Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 181 * 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 181 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 558.0575 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 34 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 -79573.023 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 558.0575

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 -79573.023

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 181 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 135508,6241.656,-1216.057,37,1.3,37,-11.5 TGT_NAME HW

_CALLS 5 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.178,0.109

_SM_DEPTHo 4.06 KALMAN_X 226361.2,628.9,-1434.1,-425003.9,-2121.5

_SM_ANGLEo -51.1 KALMAN_Y 77781.6,-134.5,937.6,48212.0,-9599.2

GPS2 141520,6241.605,-1216.135,34,1.3,34,-11.5 MHEAD_RNG_PITCHd_Wd 313.0,44147,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23098,0.47,1.039,0,0,603,558.06 ALTIM_BOTTOM_PING 675.5,94.2

SM_GC 4.32,0.00,0.00,0.47,0.000,0.000,1.039,27,1894,603,-11.35,-0.20,558.06 _24V_AH 23.3,41.686

IRIDIUM_FIX 6216.53,-1221.06,211207,181813 _10V_AH 10.1,19.844

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56789,1100

HUMID 2016 CFSIZE 260165632,247238656

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 16.90 GPS 211207,204231,6242.799,-1222.052,36,2.0,41,-11.5

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 101 60.68 SBE_CT 820 24 458.70

Roll_motor 108 79 198.98 SBE_O2 742 19 328.81

VBD_pump_during_apogee 493 1325 15243.76 WL_BB2F 692 105 1694.57

VBD_pump_during_surface 0 1038 11.49 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 186 103 448.02 nil 0 0 0.00

Iridium_during_connect 272 160 1016.70 nil 0 0 0.00

Iridium_during_xfer 358 223 1865.11

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.00

TT8 1921 19 384.26

LPSleep 18385 2 406.66

TT8_Active 658 19 131.69

TT8_Sampling 2282 39 917.56

TT8_CF8 1065 45 492.67

TT8_Kalman 33 81 27.57

Analog_circuits 1784 12 216.26

GPS_charging 0 0 0.00

Compass 2236 8 180.69

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 44 0.00 0.00 -22.23 0.000 2 0.000 0.000 27 1885 1117

47 -0.95 -146.6 4.0 -0.0 1 213 11.05 2.65 -148.43 0.000 4 0.101 0.075 2285 488 3476

466 -0.95 -146.6 27.6 -8.5 20 470 0.00 2.50 0.00 0.000 6 0.000 0.039 2285 1896 3476

793 -0.95 -146.6 53.9 -9.3 36 794 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

1103 -0.95 -146.6 77.0 -6.2 51 1104 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

1412 -0.95 -146.6 98.1 -7.7 66 1413 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

1721 -0.95 -146.6 121.8 -7.2 81 1725 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3295 3476

1792 -0.95 -146.6 127.3 -7.4 84 1797 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1894 3476

2114 -0.95 -146.6 150.3 -6.8 100 2115 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

2422 -0.95 -146.6 172.7 -6.9 115 2427 0.00 2.55 0.00 0.000 4 0.000 0.048 2285 3303 3476

2472 -0.95 -146.6 176.3 -6.8 117 2476 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1894 3475

2787 -0.95 -146.6 196.8 -6.4 132 2788 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1894 3476

3096 -0.95 -146.6 217.4 -6.7 147 3100 0.00 2.55 0.00 0.000 4 0.000 0.049 2285 3304 3476

3180 -0.95 -146.6 223.3 -7.5 151 3184 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1898 3476

3505 -0.95 -146.6 249.0 -9.1 167 3506 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3476

3814 -0.95 -146.6 276.9 -8.5 182 3819 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3297 3476

3892 -0.95 -146.6 283.4 -8.3 185 3899 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1904 3475

4207 -0.95 -146.6 309.6 -8.0 201 4209 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1904 3476

4517 -0.95 -146.6 332.2 -6.8 216 4522 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3298 3476

4572 -0.95 -146.6 336.3 -7.5 218 4579 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1895 3476

4887 -0.95 -146.6 358.1 -7.0 234 4889 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3476

5197 -0.95 -146.6 378.4 -6.3 249 5201 0.00 2.55 0.00 0.000 4 0.000 0.050 2285 3302 3476

5280 -0.95 -146.6 384.2 -6.9 253 5284 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1901 3476

5605 -0.95 -146.6 407.1 -7.5 269 5606 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3476

5915 -0.95 -146.6 429.8 -7.3 284 5919 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3301 3476

5976 -0.95 -146.6 434.6 -8.0 287 5980 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1901 3475

6301 -0.95 -146.6 460.7 -7.7 303 6302 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6610 -0.95 -146.6 484.5 -8.1 318 6615 0.00 2.55 0.00 0.000 4 0.000 0.052 2285 3304 3475

6704 -0.95 -146.6 492.6 -8.6 322 6709 0.00 2.55 0.00 0.000 6 0.000 0.048 2285 1895 3475

7026 -0.95 -146.6 517.7 -7.4 338 7027 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3475

7335 -0.95 -146.6 540.2 -7.1 353 7339 0.00 2.55 0.00 0.000 4 0.000 0.054 2285 3302 3474

7402 -0.95 -146.6 545.1 -7.6 356 7406 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1901 3474

7722 -0.95 -146.6 568.1 -7.1 372 7723 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

8031 -0.95 -146.6 590.2 -6.8 387 8035 0.00 2.53 0.00 0.000 4 0.000 0.055 2285 3303 3474

8081 -0.95 -146.6 593.5 -6.2 389 8086 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1902 3474

8396 -0.95 -146.6 612.1 -6.0 404 8401 0.00 2.55 0.00 0.000 4 0.000 0.056 2285 3295 3474

8458 -0.95 -146.6 616.1 -6.6 407 8462 0.00 2.53 0.00 0.000 6 0.000 0.049 2285 1899 3474

8783 -0.95 -146.6 636.4 -6.2 423 8784 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3474

9092 -0.95 -146.6 656.1 -6.4 438 9094 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3473

9402 -0.95 -146.6 673.4 -4.9 453 9403 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3473

9711 -0.95 -146.6 691.3 -5.5 468 9712 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3473

10021 -0.95 -146.6 707.9 -5.5 483 10022 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3473

10330 -0.95 -146.6 725.1 -5.5 498 10331 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3473

10638 -0.95 -146.6 744.6 -6.5 513 10640 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3471

10864 end dive: BOTTOM_OBSTACLE_DETECTED

state 10864 begin apogee

10869 -0.36 0.0 761.1 8.1 524 10996 0.60 0.00 123.72 1.325 6 0.071 0.000 2416 2094 2878

10997 end apogee: CONTROL_FINISHED_OK

state 10997 begin climb

10999 0.95 146.6 764.4 0.0 530 11127 1.33 0.00 123.93 1.282 6 0.060 0.000 2703 2094 2280

11435 0.95 146.6 747.4 6.2 552 11437 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2094 2279

11745 0.97 168.5 729.1 5.3 567 11769 0.00 2.70 18.92 1.309 4 0.000 0.066 2703 3503 2191

11842 1.03 217.5 724.7 4.5 571 11893 0.00 2.60 41.85 1.289 6 0.000 0.057 2703 2104 1991

12204 1.03 217.5 701.3 6.9 589 12205 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2103 1990

12511 1.03 217.5 679.6 6.5 604 12515 0.00 2.67 0.00 0.000 4 0.000 0.079 2703 691 1990

12565 1.03 217.5 675.7 7.2 606 12571 0.00 2.55 0.00 0.000 6 0.000 0.054 2703 2101 1989

12880 1.03 217.5 654.9 6.6 622 12882 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2102 1988

13189 1.03 217.5 635.2 6.3 637 13191 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2102 1988

13499 1.03 217.5 613.0 7.6 652 13500 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2103 1987

13808 1.03 217.5 590.2 7.5 667 13809 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2103 1987

14117 1.03 217.5 566.2 7.8 682 14118 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2104 1987

14427 1.06 235.2 547.2 5.5 697 14447 0.00 0.00 14.90 1.229 6 0.000 0.000 2703 2104 1919

14756 1.06 235.2 525.3 7.3 713 14760 0.00 2.65 0.00 0.000 4 0.000 0.067 2703 681 1919

14844 1.06 235.2 518.1 8.2 717 14849 0.00 2.58 0.00 0.000 6 0.000 0.044 2702 2105 1918

15171 1.06 235.2 491.7 7.8 733 15172 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 1919

15480 1.06 235.2 469.3 6.9 748 15484 0.00 2.65 0.00 0.000 4 0.000 0.065 2703 688 1920

15541 1.06 235.2 464.9 7.0 751 15545 0.00 2.50 0.00 0.000 6 0.000 0.043 2703 2104 1920

15866 1.06 235.2 444.3 6.3 767 15868 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 1920

16175 1.06 235.2 423.8 6.5 782 16180 0.00 2.65 0.00 0.000 4 0.000 0.065 2703 685 1921

16252 1.06 235.2 418.6 6.5 785 16260 0.00 2.53 0.00 0.000 6 0.000 0.042 2703 2103 1921

16569 1.06 235.2 398.8 6.5 801 16570 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2104 1921

16878 1.06 235.2 379.3 6.5 816 16879 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1921

17187 1.06 235.2 358.4 6.8 831 17191 0.00 2.62 0.00 0.000 4 0.000 0.064 2703 688 1922

17258 1.06 235.2 353.0 7.4 834 17262 0.00 2.50 0.00 0.000 6 0.000 0.042 2703 2103 1922

17579 1.06 235.2 329.7 7.4 850 17580 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1922

17888 1.06 235.2 307.4 7.1 865 17893 0.00 2.62 0.00 0.000 4 0.000 0.064 2703 680 1923

17950 1.06 235.2 302.8 7.7 868 17955 0.10 2.50 0.00 0.000 6 0.053 0.041 2747 2103 1923

18275 1.06 235.2 276.1 8.0 884 18277 0.12 0.00 0.00 0.000 6 0.087 0.000 2722 2106 1923

18585 1.06 235.2 253.0 7.6 899 18586 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1923

18895 1.06 235.2 228.4 7.6 914 18896 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1923

19203 1.06 235.2 206.3 7.2 929 19204 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1924

19512 1.06 235.2 185.2 6.7 944 19514 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1924

19822 1.06 235.2 165.1 6.4 959 19823 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1924

20132 1.06 235.2 143.7 7.1 974 20133 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1925

20441 1.06 235.2 123.3 6.6 989 20442 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1924

20750 1.06 235.2 104.5 6.0 1004 20751 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1925

21059 1.06 235.2 85.3 6.4 1019 21060 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1925

21368 1.06 235.2 62.7 6.6 1034 21370 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 2106 1926

21680 1.06 235.2 40.7 7.1 1049 21684 0.00 2.62 0.00 0.000 4 0.000 0.062 2722 687 1926

21728 1.06 241.1 37.6 5.8 1051 21741 0.00 2.50 7.07 0.888 6 0.000 0.040 2721 2109 1894

22051 1.06 241.1 14.9 6.5 1067 22052 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 2109 1895

22359 1.31 443.1 3.6 -0.0 1082 22471 0.22 2.55 104.97 0.765 4 0.049 0.048 2784 3496 1071

22582 1.54 627.9 3.4 0.5 1092 22649 0.20 2.55 58.25 0.750 6 0.048 0.044 2838 2087 603

22735 end climb: NO_VERTICAL_VELOCITY

state 22735 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	181	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	558.0575	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	34	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	-79573.023	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	135508,6241.656,-1216.057,37,1.3,37,-11.5	TGT_NAME	HW
_CALLS	5	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.178,0.109
_SM_DEPTHo	4.06	KALMAN_X	226361.2,628.9,-1434.1,-425003.9,-2121.5
_SM_ANGLEo	-51.1	KALMAN_Y	77781.6,-134.5,937.6,48212.0,-9599.2
GPS2	141520,6241.605,-1216.135,34,1.3,34,-11.5	MHEAD_RNG_PITCHd_Wd	313.0,44147,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23098,0.47,1.039,0,0,603,558.06	ALTIM_BOTTOM_PING	675.5,94.2
SM_GC	4.32,0.00,0.00,0.47,0.000,0.000,1.039,27,1894,603,-11.35,-0.20,558.06	_24V_AH	23.3,41.686
IRIDIUM_FIX	6216.53,-1221.06,211207,181813	_10V_AH	10.1,19.844
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56789,1100
HUMID	2016	CFSIZE	260165632,247238656
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.90	GPS	211207,204231,6242.799,-1222.052,36,2.0,41,-11.5
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	101	60.68	SBE_CT	820	24	458.70
Roll_motor	108	79	198.98	SBE_O2	742	19	328.81
VBD_pump_during_apogee	493	1325	15243.76	WL_BB2F	692	105	1694.57
VBD_pump_during_surface	0	1038	11.49	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	186	103	448.02	nil	0	0	0.00
Iridium_during_connect	272	160	1016.70	nil	0	0	0.00
Iridium_during_xfer	358	223	1865.11
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.00
TT8	1921	19	384.26
LPSleep	18385	2	406.66
TT8_Active	658	19	131.69
TT8_Sampling	2282	39	917.56
TT8_CF8	1065	45	492.67
TT8_Kalman	33	81	27.57
Analog_circuits	1784	12	216.26
GPS_charging	0	0	0.00
Compass	2236	8	180.69
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	44	0.00	0.00	-22.23	0.000	2	0.000	0.000	27	1885	1117
47	-0.95	-146.6	4.0	-0.0	1	213	11.05	2.65	-148.43	0.000	4	0.101	0.075	2285	488	3476
466	-0.95	-146.6	27.6	-8.5	20	470	0.00	2.50	0.00	0.000	6	0.000	0.039	2285	1896	3476
793	-0.95	-146.6	53.9	-9.3	36	794	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
1103	-0.95	-146.6	77.0	-6.2	51	1104	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
1412	-0.95	-146.6	98.1	-7.7	66	1413	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
1721	-0.95	-146.6	121.8	-7.2	81	1725	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3295	3476
1792	-0.95	-146.6	127.3	-7.4	84	1797	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1894	3476
2114	-0.95	-146.6	150.3	-6.8	100	2115	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
2422	-0.95	-146.6	172.7	-6.9	115	2427	0.00	2.55	0.00	0.000	4	0.000	0.048	2285	3303	3476
2472	-0.95	-146.6	176.3	-6.8	117	2476	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1894	3475
2787	-0.95	-146.6	196.8	-6.4	132	2788	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1894	3476
3096	-0.95	-146.6	217.4	-6.7	147	3100	0.00	2.55	0.00	0.000	4	0.000	0.049	2285	3304	3476
3180	-0.95	-146.6	223.3	-7.5	151	3184	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1898	3476
3505	-0.95	-146.6	249.0	-9.1	167	3506	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3476
3814	-0.95	-146.6	276.9	-8.5	182	3819	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3297	3476
3892	-0.95	-146.6	283.4	-8.3	185	3899	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1904	3475
4207	-0.95	-146.6	309.6	-8.0	201	4209	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1904	3476
4517	-0.95	-146.6	332.2	-6.8	216	4522	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3298	3476
4572	-0.95	-146.6	336.3	-7.5	218	4579	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1895	3476
4887	-0.95	-146.6	358.1	-7.0	234	4889	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3476
5197	-0.95	-146.6	378.4	-6.3	249	5201	0.00	2.55	0.00	0.000	4	0.000	0.050	2285	3302	3476
5280	-0.95	-146.6	384.2	-6.9	253	5284	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1901	3476
5605	-0.95	-146.6	407.1	-7.5	269	5606	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3476
5915	-0.95	-146.6	429.8	-7.3	284	5919	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3301	3476
5976	-0.95	-146.6	434.6	-8.0	287	5980	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1901	3475
6301	-0.95	-146.6	460.7	-7.7	303	6302	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6610	-0.95	-146.6	484.5	-8.1	318	6615	0.00	2.55	0.00	0.000	4	0.000	0.052	2285	3304	3475
6704	-0.95	-146.6	492.6	-8.6	322	6709	0.00	2.55	0.00	0.000	6	0.000	0.048	2285	1895	3475
7026	-0.95	-146.6	517.7	-7.4	338	7027	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3475
7335	-0.95	-146.6	540.2	-7.1	353	7339	0.00	2.55	0.00	0.000	4	0.000	0.054	2285	3302	3474
7402	-0.95	-146.6	545.1	-7.6	356	7406	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1901	3474
7722	-0.95	-146.6	568.1	-7.1	372	7723	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
8031	-0.95	-146.6	590.2	-6.8	387	8035	0.00	2.53	0.00	0.000	4	0.000	0.055	2285	3303	3474
8081	-0.95	-146.6	593.5	-6.2	389	8086	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1902	3474
8396	-0.95	-146.6	612.1	-6.0	404	8401	0.00	2.55	0.00	0.000	4	0.000	0.056	2285	3295	3474
8458	-0.95	-146.6	616.1	-6.6	407	8462	0.00	2.53	0.00	0.000	6	0.000	0.049	2285	1899	3474
8783	-0.95	-146.6	636.4	-6.2	423	8784	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3474
9092	-0.95	-146.6	656.1	-6.4	438	9094	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3473
9402	-0.95	-146.6	673.4	-4.9	453	9403	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3473
9711	-0.95	-146.6	691.3	-5.5	468	9712	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3473
10021	-0.95	-146.6	707.9	-5.5	483	10022	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3473
10330	-0.95	-146.6	725.1	-5.5	498	10331	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3473
10638	-0.95	-146.6	744.6	-6.5	513	10640	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3471
10864	end dive: BOTTOM_OBSTACLE_DETECTED
state	10864	begin apogee
10869	-0.36	0.0	761.1	8.1	524	10996	0.60	0.00	123.72	1.325	6	0.071	0.000	2416	2094	2878
10997	end apogee: CONTROL_FINISHED_OK
state	10997	begin climb
10999	0.95	146.6	764.4	0.0	530	11127	1.33	0.00	123.93	1.282	6	0.060	0.000	2703	2094	2280
11435	0.95	146.6	747.4	6.2	552	11437	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2094	2279
11745	0.97	168.5	729.1	5.3	567	11769	0.00	2.70	18.92	1.309	4	0.000	0.066	2703	3503	2191
11842	1.03	217.5	724.7	4.5	571	11893	0.00	2.60	41.85	1.289	6	0.000	0.057	2703	2104	1991
12204	1.03	217.5	701.3	6.9	589	12205	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2103	1990
12511	1.03	217.5	679.6	6.5	604	12515	0.00	2.67	0.00	0.000	4	0.000	0.079	2703	691	1990
12565	1.03	217.5	675.7	7.2	606	12571	0.00	2.55	0.00	0.000	6	0.000	0.054	2703	2101	1989
12880	1.03	217.5	654.9	6.6	622	12882	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2102	1988
13189	1.03	217.5	635.2	6.3	637	13191	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2102	1988
13499	1.03	217.5	613.0	7.6	652	13500	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2103	1987
13808	1.03	217.5	590.2	7.5	667	13809	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2103	1987
14117	1.03	217.5	566.2	7.8	682	14118	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2104	1987
14427	1.06	235.2	547.2	5.5	697	14447	0.00	0.00	14.90	1.229	6	0.000	0.000	2703	2104	1919
14756	1.06	235.2	525.3	7.3	713	14760	0.00	2.65	0.00	0.000	4	0.000	0.067	2703	681	1919
14844	1.06	235.2	518.1	8.2	717	14849	0.00	2.58	0.00	0.000	6	0.000	0.044	2702	2105	1918
15171	1.06	235.2	491.7	7.8	733	15172	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	1919
15480	1.06	235.2	469.3	6.9	748	15484	0.00	2.65	0.00	0.000	4	0.000	0.065	2703	688	1920
15541	1.06	235.2	464.9	7.0	751	15545	0.00	2.50	0.00	0.000	6	0.000	0.043	2703	2104	1920
15866	1.06	235.2	444.3	6.3	767	15868	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	1920
16175	1.06	235.2	423.8	6.5	782	16180	0.00	2.65	0.00	0.000	4	0.000	0.065	2703	685	1921
16252	1.06	235.2	418.6	6.5	785	16260	0.00	2.53	0.00	0.000	6	0.000	0.042	2703	2103	1921
16569	1.06	235.2	398.8	6.5	801	16570	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2104	1921
16878	1.06	235.2	379.3	6.5	816	16879	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1921
17187	1.06	235.2	358.4	6.8	831	17191	0.00	2.62	0.00	0.000	4	0.000	0.064	2703	688	1922
17258	1.06	235.2	353.0	7.4	834	17262	0.00	2.50	0.00	0.000	6	0.000	0.042	2703	2103	1922
17579	1.06	235.2	329.7	7.4	850	17580	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1922
17888	1.06	235.2	307.4	7.1	865	17893	0.00	2.62	0.00	0.000	4	0.000	0.064	2703	680	1923
17950	1.06	235.2	302.8	7.7	868	17955	0.10	2.50	0.00	0.000	6	0.053	0.041	2747	2103	1923
18275	1.06	235.2	276.1	8.0	884	18277	0.12	0.00	0.00	0.000	6	0.087	0.000	2722	2106	1923
18585	1.06	235.2	253.0	7.6	899	18586	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1923
18895	1.06	235.2	228.4	7.6	914	18896	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1923
19203	1.06	235.2	206.3	7.2	929	19204	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1924
19512	1.06	235.2	185.2	6.7	944	19514	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1924
19822	1.06	235.2	165.1	6.4	959	19823	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1924
20132	1.06	235.2	143.7	7.1	974	20133	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1925
20441	1.06	235.2	123.3	6.6	989	20442	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1924
20750	1.06	235.2	104.5	6.0	1004	20751	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1925
21059	1.06	235.2	85.3	6.4	1019	21060	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1925
21368	1.06	235.2	62.7	6.6	1034	21370	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	2106	1926
21680	1.06	235.2	40.7	7.1	1049	21684	0.00	2.62	0.00	0.000	4	0.000	0.062	2722	687	1926
21728	1.06	241.1	37.6	5.8	1051	21741	0.00	2.50	7.07	0.888	6	0.000	0.040	2721	2109	1894
22051	1.06	241.1	14.9	6.5	1067	22052	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	2109	1895
22359	1.31	443.1	3.6	-0.0	1082	22471	0.22	2.55	104.97	0.765	4	0.049	0.048	2784	3496	1071
22582	1.54	627.9	3.4	0.5	1092	22649	0.20	2.55	58.25	0.750	6	0.048	0.044	2838	2087	603
22735	end climb: NO_VERTICAL_VELOCITY
state	22735	begin surface