 6.4 843 17444 0.00 2.62 0.00 0.000 4 0.000 0.063 2702 679 2032

17510 1.02 208.2 283.4 7.2 846 17515 0.00 2.53 0.00 0.000 6 0.000 0.041 2702 2105 2032

17832 1.03 211.4 263.4 5.9 862 17838 0.00 0.00 4.57 0.992 6 0.000 0.000 2702 2110 2016

18141 1.03 211.4 244.3 6.2 877 18142 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2110 2016

18450 1.03 211.4 224.3 6.6 892 18454 0.00 2.62 0.00 0.000 4 0.000 0.061 2701 680 2017

18516 1.03 211.4 219.5 6.7 895 18520 0.00 2.50 0.00 0.000 6 0.000 0.041 2701 2099 2017

18843 1.03 211.4 197.9 6.5 911 18844 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2017

19152 1.03 211.4 177.5 6.7 926 19153 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2017

19462 1.03 211.4 157.1 6.5 941 19466 0.00 2.60 0.00 0.000 4 0.000 0.061 2702 688 2017

19516 1.03 211.4 153.2 6.7 943 19522 0.00 2.53 0.00 0.000 6 0.000 0.040 2702 2120 2018

19832 1.10 268.9 136.9 4.3 959 19881 0.15 0.00 46.17 0.894 6 0.041 0.000 2760 2125 1781

20183 1.10 268.9 110.0 8.2 976 20185 0.12 0.00 0.00 0.000 6 0.084 0.000 2734 2125 1781

20490 1.10 268.9 87.3 7.2 991 20494 0.00 2.67 0.00 0.000 4 0.000 0.061 2734 684 1781

20544 1.10 268.9 82.7 9.1 993 20551 0.00 2.50 0.00 0.000 6 0.000 0.040 2734 2093 1781

20860 1.10 268.9 60.3 7.2 1009 20861 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2097 1780

21169 1.10 268.9 37.6 7.8 1024 21170 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2097 1781

21479 1.10 268.9 10.4 7.9 1039 21480 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2097 1781

21790 1.34 468.8 3.6 0.0 1054 21901 0.20 2.65 105.22 0.767 4 0.044 0.060 2794 688 966

22081 1.58 665.0 3.5 0.2 1067 22117 0.20 2.50 30.38 0.769 2 0.064 0.040 2840 2114 727

22118 end climb: NO_VERTICAL_VELOCITY

state 22118 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	179	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	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	-79520.023	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	010308,6238.854,-1155.180,37,1.3,37,-11.3	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	5	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,0.166
_SM_DEPTHo	4.19	KALMAN_X	239058.2,-184.5,-4806.2,-415200.0,15221.7
_SM_ANGLEo	-55.0	KALMAN_Y	77653.6,-323.4,1124.7,43213.2,-6570.4
GPS2	011233,6238.839,-1155.395,10,1.5,10,-11.3	MHEAD_RNG_PITCHd_Wd	333.9,21034,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22121,17.00,0.742,0,0,603,558.06	ALTIM_BOTTOM_PING	650.7,95.7
SM_GC	4.25,12.07,0.00,0.00,0.026,0.000,0.000,28,1867,604,-11.27,-0.93,557.81	_24V_AH	23.3,41.314
IRIDIUM_FIX	6216.53,-1151.63,211207,050500	_10V_AH	10.1,19.637
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53626,1069
HUMID	2022	CFSIZE	260165632,247382016
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.80	GPS	211207,073038,6242.615,-1203.161,37,1.0,37,-11.4
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	63.04	SBE_CT	788	24	441.06
Roll_motor	123	79	227.01	SBE_O2	721	19	319.51
VBD_pump_during_apogee	486	1333	15120.15	WL_BB2F	672	105	1644.13
VBD_pump_during_surface	17	741	293.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	177.11	nil	0	0	0.00
Iridium_during_connect	73	160	274.19	nil	0	0	0.00
Iridium_during_xfer	251	223	1306.51
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.88
TT8	1889	19	377.88
LPSleep	17662	2	390.68
TT8_Active	663	19	132.65
TT8_Sampling	2298	39	923.90
TT8_CF8	611	45	283.06
TT8_Kalman	33	81	27.56
Analog_circuits	1819	12	220.48
GPS_charging	0	0	0.00
Compass	2264	8	182.97
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-20.23	0.000	2	0.000	0.000	29	1890	1082
46	-0.95	-146.6	4.2	-0.0	1	218	11.12	2.62	-152.88	0.000	4	0.105	0.077	2284	495	3476
471	-0.95	-146.6	26.9	-11.4	20	478	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1898	3476
787	-0.95	-146.6	50.8	-7.0	36	788	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
1096	-0.95	-146.6	76.4	-8.4	51	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
1406	-0.95	-146.6	100.0	-7.7	66	1410	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3300	3476
1471	-0.95	-146.6	105.1	-7.8	69	1476	0.00	2.55	0.00	0.000	6	0.000	0.043	2285	1882	3476
1800	-0.95	-146.6	129.8	-7.5	85	1801	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1882	3476
2109	-0.95	-146.6	151.0	-6.2	100	2113	0.00	2.58	0.00	0.000	4	0.000	0.047	2285	3305	3476
2208	-0.95	-146.6	157.4	-6.1	104	2215	0.00	2.55	0.00	0.000	6	0.000	0.043	2285	1901	3476
2525	-0.95	-146.6	175.5	-5.7	120	2526	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
2834	-0.95	-146.6	192.6	-5.8	135	2838	0.00	2.53	0.00	0.000	4	0.000	0.047	2285	3305	3476
2905	-0.95	-146.6	197.4	-6.6	138	2909	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1898	3476
3226	-0.95	-146.6	219.8	-7.5	154	3227	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
3536	-0.95	-146.6	242.8	-7.8	169	3540	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3298	3476
3613	-0.95	-146.6	249.1	-7.7	172	3619	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1890	3476
3929	-0.95	-146.6	273.3	-7.7	188	3930	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1890	3476
4237	-0.95	-146.6	295.7	-6.9	203	4242	0.00	2.55	0.00	0.000	4	0.000	0.049	2285	3301	3476
4326	-0.95	-146.6	302.2	-7.3	207	4330	0.00	2.55	0.00	0.000	6	0.000	0.044	2285	1902	3476
4653	-0.95	-146.6	324.2	-6.6	223	4654	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
4962	-0.95	-146.6	346.3	-7.0	238	4966	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3300	3476
5033	-0.95	-146.6	351.7	-7.8	241	5037	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1896	3476
5354	-0.95	-146.6	377.1	-8.4	257	5355	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3476
5663	-0.95	-146.6	401.8	-7.7	272	5667	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3297	3476
5728	-0.95	-146.6	407.0	-8.0	275	5733	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1898	3476
6056	-0.95	-146.6	430.8	-7.5	291	6057	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
6365	-0.95	-146.6	452.7	-6.7	306	6369	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3300	3476
6452	-0.95	-146.6	458.8	-6.6	310	6457	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1900	3475
6780	-0.95	-146.6	479.6	-6.6	326	6781	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
7090	-0.95	-146.6	500.2	-7.0	341	7094	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3305	3475
7144	-0.95	-146.6	504.3	-7.6	343	7151	0.00	2.55	0.00	0.000	6	0.000	0.046	2285	1892	3475
7460	-0.95	-146.6	529.8	-8.6	359	7461	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1892	3475
7769	-0.95	-146.6	556.2	-8.5	374	7770	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1892	3475
8078	-0.95	-146.6	581.1	-7.5	389	8083	0.00	2.58	0.00	0.000	4	0.000	0.055	2284	3297	3475
8162	-0.95	-146.6	587.6	-8.1	393	8166	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1901	3475
8488	-0.95	-146.6	607.4	-5.5	409	8489	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
8797	-0.95	-146.6	626.5	-6.7	424	8798	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3475
9107	-0.95	-146.6	643.7	-5.1	439	9108	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
9415	-0.95	-146.6	658.7	-5.0	454	9420	0.00	2.58	0.00	0.000	4	0.000	0.060	2285	3294	3474
9477	-0.95	-146.6	662.0	-5.4	457	9482	0.00	2.55	0.00	0.000	6	0.000	0.054	2284	1900	3474
9803	-0.95	-146.6	681.2	-6.0	473	9805	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
10113	-0.95	-146.6	697.8	-5.6	488	10114	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3473
10422	-0.95	-146.6	714.5	-5.1	503	10423	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3471
10731	-0.95	-146.6	735.1	-5.9	518	10736	0.00	2.58	0.00	0.000	4	0.000	0.064	2285	3294	3470
10751	end dive: BOTTOM_OBSTACLE_DETECTED
state	10751	begin apogee
10758	-0.36	0.0	736.6	7.4	519	10884	0.57	0.00	123.35	1.334	6	0.072	0.000	2413	2095	2878
10885	end apogee: CONTROL_FINISHED_OK
state	10885	begin climb
10887	0.95	146.6	740.7	0.0	525	11018	1.30	2.75	122.80	1.297	4	0.055	0.076	2702	695	2280
11099	0.98	173.2	733.1	5.2	535	11128	0.00	2.55	23.23	1.280	6	0.000	0.054	2701	2085	2171
11449	0.98	173.2	709.0	6.3	552	11454	0.00	2.67	0.00	0.000	4	0.000	0.067	2702	3507	2170
11549	0.98	173.2	702.5	6.3	556	11556	0.00	2.60	0.00	0.000	6	0.000	0.057	2702	2104	2170
11865	1.02	202.1	687.2	5.1	572	11892	0.00	0.00	25.10	1.310	6	0.000	0.000	2701	2104	2053
12194	1.02	202.1	664.6	7.3	588	12198	0.00	2.62	0.00	0.000	4	0.000	0.064	2702	3505	2052
12248	1.02	202.1	660.6	7.4	590	12255	0.00	2.62	0.00	0.000	6	0.000	0.056	2702	2099	2051
12564	1.02	208.2	639.9	5.8	606	12571	0.00	0.00	5.70	1.277	6	0.000	0.000	2702	2099	2029
12873	1.02	208.2	623.3	6.8	621	12877	0.00	2.67	0.00	0.000	4	0.000	0.079	2702	687	2029
12944	1.02	208.2	617.7	8.1	624	12948	0.00	2.55	0.00	0.000	6	0.000	0.051	2702	2105	2029
13265	1.02	208.2	591.4	8.2	640	13266	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2028
13574	1.02	208.2	569.6	6.3	655	13575	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	2028
13884	1.02	208.2	549.8	6.6	670	13888	0.00	2.65	0.00	0.000	4	0.000	0.070	2702	689	2028
13944	1.02	208.2	545.3	7.1	673	13949	0.00	2.53	0.00	0.000	6	0.000	0.048	2702	2104	2028
14270	1.02	208.2	520.4	8.6	689	14271	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2028
14580	1.02	208.2	493.3	8.3	704	14581	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2028
14889	1.02	208.2	470.9	6.7	719	14890	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2027
15198	1.02	208.2	450.9	6.5	734	15199	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	2029
15507	1.02	208.2	430.5	6.7	749	15509	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	2029
15816	1.02	208.2	409.7	6.6	764	15817	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	2030
16126	1.02	208.2	387.3	7.7	779	16130	0.00	2.65	0.00	0.000	4	0.000	0.064	2702	685	2030
16187	1.02	208.2	382.3	8.2	782	16191	0.00	2.50	0.00	0.000	6	0.000	0.042	2702	2101	2030
16512	1.02	208.2	356.2	8.0	798	16513	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2031
16821	1.02	208.2	331.8	7.8	813	16822	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2031
17131	1.02	208.2	308.7	7.3	828	17132	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2032
17440	1.02	208.2	288.4	6.4	843	17444	0.00	2.62	0.00	0.000	4	0.000	0.063	2702	679	2032
17510	1.02	208.2	283.4	7.2	846	17515	0.00	2.53	0.00	0.000	6	0.000	0.041	2702	2105	2032
17832	1.03	211.4	263.4	5.9	862	17838	0.00	0.00	4.57	0.992	6	0.000	0.000	2702	2110	2016
18141	1.03	211.4	244.3	6.2	877	18142	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2110	2016
18450	1.03	211.4	224.3	6.6	892	18454	0.00	2.62	0.00	0.000	4	0.000	0.061	2701	680	2017
18516	1.03	211.4	219.5	6.7	895	18520	0.00	2.50	0.00	0.000	6	0.000	0.041	2701	2099	2017
18843	1.03	211.4	197.9	6.5	911	18844	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2017
19152	1.03	211.4	177.5	6.7	926	19153	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2017
19462	1.03	211.4	157.1	6.5	941	19466	0.00	2.60	0.00	0.000	4	0.000	0.061	2702	688	2017
19516	1.03	211.4	153.2	6.7	943	19522	0.00	2.53	0.00	0.000	6	0.000	0.040	2702	2120	2018
19832	1.10	268.9	136.9	4.3	959	19881	0.15	0.00	46.17	0.894	6	0.041	0.000	2760	2125	1781
20183	1.10	268.9	110.0	8.2	976	20185	0.12	0.00	0.00	0.000	6	0.084	0.000	2734	2125	1781
20490	1.10	268.9	87.3	7.2	991	20494	0.00	2.67	0.00	0.000	4	0.000	0.061	2734	684	1781
20544	1.10	268.9	82.7	9.1	993	20551	0.00	2.50	0.00	0.000	6	0.000	0.040	2734	2093	1781
20860	1.10	268.9	60.3	7.2	1009	20861	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2097	1780
21169	1.10	268.9	37.6	7.8	1024	21170	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2097	1781
21479	1.10	268.9	10.4	7.9	1039	21480	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2097	1781
21790	1.34	468.8	3.6	0.0	1054	21901	0.20	2.65	105.22	0.767	4	0.044	0.060	2794	688	966
22081	1.58	665.0	3.5	0.2	1067	22117	0.20	2.50	30.38	0.769	2	0.064	0.040	2840	2114	727
22118	end climb: NO_VERTICAL_VELOCITY
state	22118	begin surface