Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 182 * 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 182 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -79589.531 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 -79589.531

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 33 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 182 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 204231,6242.799,-1222.052,36,2.0,41,-11.5 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.142,0.153

_SM_DEPTHo 4.17 KALMAN_X 221795.5,14.2,4498.0,-430958.2,-20072.2

_SM_ANGLEo -54.8 KALMAN_Y 78463.8,-117.6,-1063.8,51575.5,3756.3

GPS2 204903,6242.720,-1222.024,14,1.9,14,-11.5 MHEAD_RNG_PITCHd_Wd 328.7,38760,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22798,109.57,0.750,0,0,603,558.06 ALTIM_BOTTOM_PING 700.3,95.7

SM_GC 4.19,11.68,0.00,0.00,0.029,0.000,0.000,28,1893,603,-11.27,-0.20,558.06 _24V_AH 23.3,41.859

IRIDIUM_FIX 6216.53,-1211.90,211207,181851 _10V_AH 10.1,19.944

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53647,1104

HUMID 2032 CFSIZE 260165632,247181312

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.80 GPS 221207,032002,6242.167,-1229.403,41,1.5,41,-11.6

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 111 65.10 SBE_CT 817 24 457.33

Roll_motor 107 79 200.40 SBE_O2 746 19 330.60

VBD_pump_during_apogee 382 1342 11964.03 WL_BB2F 687 105 1681.87

VBD_pump_during_surface 109 750 1915.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.44 nil 0 0 0.00

Iridium_during_connect 34 160 128.36 nil 0 0 0.00

Iridium_during_xfer 211 223 1098.78

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.02

TT8 1928 19 385.65

LPSleep 18379 2 406.53

TT8_Active 679 19 135.97

TT8_Sampling 2237 39 899.43

TT8_CF8 494 45 228.90

TT8_Kalman 33 81 27.56

Analog_circuits 1776 12 215.30

GPS_charging 0 0 0.00

Compass 2201 8 177.91

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 -21.30 0.000 2 0.000 0.000 27 1889 1105

46 -0.95 -146.6 4.2 -0.0 1 219 11.30 2.58 -155.02 0.000 4 0.112 0.076 2286 499 3475

404 -0.95 -146.6 16.0 -8.0 17 412 0.00 2.50 0.00 0.000 6 0.000 0.041 2286 1904 3476

722 -0.95 -146.6 39.2 -7.4 33 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

1030 -0.95 -146.6 61.8 -6.1 48 1034 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3293 3476

1101 -0.95 -146.6 66.3 -6.5 51 1105 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1911 3475

1423 -0.95 -146.6 88.1 -6.6 67 1424 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1911 3476

1733 -0.95 -146.6 107.5 -6.7 82 1734 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1911 3475

2041 -0.95 -146.6 128.6 -6.7 97 2045 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3297 3476

2135 -0.95 -146.6 135.5 -7.7 101 2139 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1900 3476

2456 -0.95 -146.6 158.1 -7.1 117 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

2765 -0.95 -146.6 180.0 -7.0 132 2769 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3302 3476

2826 -0.95 -146.6 184.4 -6.9 135 2830 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1895 3476

3152 -0.95 -146.6 206.9 -7.0 151 3153 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3476

3461 -0.95 -146.6 228.9 -7.2 166 3465 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3295 3475

3522 -0.95 -146.6 233.5 -7.6 169 3526 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1894 3476

3847 -0.95 -146.6 256.8 -7.0 185 3848 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

4156 -0.95 -146.6 277.3 -6.7 200 4161 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3300 3476

4228 -0.95 -146.6 282.4 -7.3 203 4232 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1901 3476

4549 -0.95 -146.6 301.7 -5.9 219 4550 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

4858 -0.95 -146.6 320.0 -6.0 234 4863 0.00 2.53 0.00 0.000 4 0.000 0.049 2285 3298 3475

4913 -0.95 -146.6 323.6 -6.4 236 4920 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1890 3475

5229 -0.95 -146.6 344.7 -6.8 252 5230 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1890 3475

5538 -0.95 -146.6 365.4 -6.7 267 5542 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3295 3475

5637 -0.95 -146.6 372.3 -6.7 271 5644 0.00 2.50 0.00 0.000 6 0.000 0.046 2285 1902 3475

5953 -0.95 -146.6 392.5 -6.5 287 5954 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6262 -0.95 -146.6 412.7 -6.6 302 6266 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3294 3475

6323 -0.95 -146.6 416.8 -7.0 305 6327 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1894 3475

6648 -0.95 -146.6 439.5 -7.2 321 6650 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1894 3475

6958 -0.95 -146.6 462.1 -7.4 336 6962 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3298 3475

7019 -0.95 -146.6 466.7 -7.2 339 7023 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1901 3475

7344 -0.95 -146.6 489.6 -6.8 355 7345 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

7653 -0.95 -146.6 510.9 -7.1 370 7655 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

7962 -0.95 -146.6 529.9 -6.4 385 7967 0.00 2.55 0.00 0.000 4 0.000 0.052 2285 3297 3474

8040 -0.95 -146.6 535.1 -6.2 388 8046 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1895 3474

8355 -0.95 -146.6 555.3 -6.5 404 8357 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

8665 -0.95 -146.6 573.5 -5.6 419 8666 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

8974 -0.95 -146.6 591.5 -5.7 434 8978 0.00 2.55 0.00 0.000 4 0.000 0.055 2285 3299 3474

9035 -0.95 -146.6 595.4 -5.9 437 9040 0.00 2.53 0.00 0.000 6 0.000 0.049 2285 1900 3474

9361 -0.95 -146.6 617.8 -6.6 453 9362 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

9671 -0.95 -146.6 636.8 -5.7 468 9672 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

9980 -0.95 -146.6 653.8 -5.9 483 9981 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

10290 -0.95 -146.6 675.1 -7.4 498 10291 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

10599 -0.95 -146.6 698.9 -7.2 513 10600 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

10908 -0.95 -146.6 717.6 -5.8 528 10909 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

11217 -0.95 -146.6 738.6 -7.2 543 11221 0.00 2.58 0.00 0.000 4 0.000 0.062 2285 3294 3473

11278 -0.95 -146.6 743.0 -7.6 546 11283 0.00 2.55 0.00 0.000 6 0.000 0.058 2285 1903 3473

11605 -0.95 -146.6 764.6 -5.2 562 11606 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3472

11912 end dive: BOTTOM_OBSTACLE_DETECTED

state 11912 begin apogee

11918 -0.36 0.0 787.0 7.2 577 12045 0.60 0.00 124.15 1.342 6 0.074 0.000 2415 2095 2878

12045 end apogee: CONTROL_FINISHED_OK

state 12046 begin climb

12047 0.95 146.6 793.2 0.0 583 12176 1.27 0.00 124.40 1.299 6 0.055 0.000 2701 2094 2280

12479 1.02 207.0 780.9 4.2 604 12535 0.00 2.72 51.20 1.308 4 0.000 0.071 2700 3497 2033

12648 1.06 234.7 770.6 5.2 611 12678 0.10 2.60 24.08 1.294 6 0.061 0.058 2732 2102 1921

13000 1.06 234.7 741.4 8.4 628 13001 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2102 1920

13308 1.06 234.7 715.6 8.7 643 13309 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2102 1919

13617 1.06 234.7 687.6 9.4 658 13622 0.00 2.70 0.00 0.000 4 0.000 0.080 2732 688 1919

13701 1.06 234.7 678.9 10.0 662 13706 0.00 2.58 0.00 0.000 6 0.000 0.054 2732 2104 1918

14027 1.06 234.7 654.4 6.1 678 14028 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2105 1917

14336 1.06 234.7 633.4 7.9 693 14340 0.00 2.60 0.00 0.000 4 0.000 0.062 2733 3506 1917

14385 1.06 234.7 628.9 9.1 695 14389 0.00 2.58 0.00 0.000 6 0.000 0.054 2732 2098 1917

14706 1.06 234.7 601.2 8.5 711 14707 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2098 1916

15015 1.06 234.7 575.9 8.2 726 15017 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2098 1916

15325 1.06 234.7 550.3 8.1 741 15326 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2098 1916

15634 1.06 234.7 528.1 7.4 756 15638 0.00 2.62 0.00 0.000 4 0.000 0.070 2733 690 1917

15682 1.06 234.7 524.3 7.8 758 15687 0.00 2.50 0.00 0.000 6 0.000 0.044 2733 2106 1917

16004 1.06 234.7 501.0 6.9 774 16005 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2106 1918

16313 1.06 234.7 479.0 7.6 789 16314 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2106 1918

16622 1.06 234.7 454.5 7.9 804 16623 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2107 1919

16932 1.06 234.7 430.0 8.0 819 16936 0.00 2.65 0.00 0.000 4 0.000 0.065 2733 685 1919

16974 1.06 234.7 426.2 7.8 821 16979 0.00 2.50 0.00 0.000 6 0.000 0.043 2733 2105 1919

17301 1.06 234.7 398.1 8.9 837 17302 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2108 1920

17611 1.06 234.7 372.1 8.3 852 17612 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2108 1920

17920 1.06 234.7 347.9 7.7 867 17921 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2108 1920

18229 1.06 234.7 322.5 8.1 882 18230 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2109 1921

18538 1.06 234.7 297.0 8.1 897 18540 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2108 1922

18847 1.06 234.7 271.8 8.2 912 18852 0.00 2.62 0.00 0.000 4 0.000 0.062 2732 689 1922

18909 1.06 234.7 266.7 8.2 915 18913 0.00 2.50 0.00 0.000 6 0.000 0.041 2733 2102 1922

19235 1.06 234.7 241.8 7.6 931 19236 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2105 1922

19544 1.06 234.7 217.5 8.1 946 19545 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2105 1922

19853 1.06 234.7 192.7 7.8 961 19854 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2105 1923

20162 1.06 234.7 169.7 7.4 976 20167 0.00 2.60 0.00 0.000 4 0.000 0.062 2733 689 1923

20224 1.06 234.7 164.9 7.1 979 20228 0.00 2.50 0.00 0.000 6 0.000 0.041 2733 2105 1923

20549 1.06 234.7 142.1 6.9 995 20550 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2107 1923

20859 1.06 234.7 120.3 7.4 1010 20860 0.00 0.00 0.00 0.000 6 0.000 0.000 2732 2107 1923

21168 1.06 234.7 96.9 7.7 1025 21169 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2107 1924

21479 1.06 234.7 73.5 7.2 1040 21483 0.00 2.62 0.00 0.000 4 0.000 0.061 2732 687 1924

21533 1.06 234.7 69.0 7.6 1042 21540 0.00 2.53 0.00 0.000 6 0.000 0.040 2733 2103 1924

21850 1.06 234.7 45.2 7.5 1058 21851 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2106 1924

22158 1.06 234.7 22.6 7.3 1073 22159 0.00 0.00 0.00 0.000 6 0.000 0.000 2733 2106 1924

22468 1.19 340.6 3.5 2.8 1088 22530 0.00 0.00 58.72 0.795 6 0.000 0.000 2732 2108 1488

22795 end climb: NO_VERTICAL_VELOCITY

state 22795 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	182	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-79589.531	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	204231,6242.799,-1222.052,36,2.0,41,-11.5	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.142,0.153
_SM_DEPTHo	4.17	KALMAN_X	221795.5,14.2,4498.0,-430958.2,-20072.2
_SM_ANGLEo	-54.8	KALMAN_Y	78463.8,-117.6,-1063.8,51575.5,3756.3
GPS2	204903,6242.720,-1222.024,14,1.9,14,-11.5	MHEAD_RNG_PITCHd_Wd	328.7,38760,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22798,109.57,0.750,0,0,603,558.06	ALTIM_BOTTOM_PING	700.3,95.7
SM_GC	4.19,11.68,0.00,0.00,0.029,0.000,0.000,28,1893,603,-11.27,-0.20,558.06	_24V_AH	23.3,41.859
IRIDIUM_FIX	6216.53,-1211.90,211207,181851	_10V_AH	10.1,19.944
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53647,1104
HUMID	2032	CFSIZE	260165632,247181312
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.80	GPS	221207,032002,6242.167,-1229.403,41,1.5,41,-11.6
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	111	65.10	SBE_CT	817	24	457.33
Roll_motor	107	79	200.40	SBE_O2	746	19	330.60
VBD_pump_during_apogee	382	1342	11964.03	WL_BB2F	687	105	1681.87
VBD_pump_during_surface	109	750	1915.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.44	nil	0	0	0.00
Iridium_during_connect	34	160	128.36	nil	0	0	0.00
Iridium_during_xfer	211	223	1098.78
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.02
TT8	1928	19	385.65
LPSleep	18379	2	406.53
TT8_Active	679	19	135.97
TT8_Sampling	2237	39	899.43
TT8_CF8	494	45	228.90
TT8_Kalman	33	81	27.56
Analog_circuits	1776	12	215.30
GPS_charging	0	0	0.00
Compass	2201	8	177.91
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	-21.30	0.000	2	0.000	0.000	27	1889	1105
46	-0.95	-146.6	4.2	-0.0	1	219	11.30	2.58	-155.02	0.000	4	0.112	0.076	2286	499	3475
404	-0.95	-146.6	16.0	-8.0	17	412	0.00	2.50	0.00	0.000	6	0.000	0.041	2286	1904	3476
722	-0.95	-146.6	39.2	-7.4	33	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
1030	-0.95	-146.6	61.8	-6.1	48	1034	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3293	3476
1101	-0.95	-146.6	66.3	-6.5	51	1105	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1911	3475
1423	-0.95	-146.6	88.1	-6.6	67	1424	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1911	3476
1733	-0.95	-146.6	107.5	-6.7	82	1734	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1911	3475
2041	-0.95	-146.6	128.6	-6.7	97	2045	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3297	3476
2135	-0.95	-146.6	135.5	-7.7	101	2139	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1900	3476
2456	-0.95	-146.6	158.1	-7.1	117	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
2765	-0.95	-146.6	180.0	-7.0	132	2769	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3302	3476
2826	-0.95	-146.6	184.4	-6.9	135	2830	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1895	3476
3152	-0.95	-146.6	206.9	-7.0	151	3153	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3476
3461	-0.95	-146.6	228.9	-7.2	166	3465	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3295	3475
3522	-0.95	-146.6	233.5	-7.6	169	3526	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1894	3476
3847	-0.95	-146.6	256.8	-7.0	185	3848	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
4156	-0.95	-146.6	277.3	-6.7	200	4161	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3300	3476
4228	-0.95	-146.6	282.4	-7.3	203	4232	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1901	3476
4549	-0.95	-146.6	301.7	-5.9	219	4550	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
4858	-0.95	-146.6	320.0	-6.0	234	4863	0.00	2.53	0.00	0.000	4	0.000	0.049	2285	3298	3475
4913	-0.95	-146.6	323.6	-6.4	236	4920	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1890	3475
5229	-0.95	-146.6	344.7	-6.8	252	5230	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1890	3475
5538	-0.95	-146.6	365.4	-6.7	267	5542	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3295	3475
5637	-0.95	-146.6	372.3	-6.7	271	5644	0.00	2.50	0.00	0.000	6	0.000	0.046	2285	1902	3475
5953	-0.95	-146.6	392.5	-6.5	287	5954	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6262	-0.95	-146.6	412.7	-6.6	302	6266	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3294	3475
6323	-0.95	-146.6	416.8	-7.0	305	6327	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1894	3475
6648	-0.95	-146.6	439.5	-7.2	321	6650	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1894	3475
6958	-0.95	-146.6	462.1	-7.4	336	6962	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3298	3475
7019	-0.95	-146.6	466.7	-7.2	339	7023	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1901	3475
7344	-0.95	-146.6	489.6	-6.8	355	7345	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
7653	-0.95	-146.6	510.9	-7.1	370	7655	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
7962	-0.95	-146.6	529.9	-6.4	385	7967	0.00	2.55	0.00	0.000	4	0.000	0.052	2285	3297	3474
8040	-0.95	-146.6	535.1	-6.2	388	8046	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1895	3474
8355	-0.95	-146.6	555.3	-6.5	404	8357	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
8665	-0.95	-146.6	573.5	-5.6	419	8666	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
8974	-0.95	-146.6	591.5	-5.7	434	8978	0.00	2.55	0.00	0.000	4	0.000	0.055	2285	3299	3474
9035	-0.95	-146.6	595.4	-5.9	437	9040	0.00	2.53	0.00	0.000	6	0.000	0.049	2285	1900	3474
9361	-0.95	-146.6	617.8	-6.6	453	9362	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
9671	-0.95	-146.6	636.8	-5.7	468	9672	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
9980	-0.95	-146.6	653.8	-5.9	483	9981	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
10290	-0.95	-146.6	675.1	-7.4	498	10291	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
10599	-0.95	-146.6	698.9	-7.2	513	10600	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
10908	-0.95	-146.6	717.6	-5.8	528	10909	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
11217	-0.95	-146.6	738.6	-7.2	543	11221	0.00	2.58	0.00	0.000	4	0.000	0.062	2285	3294	3473
11278	-0.95	-146.6	743.0	-7.6	546	11283	0.00	2.55	0.00	0.000	6	0.000	0.058	2285	1903	3473
11605	-0.95	-146.6	764.6	-5.2	562	11606	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3472
11912	end dive: BOTTOM_OBSTACLE_DETECTED
state	11912	begin apogee
11918	-0.36	0.0	787.0	7.2	577	12045	0.60	0.00	124.15	1.342	6	0.074	0.000	2415	2095	2878
12045	end apogee: CONTROL_FINISHED_OK
state	12046	begin climb
12047	0.95	146.6	793.2	0.0	583	12176	1.27	0.00	124.40	1.299	6	0.055	0.000	2701	2094	2280
12479	1.02	207.0	780.9	4.2	604	12535	0.00	2.72	51.20	1.308	4	0.000	0.071	2700	3497	2033
12648	1.06	234.7	770.6	5.2	611	12678	0.10	2.60	24.08	1.294	6	0.061	0.058	2732	2102	1921
13000	1.06	234.7	741.4	8.4	628	13001	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2102	1920
13308	1.06	234.7	715.6	8.7	643	13309	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2102	1919
13617	1.06	234.7	687.6	9.4	658	13622	0.00	2.70	0.00	0.000	4	0.000	0.080	2732	688	1919
13701	1.06	234.7	678.9	10.0	662	13706	0.00	2.58	0.00	0.000	6	0.000	0.054	2732	2104	1918
14027	1.06	234.7	654.4	6.1	678	14028	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2105	1917
14336	1.06	234.7	633.4	7.9	693	14340	0.00	2.60	0.00	0.000	4	0.000	0.062	2733	3506	1917
14385	1.06	234.7	628.9	9.1	695	14389	0.00	2.58	0.00	0.000	6	0.000	0.054	2732	2098	1917
14706	1.06	234.7	601.2	8.5	711	14707	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2098	1916
15015	1.06	234.7	575.9	8.2	726	15017	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2098	1916
15325	1.06	234.7	550.3	8.1	741	15326	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2098	1916
15634	1.06	234.7	528.1	7.4	756	15638	0.00	2.62	0.00	0.000	4	0.000	0.070	2733	690	1917
15682	1.06	234.7	524.3	7.8	758	15687	0.00	2.50	0.00	0.000	6	0.000	0.044	2733	2106	1917
16004	1.06	234.7	501.0	6.9	774	16005	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2106	1918
16313	1.06	234.7	479.0	7.6	789	16314	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2106	1918
16622	1.06	234.7	454.5	7.9	804	16623	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2107	1919
16932	1.06	234.7	430.0	8.0	819	16936	0.00	2.65	0.00	0.000	4	0.000	0.065	2733	685	1919
16974	1.06	234.7	426.2	7.8	821	16979	0.00	2.50	0.00	0.000	6	0.000	0.043	2733	2105	1919
17301	1.06	234.7	398.1	8.9	837	17302	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2108	1920
17611	1.06	234.7	372.1	8.3	852	17612	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2108	1920
17920	1.06	234.7	347.9	7.7	867	17921	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2108	1920
18229	1.06	234.7	322.5	8.1	882	18230	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2109	1921
18538	1.06	234.7	297.0	8.1	897	18540	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2108	1922
18847	1.06	234.7	271.8	8.2	912	18852	0.00	2.62	0.00	0.000	4	0.000	0.062	2732	689	1922
18909	1.06	234.7	266.7	8.2	915	18913	0.00	2.50	0.00	0.000	6	0.000	0.041	2733	2102	1922
19235	1.06	234.7	241.8	7.6	931	19236	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2105	1922
19544	1.06	234.7	217.5	8.1	946	19545	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2105	1922
19853	1.06	234.7	192.7	7.8	961	19854	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2105	1923
20162	1.06	234.7	169.7	7.4	976	20167	0.00	2.60	0.00	0.000	4	0.000	0.062	2733	689	1923
20224	1.06	234.7	164.9	7.1	979	20228	0.00	2.50	0.00	0.000	6	0.000	0.041	2733	2105	1923
20549	1.06	234.7	142.1	6.9	995	20550	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2107	1923
20859	1.06	234.7	120.3	7.4	1010	20860	0.00	0.00	0.00	0.000	6	0.000	0.000	2732	2107	1923
21168	1.06	234.7	96.9	7.7	1025	21169	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2107	1924
21479	1.06	234.7	73.5	7.2	1040	21483	0.00	2.62	0.00	0.000	4	0.000	0.061	2732	687	1924
21533	1.06	234.7	69.0	7.6	1042	21540	0.00	2.53	0.00	0.000	6	0.000	0.040	2733	2103	1924
21850	1.06	234.7	45.2	7.5	1058	21851	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2106	1924
22158	1.06	234.7	22.6	7.3	1073	22159	0.00	0.00	0.00	0.000	6	0.000	0.000	2733	2106	1924
22468	1.19	340.6	3.5	2.8	1088	22530	0.00	0.00	58.72	0.795	6	0.000	0.000	2732	2108	1488
22795	end climb: NO_VERTICAL_VELOCITY
state	22795	begin surface