Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 184 * 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 184 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 29 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 -79619.859 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 -79619.859

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 29 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 184 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 101856,6243.049,-1229.071,39,1.1,39,-11.6 TGT_NAME HW

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.050,0.203

_SM_DEPTHo 4.05 KALMAN_X 225926.7,8.0,1883.4,-438671.2,-4568.4

_SM_ANGLEo -53.8 KALMAN_Y 65738.9,542.5,-1093.5,64043.6,-4117.3

GPS2 102833,6242.915,-1229.027,12,0.9,12,-11.6 MHEAD_RNG_PITCHd_Wd 357.7,33128,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23848,0.65,0.967,0,0,604,558.06 ALTIM_BOTTOM_PING 700.8,104.0

SM_GC 4.39,0.00,0.00,0.65,0.000,0.000,0.967,34,1891,604,-11.32,-0.20,558.06 _24V_AH 23.3,42.229

IRIDIUM_FIX 6221.17,-1232.24,221207,141459 _10V_AH 10.1,20.154

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56860,1138

HUMID 2036 CFSIZE 260165632,247042048

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.80 GPS 221207,170808,6242.979,-1231.211,36,0.9,36,-11.6

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 64.84 SBE_CT 847 24 473.95

Roll_motor 92 76 165.98 SBE_O2 769 19 340.51

VBD_pump_during_apogee 494 1352 15565.91 WL_BB2F 716 105 1753.00

VBD_pump_during_surface 0 967 14.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 185.37 nil 0 0 0.00

Iridium_during_connect 67 160 253.36 nil 0 0 0.00

Iridium_during_xfer 253 223 1319.07

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.14

TT8 1949 19 389.96

LPSleep 18974 2 419.69

TT8_Active 651 19 130.26

TT8_Sampling 2227 39 895.59

TT8_CF8 621 45 287.58

TT8_Kalman 33 81 27.56

Analog_circuits 1758 12 213.17

GPS_charging 0 0 0.00

Compass 2199 8 177.71

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 -21.15 0.000 2 0.000 0.000 30 1877 1096

46 -0.95 -146.6 4.0 -0.0 1 219 11.23 2.55 -155.10 0.000 4 0.109 0.077 2289 502 3476

321 -0.95 -146.6 13.4 -9.9 14 326 0.00 2.47 0.00 0.000 6 0.000 0.042 2289 1904 3476

648 -0.95 -146.6 35.9 -7.1 30 649 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1907 3476

957 -0.95 -146.6 59.9 -6.4 45 961 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3304 3476

1005 -0.95 -146.6 63.5 -7.6 47 1010 0.00 2.55 0.00 0.000 6 0.000 0.043 2289 1904 3476

1327 -0.95 -146.6 85.0 -6.7 63 1328 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3476

1638 -0.95 -146.6 105.8 -6.9 78 1639 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3476

1946 -0.95 -146.6 127.2 -6.9 93 1947 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3476

2255 -0.95 -146.6 147.5 -6.2 108 2259 0.00 2.53 0.00 0.000 4 0.000 0.047 2289 3304 3476

2320 -0.95 -146.6 152.4 -7.4 111 2325 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1894 3476

2647 -0.95 -146.6 176.9 -7.8 127 2648 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3476

2957 -0.95 -146.6 199.2 -6.9 142 2961 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3301 3476

3011 -0.95 -146.6 203.2 -7.2 144 3017 0.00 2.55 0.00 0.000 6 0.000 0.044 2289 1882 3476

3327 -0.95 -146.6 225.6 -7.4 160 3328 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1881 3476

3636 -0.95 -146.6 248.0 -7.0 175 3640 0.00 2.58 0.00 0.000 4 0.000 0.048 2289 3307 3476

3707 -0.95 -146.6 253.2 -7.3 178 3711 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1896 3476

4028 -0.95 -146.6 277.4 -8.0 194 4029 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

4337 -0.95 -146.6 302.4 -8.3 209 4338 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3476

4646 -0.95 -146.6 328.5 -8.5 224 4651 0.00 2.55 0.00 0.000 4 0.000 0.049 2289 3307 3476

4712 -0.95 -146.6 334.0 -8.3 227 4717 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1901 3476

5039 -0.95 -146.6 360.2 -8.0 243 5040 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

5348 -0.95 -146.6 384.6 -7.8 258 5352 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3300 3476

5413 -0.95 -146.6 389.7 -7.7 261 5418 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1898 3476

5740 -0.95 -146.6 412.4 -7.0 277 5742 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6049 -0.95 -146.6 434.2 -7.3 292 6054 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3306 3476

6111 -0.95 -146.6 438.8 -7.3 295 6115 0.00 2.55 0.00 0.000 6 0.000 0.047 2289 1896 3476

6437 -0.95 -146.6 462.1 -7.3 311 6441 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3301 3475

6485 -0.95 -146.6 466.0 -7.4 313 6490 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1899 3476

6806 -0.95 -146.6 489.3 -7.3 329 6808 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3475

7116 -0.95 -146.6 510.8 -6.5 344 7120 0.00 2.53 0.00 0.000 4 0.000 0.051 2289 3300 3474

7187 -0.95 -146.6 515.2 -5.9 347 7191 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1896 3475

7509 -0.95 -146.6 533.3 -5.4 363 7510 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1897 3475

7817 -0.95 -146.6 553.0 -6.9 378 7818 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3475

8127 -0.95 -146.6 574.2 -6.9 393 8131 0.00 2.55 0.00 0.000 4 0.000 0.054 2289 3299 3474

8169 -0.95 -146.6 577.4 -7.9 395 8173 0.00 2.53 0.00 0.000 6 0.000 0.048 2289 1899 3474

8497 -0.95 -146.6 601.4 -7.3 411 8498 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3474

8806 -0.95 -146.6 625.2 -7.8 426 8807 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

9117 -0.95 -146.6 650.6 -8.1 441 9119 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3474

9424 -0.95 -146.6 674.1 -7.0 456 9426 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3474

9734 -0.95 -146.6 693.3 -5.7 471 9738 0.00 2.58 0.00 0.000 4 0.000 0.058 2289 3296 3474

9788 -0.95 -146.6 696.7 -6.4 473 9795 0.00 2.55 0.00 0.000 6 0.000 0.053 2289 1902 3474

10104 -0.95 -146.6 712.7 -4.9 489 10105 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

10413 -0.95 -146.6 725.5 -4.3 504 10414 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3473

10722 -0.95 -146.6 742.8 -5.9 519 10727 0.00 2.60 0.00 0.000 4 0.000 0.064 2289 3301 3473

10789 -0.95 -146.6 746.9 -5.9 522 10793 0.00 2.58 0.00 0.000 6 0.000 0.058 2289 1901 3473

11115 -0.95 -146.6 765.5 -6.5 538 11116 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3472

11425 -0.95 -146.6 788.8 -8.5 553 11426 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3471

11526 end dive: BOTTOM_OBSTACLE_DETECTED

state 11526 begin apogee

11531 -0.36 0.0 794.9 6.2 558 11659 0.60 0.00 124.43 1.352 6 0.072 0.000 2419 2093 2878

11659 end apogee: CONTROL_FINISHED_OK

state 11659 begin climb

11661 0.95 146.6 798.2 0.0 564 11793 1.25 2.75 124.05 1.304 4 0.053 0.076 2700 693 2280

11821 0.95 146.6 793.6 7.8 572 11825 0.00 2.60 0.00 0.000 6 0.000 0.056 2700 2094 2280

12146 0.97 161.9 779.0 5.5 588 12166 0.00 0.00 13.65 1.312 6 0.000 0.000 2700 2098 2218

12475 0.98 175.9 759.3 5.6 604 12497 0.00 2.72 12.82 1.329 4 0.000 0.068 2700 3503 2161

12541 0.98 175.9 755.0 6.8 607 12546 0.00 2.60 0.00 0.000 6 0.000 0.058 2700 2098 2160

12868 0.99 183.8 734.8 5.8 623 12878 0.00 0.00 8.02 1.315 6 0.000 0.000 2700 2098 2128

13176 0.99 183.8 715.1 7.1 638 13178 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2127

13486 0.99 183.8 694.3 7.2 653 13487 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2127

13795 0.99 183.8 671.5 7.7 668 13796 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2126

14105 0.99 184.6 650.3 6.0 683 14106 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2098 2126

14413 0.99 184.6 630.8 6.4 698 14415 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2125

14723 0.99 184.6 611.4 6.1 713 14724 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2125

15032 1.02 202.7 593.8 5.5 728 15053 0.00 0.00 16.35 1.257 6 0.000 0.000 2700 2098 2051

15362 1.05 232.5 575.9 5.1 744 15390 0.10 0.00 25.88 1.220 6 0.057 0.000 2738 2098 1930

15691 1.05 232.5 551.0 7.8 760 15692 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2098 1930

16000 1.05 232.5 526.1 8.0 775 16001 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1930

16309 1.05 232.5 501.5 8.2 790 16310 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1931

16619 1.05 232.5 476.0 8.3 805 16620 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1932

16928 1.05 232.5 451.9 7.7 820 16929 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1932

17237 1.05 232.5 427.3 7.9 835 17238 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2098 1933

17546 1.05 232.5 402.3 8.2 850 17551 0.00 2.58 0.00 0.000 4 0.000 0.052 2738 3506 1934

17608 1.05 232.5 396.7 9.0 853 17613 0.00 2.53 0.00 0.000 6 0.000 0.044 2738 2096 1934

17933 1.05 232.5 369.9 8.0 869 17934 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2097 1934

18243 1.05 232.5 345.7 7.6 884 18244 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1934

18552 1.05 232.5 322.1 7.8 899 18553 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1934

18862 1.05 232.5 298.5 7.5 914 18863 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1935

19171 1.05 232.5 275.5 7.5 929 19172 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1934

19480 1.05 232.5 251.7 7.4 944 19481 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1935

19789 1.05 232.5 228.9 7.4 959 19790 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1935

20098 1.05 232.5 205.0 8.4 974 20099 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2097 1935

20407 1.05 232.5 178.7 8.1 989 20408 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2097 1935

20717 1.05 232.5 157.1 6.5 1004 20718 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2096 1936

21027 1.05 232.5 136.7 6.7 1019 21031 0.00 2.58 0.00 0.000 4 0.000 0.049 2738 3511 1936

21081 1.05 232.5 132.6 8.0 1021 21088 0.00 2.53 0.00 0.000 6 0.000 0.041 2738 2101 1936

21397 1.05 232.5 111.5 6.5 1037 21398 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1936

21706 1.05 232.5 87.5 8.2 1052 21707 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2101 1936

22015 1.05 232.5 65.1 7.2 1067 22016 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2101 1937

22325 1.05 232.5 41.9 9.0 1082 22326 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2100 1937

22635 1.05 232.5 13.0 8.9 1097 22637 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1937

22944 1.30 435.1 3.5 -0.0 1112 23059 0.17 2.70 106.30 0.769 4 0.051 0.065 2786 693 1103

23170 1.56 645.8 3.5 -0.3 1122 23239 0.17 2.53 62.55 0.746 6 0.048 0.039 2837 2119 603

23486 end climb: NO_VERTICAL_VELOCITY

state 23486 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	184	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	29	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	-79619.859	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	101856,6243.049,-1229.071,39,1.1,39,-11.6	TGT_NAME	HW
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.050,0.203
_SM_DEPTHo	4.05	KALMAN_X	225926.7,8.0,1883.4,-438671.2,-4568.4
_SM_ANGLEo	-53.8	KALMAN_Y	65738.9,542.5,-1093.5,64043.6,-4117.3
GPS2	102833,6242.915,-1229.027,12,0.9,12,-11.6	MHEAD_RNG_PITCHd_Wd	357.7,33128,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23848,0.65,0.967,0,0,604,558.06	ALTIM_BOTTOM_PING	700.8,104.0
SM_GC	4.39,0.00,0.00,0.65,0.000,0.000,0.967,34,1891,604,-11.32,-0.20,558.06	_24V_AH	23.3,42.229
IRIDIUM_FIX	6221.17,-1232.24,221207,141459	_10V_AH	10.1,20.154
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56860,1138
HUMID	2036	CFSIZE	260165632,247042048
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.80	GPS	221207,170808,6242.979,-1231.211,36,0.9,36,-11.6
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	64.84	SBE_CT	847	24	473.95
Roll_motor	92	76	165.98	SBE_O2	769	19	340.51
VBD_pump_during_apogee	494	1352	15565.91	WL_BB2F	716	105	1753.00
VBD_pump_during_surface	0	967	14.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	185.37	nil	0	0	0.00
Iridium_during_connect	67	160	253.36	nil	0	0	0.00
Iridium_during_xfer	253	223	1319.07
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.14
TT8	1949	19	389.96
LPSleep	18974	2	419.69
TT8_Active	651	19	130.26
TT8_Sampling	2227	39	895.59
TT8_CF8	621	45	287.58
TT8_Kalman	33	81	27.56
Analog_circuits	1758	12	213.17
GPS_charging	0	0	0.00
Compass	2199	8	177.71
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	-21.15	0.000	2	0.000	0.000	30	1877	1096
46	-0.95	-146.6	4.0	-0.0	1	219	11.23	2.55	-155.10	0.000	4	0.109	0.077	2289	502	3476
321	-0.95	-146.6	13.4	-9.9	14	326	0.00	2.47	0.00	0.000	6	0.000	0.042	2289	1904	3476
648	-0.95	-146.6	35.9	-7.1	30	649	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1907	3476
957	-0.95	-146.6	59.9	-6.4	45	961	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3304	3476
1005	-0.95	-146.6	63.5	-7.6	47	1010	0.00	2.55	0.00	0.000	6	0.000	0.043	2289	1904	3476
1327	-0.95	-146.6	85.0	-6.7	63	1328	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3476
1638	-0.95	-146.6	105.8	-6.9	78	1639	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3476
1946	-0.95	-146.6	127.2	-6.9	93	1947	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3476
2255	-0.95	-146.6	147.5	-6.2	108	2259	0.00	2.53	0.00	0.000	4	0.000	0.047	2289	3304	3476
2320	-0.95	-146.6	152.4	-7.4	111	2325	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1894	3476
2647	-0.95	-146.6	176.9	-7.8	127	2648	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3476
2957	-0.95	-146.6	199.2	-6.9	142	2961	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3301	3476
3011	-0.95	-146.6	203.2	-7.2	144	3017	0.00	2.55	0.00	0.000	6	0.000	0.044	2289	1882	3476
3327	-0.95	-146.6	225.6	-7.4	160	3328	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1881	3476
3636	-0.95	-146.6	248.0	-7.0	175	3640	0.00	2.58	0.00	0.000	4	0.000	0.048	2289	3307	3476
3707	-0.95	-146.6	253.2	-7.3	178	3711	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1896	3476
4028	-0.95	-146.6	277.4	-8.0	194	4029	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
4337	-0.95	-146.6	302.4	-8.3	209	4338	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3476
4646	-0.95	-146.6	328.5	-8.5	224	4651	0.00	2.55	0.00	0.000	4	0.000	0.049	2289	3307	3476
4712	-0.95	-146.6	334.0	-8.3	227	4717	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1901	3476
5039	-0.95	-146.6	360.2	-8.0	243	5040	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
5348	-0.95	-146.6	384.6	-7.8	258	5352	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3300	3476
5413	-0.95	-146.6	389.7	-7.7	261	5418	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1898	3476
5740	-0.95	-146.6	412.4	-7.0	277	5742	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6049	-0.95	-146.6	434.2	-7.3	292	6054	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3306	3476
6111	-0.95	-146.6	438.8	-7.3	295	6115	0.00	2.55	0.00	0.000	6	0.000	0.047	2289	1896	3476
6437	-0.95	-146.6	462.1	-7.3	311	6441	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3301	3475
6485	-0.95	-146.6	466.0	-7.4	313	6490	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1899	3476
6806	-0.95	-146.6	489.3	-7.3	329	6808	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3475
7116	-0.95	-146.6	510.8	-6.5	344	7120	0.00	2.53	0.00	0.000	4	0.000	0.051	2289	3300	3474
7187	-0.95	-146.6	515.2	-5.9	347	7191	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1896	3475
7509	-0.95	-146.6	533.3	-5.4	363	7510	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1897	3475
7817	-0.95	-146.6	553.0	-6.9	378	7818	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3475
8127	-0.95	-146.6	574.2	-6.9	393	8131	0.00	2.55	0.00	0.000	4	0.000	0.054	2289	3299	3474
8169	-0.95	-146.6	577.4	-7.9	395	8173	0.00	2.53	0.00	0.000	6	0.000	0.048	2289	1899	3474
8497	-0.95	-146.6	601.4	-7.3	411	8498	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3474
8806	-0.95	-146.6	625.2	-7.8	426	8807	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
9117	-0.95	-146.6	650.6	-8.1	441	9119	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3474
9424	-0.95	-146.6	674.1	-7.0	456	9426	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3474
9734	-0.95	-146.6	693.3	-5.7	471	9738	0.00	2.58	0.00	0.000	4	0.000	0.058	2289	3296	3474
9788	-0.95	-146.6	696.7	-6.4	473	9795	0.00	2.55	0.00	0.000	6	0.000	0.053	2289	1902	3474
10104	-0.95	-146.6	712.7	-4.9	489	10105	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
10413	-0.95	-146.6	725.5	-4.3	504	10414	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3473
10722	-0.95	-146.6	742.8	-5.9	519	10727	0.00	2.60	0.00	0.000	4	0.000	0.064	2289	3301	3473
10789	-0.95	-146.6	746.9	-5.9	522	10793	0.00	2.58	0.00	0.000	6	0.000	0.058	2289	1901	3473
11115	-0.95	-146.6	765.5	-6.5	538	11116	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3472
11425	-0.95	-146.6	788.8	-8.5	553	11426	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3471
11526	end dive: BOTTOM_OBSTACLE_DETECTED
state	11526	begin apogee
11531	-0.36	0.0	794.9	6.2	558	11659	0.60	0.00	124.43	1.352	6	0.072	0.000	2419	2093	2878
11659	end apogee: CONTROL_FINISHED_OK
state	11659	begin climb
11661	0.95	146.6	798.2	0.0	564	11793	1.25	2.75	124.05	1.304	4	0.053	0.076	2700	693	2280
11821	0.95	146.6	793.6	7.8	572	11825	0.00	2.60	0.00	0.000	6	0.000	0.056	2700	2094	2280
12146	0.97	161.9	779.0	5.5	588	12166	0.00	0.00	13.65	1.312	6	0.000	0.000	2700	2098	2218
12475	0.98	175.9	759.3	5.6	604	12497	0.00	2.72	12.82	1.329	4	0.000	0.068	2700	3503	2161
12541	0.98	175.9	755.0	6.8	607	12546	0.00	2.60	0.00	0.000	6	0.000	0.058	2700	2098	2160
12868	0.99	183.8	734.8	5.8	623	12878	0.00	0.00	8.02	1.315	6	0.000	0.000	2700	2098	2128
13176	0.99	183.8	715.1	7.1	638	13178	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2127
13486	0.99	183.8	694.3	7.2	653	13487	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2127
13795	0.99	183.8	671.5	7.7	668	13796	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2126
14105	0.99	184.6	650.3	6.0	683	14106	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2098	2126
14413	0.99	184.6	630.8	6.4	698	14415	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2125
14723	0.99	184.6	611.4	6.1	713	14724	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2125
15032	1.02	202.7	593.8	5.5	728	15053	0.00	0.00	16.35	1.257	6	0.000	0.000	2700	2098	2051
15362	1.05	232.5	575.9	5.1	744	15390	0.10	0.00	25.88	1.220	6	0.057	0.000	2738	2098	1930
15691	1.05	232.5	551.0	7.8	760	15692	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2098	1930
16000	1.05	232.5	526.1	8.0	775	16001	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1930
16309	1.05	232.5	501.5	8.2	790	16310	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1931
16619	1.05	232.5	476.0	8.3	805	16620	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1932
16928	1.05	232.5	451.9	7.7	820	16929	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1932
17237	1.05	232.5	427.3	7.9	835	17238	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2098	1933
17546	1.05	232.5	402.3	8.2	850	17551	0.00	2.58	0.00	0.000	4	0.000	0.052	2738	3506	1934
17608	1.05	232.5	396.7	9.0	853	17613	0.00	2.53	0.00	0.000	6	0.000	0.044	2738	2096	1934
17933	1.05	232.5	369.9	8.0	869	17934	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2097	1934
18243	1.05	232.5	345.7	7.6	884	18244	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1934
18552	1.05	232.5	322.1	7.8	899	18553	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1934
18862	1.05	232.5	298.5	7.5	914	18863	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1935
19171	1.05	232.5	275.5	7.5	929	19172	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1934
19480	1.05	232.5	251.7	7.4	944	19481	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1935
19789	1.05	232.5	228.9	7.4	959	19790	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1935
20098	1.05	232.5	205.0	8.4	974	20099	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2097	1935
20407	1.05	232.5	178.7	8.1	989	20408	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2097	1935
20717	1.05	232.5	157.1	6.5	1004	20718	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2096	1936
21027	1.05	232.5	136.7	6.7	1019	21031	0.00	2.58	0.00	0.000	4	0.000	0.049	2738	3511	1936
21081	1.05	232.5	132.6	8.0	1021	21088	0.00	2.53	0.00	0.000	6	0.000	0.041	2738	2101	1936
21397	1.05	232.5	111.5	6.5	1037	21398	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1936
21706	1.05	232.5	87.5	8.2	1052	21707	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2101	1936
22015	1.05	232.5	65.1	7.2	1067	22016	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2101	1937
22325	1.05	232.5	41.9	9.0	1082	22326	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2100	1937
22635	1.05	232.5	13.0	8.9	1097	22637	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1937
22944	1.30	435.1	3.5	-0.0	1112	23059	0.17	2.70	106.30	0.769	4	0.051	0.065	2786	693	1103
23170	1.56	645.8	3.5	-0.3	1122	23239	0.17	2.53	62.55	0.746	6	0.048	0.039	2837	2119	603
23486	end climb: NO_VERTICAL_VELOCITY
state	23486	begin surface