Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 194 * 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 194 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -79820.281 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 -79820.281

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 31 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 194 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 014226,6250.015,-1251.655,42,1.1,42,-11.9 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.201,-0.056

_SM_DEPTHo 3.72 KALMAN_X 270515.2,270.4,-25836.9,-475742.9,91206.3

_SM_ANGLEo -48.4 KALMAN_Y 67132.7,-301.6,-6579.9,82004.5,28983.1

GPS2 014806,6249.952,-1251.651,10,1.2,13,-11.9 MHEAD_RNG_PITCHd_Wd 266.2,11288,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23877,0.90,0.923,0,0,603,558.06 ALTIM_BOTTOM_PING 726.2,44.7

SM_GC 4.09,0.00,0.00,0.90,0.000,0.000,0.923,34,1884,603,-11.32,-0.45,558.06 _24V_AH 23.3,44.086

IRIDIUM_FIX 6225.82,-1243.46,241207,232338 _10V_AH 10.1,21.144

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56884,1138

HUMID 2042 CFSIZE 260165632,246370304

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 16.60 GPS 251207,082807,6246.389,-1300.636,32,1.1,32,-11.9

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 64.82 SBE_CT 840 24 469.87

Roll_motor 123 69 198.15 SBE_O2 770 19 341.04

VBD_pump_during_apogee 496 1309 15134.01 WL_BB2F 709 105 1736.28

VBD_pump_during_surface 0 923 19.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 88.80 nil 0 0 0.00

Iridium_during_connect 34 160 129.63 nil 0 0 0.00

Iridium_during_xfer 160 223 832.81

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.56

TT8 2007 19 401.43

LPSleep 18678 2 413.15

TT8_Active 669 19 133.94

TT8_Sampling 2403 39 966.10

TT8_CF8 462 45 213.71

TT8_Kalman 33 81 27.57

Analog_circuits 1857 12 225.13

GPS_charging 0 0 0.00

Compass 2365 8 191.16

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 19 begin dive

21 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.12 0.000 2 0.000 0.000 28 1883 1090

47 -0.95 -146.6 3.8 -0.0 1 210 11.23 0.00 -149.02 0.000 6 0.108 0.000 2288 1885 3477

520 -0.95 -146.6 32.9 -6.3 24 524 0.00 2.58 0.00 0.000 4 0.000 0.048 2287 3305 3477

574 -0.95 -146.6 37.6 -6.2 26 581 0.00 2.55 0.00 0.000 6 0.000 0.043 2287 1905 3477

891 -0.95 -146.6 59.0 -7.9 42 893 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3477

1200 -0.95 -146.6 79.5 -7.2 57 1201 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3477

1509 -0.95 -146.6 100.1 -6.4 72 1510 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3477

1818 -0.95 -146.6 121.4 -6.6 87 1819 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3477

2127 -0.95 -146.6 143.1 -6.8 102 2132 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3301 3477

2250 -0.95 -146.6 152.5 -7.1 107 2256 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1892 3477

2566 -0.95 -146.6 175.8 -7.0 123 2567 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1892 3477

2875 -0.95 -146.6 196.6 -6.7 138 2876 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1892 3477

3183 -0.95 -146.6 216.6 -6.1 153 3185 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3477

3493 -0.95 -146.6 236.7 -6.7 168 3494 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1892 3477

3802 -0.95 -146.6 258.2 -6.9 183 3807 0.00 2.55 0.00 0.000 4 0.000 0.049 2288 3302 3477

3886 -0.95 -146.6 264.0 -6.6 187 3890 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3477

4211 -0.95 -146.6 283.7 -6.1 203 4213 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3477

4521 -0.95 -146.6 302.6 -6.1 218 4522 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3477

4830 -0.95 -146.6 321.5 -5.8 233 4835 0.00 2.55 0.00 0.000 4 0.000 0.050 2287 3304 3477

4896 -0.95 -146.6 325.9 -6.8 236 4901 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3477

5223 -0.95 -146.6 346.9 -7.1 252 5224 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

5532 -0.95 -146.6 369.7 -7.6 267 5536 0.00 2.55 0.00 0.000 4 0.000 0.051 2287 3302 3477

5617 -0.95 -146.6 376.4 -8.0 271 5621 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1895 3477

5942 -0.95 -146.6 404.2 -8.6 287 5943 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3477

6251 -0.95 -146.6 429.7 -8.0 302 6256 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3309 3476

6295 -0.95 -146.6 433.1 -8.0 304 6299 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1898 3476

6621 -0.95 -146.6 457.5 -7.4 320 6626 0.00 2.50 0.00 0.000 4 0.000 0.053 2287 3300 3476

6665 -0.95 -146.6 460.5 -7.2 322 6669 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1893 3476

6992 -0.95 -146.6 483.9 -7.2 338 6996 0.00 2.55 0.00 0.000 4 0.000 0.053 2287 3300 3476

7068 -0.95 -146.6 489.5 -6.6 341 7075 0.00 2.53 0.00 0.000 6 0.000 0.046 2287 1898 3476

7384 -0.95 -146.6 513.0 -7.7 357 7388 0.00 2.53 0.00 0.000 4 0.000 0.052 2287 3301 3476

7478 -0.95 -146.6 519.8 -7.5 361 7482 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1894 3476

7799 -0.95 -146.6 542.6 -7.2 377 7803 0.00 2.60 0.00 0.000 4 0.000 0.069 2287 489 3476

7882 -0.95 -146.6 548.5 -7.3 381 7886 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1906 3476

8208 -0.95 -146.6 569.2 -6.2 397 8213 0.00 2.53 0.00 0.000 4 0.000 0.057 2287 3297 3476

8339 -0.95 -146.6 577.8 -6.7 403 8343 0.00 2.53 0.00 0.000 6 0.000 0.049 2287 1901 3475

8664 -0.95 -146.6 599.5 -6.8 419 8669 0.00 2.55 0.00 0.000 4 0.000 0.056 2287 3297 3476

8775 -0.95 -146.6 607.5 -7.1 424 8779 0.00 2.53 0.00 0.000 6 0.000 0.050 2287 1900 3476

9102 -0.95 -146.6 631.3 -7.6 440 9103 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

9414 -0.95 -146.6 650.9 -5.9 455 9418 0.00 2.55 0.00 0.000 4 0.000 0.058 2287 3298 3475

9520 -0.95 -146.6 657.6 -6.3 460 9524 0.00 2.55 0.00 0.000 6 0.000 0.051 2287 1897 3475

9846 -0.95 -146.6 677.9 -6.1 476 9847 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

10155 -0.95 -146.6 698.8 -7.3 491 10159 0.00 2.58 0.00 0.000 4 0.000 0.061 2287 3297 3475

10247 -0.95 -146.6 705.7 -7.1 495 10252 0.00 2.58 0.00 0.000 6 0.000 0.054 2287 1906 3475

10572 -0.95 -146.6 726.2 -6.2 511 10573 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3474

10878 -0.95 -146.6 746.1 -6.2 526 10883 0.00 2.58 0.00 0.000 4 0.000 0.064 2287 3302 3474

10967 -0.95 -146.6 751.8 -7.0 530 10971 0.00 2.58 0.00 0.000 6 0.000 0.058 2287 1901 3474

11106 end dive: BOTTOM_OBSTACLE_DETECTED

state 11106 begin apogee

11112 -0.36 0.0 761.3 7.1 537 11240 0.60 0.00 124.82 1.309 6 0.071 0.000 2418 2095 2878

11240 end apogee: CONTROL_FINISHED_OK

state 11240 begin climb

11242 0.95 146.6 765.3 0.0 543 11372 1.25 0.00 123.25 1.272 6 0.054 0.000 2699 2095 2280

11694 0.99 182.9 748.3 4.9 565 11727 0.00 0.00 31.55 1.276 6 0.000 0.000 2698 2094 2132

12022 0.99 182.9 727.9 6.4 581 12024 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2095 2131

12332 0.99 182.9 709.7 6.1 596 12333 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2095 2130

12642 0.99 182.9 690.5 6.1 611 12646 0.00 2.62 0.00 0.000 4 0.000 0.063 2699 3506 2128

12735 1.00 186.1 684.6 5.9 615 12748 0.00 2.58 3.47 1.187 6 0.000 0.054 2699 2102 2119

13056 1.00 186.1 664.4 6.5 631 13057 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2102 2118

13365 1.01 194.4 646.3 5.8 646 13375 0.00 0.00 7.95 1.283 6 0.000 0.000 2699 2102 2085

13675 1.01 199.1 628.0 5.9 661 13685 0.00 2.62 5.07 1.229 4 0.000 0.058 2699 3500 2065

13781 1.02 204.2 621.5 5.8 666 13792 0.00 2.55 5.45 1.228 6 0.000 0.051 2699 2098 2045

14107 1.02 204.2 600.8 6.8 682 14111 0.00 2.58 0.00 0.000 4 0.000 0.058 2699 3500 2045

14184 1.02 204.2 595.2 6.7 685 14191 0.00 2.55 0.00 0.000 6 0.000 0.049 2699 2106 2045

14499 1.02 204.2 574.5 6.7 701 14501 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2106 2045

14809 1.02 204.2 554.4 6.5 716 14810 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2106 2045

15118 1.02 204.2 534.4 6.5 731 15119 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2107 2045

15427 1.02 204.2 514.8 6.1 746 15428 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2106 2045

15737 1.02 204.2 495.0 6.4 761 15738 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2106 2046

16046 1.02 204.2 475.4 6.1 776 16047 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2107 2046

16355 1.03 213.0 457.4 5.7 791 16366 0.00 0.00 8.80 1.134 6 0.000 0.000 2699 2106 2009

16665 1.03 213.0 438.1 6.7 806 16669 0.00 2.62 0.00 0.000 4 0.000 0.067 2699 686 2009

16719 1.03 213.0 434.0 6.2 808 16725 0.00 2.50 0.00 0.000 6 0.000 0.042 2699 2106 2009

17034 1.03 213.0 412.2 6.7 824 17035 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2110 2009

17344 1.03 213.0 392.3 6.5 839 17345 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2110 2009

17653 1.03 213.0 372.1 6.7 854 17657 0.00 2.65 0.00 0.000 4 0.000 0.064 2699 685 2009

17724 1.03 213.0 366.9 7.1 857 17728 0.00 2.47 0.00 0.000 6 0.000 0.041 2699 2099 2010

18045 1.03 213.0 345.6 6.4 873 18046 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2103 2010

18354 1.03 213.0 326.2 6.1 888 18355 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2103 2010

18664 1.06 237.5 308.7 5.3 903 18692 0.12 2.70 21.15 1.020 4 0.046 0.063 2749 685 1908

18737 1.06 237.5 303.6 7.0 906 18742 0.12 2.53 0.00 0.000 6 0.087 0.041 2724 2106 1908

19057 1.06 237.5 283.1 6.7 922 19059 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2110 1908

19367 1.06 237.5 260.8 7.6 937 19368 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2110 1908

19676 1.06 237.5 237.5 7.3 952 19677 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2111 1908

19985 1.06 237.5 216.3 6.7 967 19986 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2111 1908

20294 1.06 237.5 193.4 7.8 982 20299 0.00 2.62 0.00 0.000 4 0.000 0.062 2724 690 1909

20366 1.06 237.5 188.1 6.7 985 20370 0.00 2.47 0.00 0.000 6 0.000 0.040 2724 2104 1909

20687 1.06 237.5 165.1 6.5 1001 20688 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1909

20998 1.06 237.5 141.5 9.5 1016 20999 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1909

21306 1.06 237.5 115.3 8.4 1031 21307 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1909

21615 1.06 237.5 91.8 8.1 1046 21616 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1909

21924 1.06 237.5 68.6 8.5 1061 21925 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1910

22234 1.06 237.5 48.3 6.9 1076 22235 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2107 1910

22543 1.06 237.5 24.2 8.5 1091 22547 0.00 2.62 0.00 0.000 4 0.000 0.061 2724 685 1910

22591 1.06 237.5 19.6 9.3 1093 22595 0.00 2.47 0.00 0.000 6 0.000 0.039 2724 2108 1910

22913 1.29 429.1 3.2 0.3 1109 23019 0.22 2.58 99.53 0.769 4 0.043 0.053 2784 3498 1127

23149 1.51 605.0 3.1 0.8 1120 23221 0.17 2.53 65.05 0.749 6 0.056 0.044 2827 2095 604

23515 end climb: NO_VERTICAL_VELOCITY

state 23515 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	194	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-79820.281	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	014226,6250.015,-1251.655,42,1.1,42,-11.9	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.201,-0.056
_SM_DEPTHo	3.72	KALMAN_X	270515.2,270.4,-25836.9,-475742.9,91206.3
_SM_ANGLEo	-48.4	KALMAN_Y	67132.7,-301.6,-6579.9,82004.5,28983.1
GPS2	014806,6249.952,-1251.651,10,1.2,13,-11.9	MHEAD_RNG_PITCHd_Wd	266.2,11288,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23877,0.90,0.923,0,0,603,558.06	ALTIM_BOTTOM_PING	726.2,44.7
SM_GC	4.09,0.00,0.00,0.90,0.000,0.000,0.923,34,1884,603,-11.32,-0.45,558.06	_24V_AH	23.3,44.086
IRIDIUM_FIX	6225.82,-1243.46,241207,232338	_10V_AH	10.1,21.144
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56884,1138
HUMID	2042	CFSIZE	260165632,246370304
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	16.60	GPS	251207,082807,6246.389,-1300.636,32,1.1,32,-11.9
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	64.82	SBE_CT	840	24	469.87
Roll_motor	123	69	198.15	SBE_O2	770	19	341.04
VBD_pump_during_apogee	496	1309	15134.01	WL_BB2F	709	105	1736.28
VBD_pump_during_surface	0	923	19.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	88.80	nil	0	0	0.00
Iridium_during_connect	34	160	129.63	nil	0	0	0.00
Iridium_during_xfer	160	223	832.81
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.56
TT8	2007	19	401.43
LPSleep	18678	2	413.15
TT8_Active	669	19	133.94
TT8_Sampling	2403	39	966.10
TT8_CF8	462	45	213.71
TT8_Kalman	33	81	27.57
Analog_circuits	1857	12	225.13
GPS_charging	0	0	0.00
Compass	2365	8	191.16
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	19	begin dive
21	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.12	0.000	2	0.000	0.000	28	1883	1090
47	-0.95	-146.6	3.8	-0.0	1	210	11.23	0.00	-149.02	0.000	6	0.108	0.000	2288	1885	3477
520	-0.95	-146.6	32.9	-6.3	24	524	0.00	2.58	0.00	0.000	4	0.000	0.048	2287	3305	3477
574	-0.95	-146.6	37.6	-6.2	26	581	0.00	2.55	0.00	0.000	6	0.000	0.043	2287	1905	3477
891	-0.95	-146.6	59.0	-7.9	42	893	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3477
1200	-0.95	-146.6	79.5	-7.2	57	1201	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3477
1509	-0.95	-146.6	100.1	-6.4	72	1510	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3477
1818	-0.95	-146.6	121.4	-6.6	87	1819	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3477
2127	-0.95	-146.6	143.1	-6.8	102	2132	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3301	3477
2250	-0.95	-146.6	152.5	-7.1	107	2256	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1892	3477
2566	-0.95	-146.6	175.8	-7.0	123	2567	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1892	3477
2875	-0.95	-146.6	196.6	-6.7	138	2876	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1892	3477
3183	-0.95	-146.6	216.6	-6.1	153	3185	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3477
3493	-0.95	-146.6	236.7	-6.7	168	3494	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1892	3477
3802	-0.95	-146.6	258.2	-6.9	183	3807	0.00	2.55	0.00	0.000	4	0.000	0.049	2288	3302	3477
3886	-0.95	-146.6	264.0	-6.6	187	3890	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3477
4211	-0.95	-146.6	283.7	-6.1	203	4213	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3477
4521	-0.95	-146.6	302.6	-6.1	218	4522	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3477
4830	-0.95	-146.6	321.5	-5.8	233	4835	0.00	2.55	0.00	0.000	4	0.000	0.050	2287	3304	3477
4896	-0.95	-146.6	325.9	-6.8	236	4901	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3477
5223	-0.95	-146.6	346.9	-7.1	252	5224	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
5532	-0.95	-146.6	369.7	-7.6	267	5536	0.00	2.55	0.00	0.000	4	0.000	0.051	2287	3302	3477
5617	-0.95	-146.6	376.4	-8.0	271	5621	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1895	3477
5942	-0.95	-146.6	404.2	-8.6	287	5943	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3477
6251	-0.95	-146.6	429.7	-8.0	302	6256	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3309	3476
6295	-0.95	-146.6	433.1	-8.0	304	6299	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1898	3476
6621	-0.95	-146.6	457.5	-7.4	320	6626	0.00	2.50	0.00	0.000	4	0.000	0.053	2287	3300	3476
6665	-0.95	-146.6	460.5	-7.2	322	6669	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1893	3476
6992	-0.95	-146.6	483.9	-7.2	338	6996	0.00	2.55	0.00	0.000	4	0.000	0.053	2287	3300	3476
7068	-0.95	-146.6	489.5	-6.6	341	7075	0.00	2.53	0.00	0.000	6	0.000	0.046	2287	1898	3476
7384	-0.95	-146.6	513.0	-7.7	357	7388	0.00	2.53	0.00	0.000	4	0.000	0.052	2287	3301	3476
7478	-0.95	-146.6	519.8	-7.5	361	7482	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1894	3476
7799	-0.95	-146.6	542.6	-7.2	377	7803	0.00	2.60	0.00	0.000	4	0.000	0.069	2287	489	3476
7882	-0.95	-146.6	548.5	-7.3	381	7886	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1906	3476
8208	-0.95	-146.6	569.2	-6.2	397	8213	0.00	2.53	0.00	0.000	4	0.000	0.057	2287	3297	3476
8339	-0.95	-146.6	577.8	-6.7	403	8343	0.00	2.53	0.00	0.000	6	0.000	0.049	2287	1901	3475
8664	-0.95	-146.6	599.5	-6.8	419	8669	0.00	2.55	0.00	0.000	4	0.000	0.056	2287	3297	3476
8775	-0.95	-146.6	607.5	-7.1	424	8779	0.00	2.53	0.00	0.000	6	0.000	0.050	2287	1900	3476
9102	-0.95	-146.6	631.3	-7.6	440	9103	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
9414	-0.95	-146.6	650.9	-5.9	455	9418	0.00	2.55	0.00	0.000	4	0.000	0.058	2287	3298	3475
9520	-0.95	-146.6	657.6	-6.3	460	9524	0.00	2.55	0.00	0.000	6	0.000	0.051	2287	1897	3475
9846	-0.95	-146.6	677.9	-6.1	476	9847	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
10155	-0.95	-146.6	698.8	-7.3	491	10159	0.00	2.58	0.00	0.000	4	0.000	0.061	2287	3297	3475
10247	-0.95	-146.6	705.7	-7.1	495	10252	0.00	2.58	0.00	0.000	6	0.000	0.054	2287	1906	3475
10572	-0.95	-146.6	726.2	-6.2	511	10573	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3474
10878	-0.95	-146.6	746.1	-6.2	526	10883	0.00	2.58	0.00	0.000	4	0.000	0.064	2287	3302	3474
10967	-0.95	-146.6	751.8	-7.0	530	10971	0.00	2.58	0.00	0.000	6	0.000	0.058	2287	1901	3474
11106	end dive: BOTTOM_OBSTACLE_DETECTED
state	11106	begin apogee
11112	-0.36	0.0	761.3	7.1	537	11240	0.60	0.00	124.82	1.309	6	0.071	0.000	2418	2095	2878
11240	end apogee: CONTROL_FINISHED_OK
state	11240	begin climb
11242	0.95	146.6	765.3	0.0	543	11372	1.25	0.00	123.25	1.272	6	0.054	0.000	2699	2095	2280
11694	0.99	182.9	748.3	4.9	565	11727	0.00	0.00	31.55	1.276	6	0.000	0.000	2698	2094	2132
12022	0.99	182.9	727.9	6.4	581	12024	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2095	2131
12332	0.99	182.9	709.7	6.1	596	12333	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2095	2130
12642	0.99	182.9	690.5	6.1	611	12646	0.00	2.62	0.00	0.000	4	0.000	0.063	2699	3506	2128
12735	1.00	186.1	684.6	5.9	615	12748	0.00	2.58	3.47	1.187	6	0.000	0.054	2699	2102	2119
13056	1.00	186.1	664.4	6.5	631	13057	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2102	2118
13365	1.01	194.4	646.3	5.8	646	13375	0.00	0.00	7.95	1.283	6	0.000	0.000	2699	2102	2085
13675	1.01	199.1	628.0	5.9	661	13685	0.00	2.62	5.07	1.229	4	0.000	0.058	2699	3500	2065
13781	1.02	204.2	621.5	5.8	666	13792	0.00	2.55	5.45	1.228	6	0.000	0.051	2699	2098	2045
14107	1.02	204.2	600.8	6.8	682	14111	0.00	2.58	0.00	0.000	4	0.000	0.058	2699	3500	2045
14184	1.02	204.2	595.2	6.7	685	14191	0.00	2.55	0.00	0.000	6	0.000	0.049	2699	2106	2045
14499	1.02	204.2	574.5	6.7	701	14501	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2106	2045
14809	1.02	204.2	554.4	6.5	716	14810	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2106	2045
15118	1.02	204.2	534.4	6.5	731	15119	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2107	2045
15427	1.02	204.2	514.8	6.1	746	15428	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2106	2045
15737	1.02	204.2	495.0	6.4	761	15738	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2106	2046
16046	1.02	204.2	475.4	6.1	776	16047	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2107	2046
16355	1.03	213.0	457.4	5.7	791	16366	0.00	0.00	8.80	1.134	6	0.000	0.000	2699	2106	2009
16665	1.03	213.0	438.1	6.7	806	16669	0.00	2.62	0.00	0.000	4	0.000	0.067	2699	686	2009
16719	1.03	213.0	434.0	6.2	808	16725	0.00	2.50	0.00	0.000	6	0.000	0.042	2699	2106	2009
17034	1.03	213.0	412.2	6.7	824	17035	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2110	2009
17344	1.03	213.0	392.3	6.5	839	17345	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2110	2009
17653	1.03	213.0	372.1	6.7	854	17657	0.00	2.65	0.00	0.000	4	0.000	0.064	2699	685	2009
17724	1.03	213.0	366.9	7.1	857	17728	0.00	2.47	0.00	0.000	6	0.000	0.041	2699	2099	2010
18045	1.03	213.0	345.6	6.4	873	18046	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2103	2010
18354	1.03	213.0	326.2	6.1	888	18355	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2103	2010
18664	1.06	237.5	308.7	5.3	903	18692	0.12	2.70	21.15	1.020	4	0.046	0.063	2749	685	1908
18737	1.06	237.5	303.6	7.0	906	18742	0.12	2.53	0.00	0.000	6	0.087	0.041	2724	2106	1908
19057	1.06	237.5	283.1	6.7	922	19059	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2110	1908
19367	1.06	237.5	260.8	7.6	937	19368	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2110	1908
19676	1.06	237.5	237.5	7.3	952	19677	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2111	1908
19985	1.06	237.5	216.3	6.7	967	19986	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2111	1908
20294	1.06	237.5	193.4	7.8	982	20299	0.00	2.62	0.00	0.000	4	0.000	0.062	2724	690	1909
20366	1.06	237.5	188.1	6.7	985	20370	0.00	2.47	0.00	0.000	6	0.000	0.040	2724	2104	1909
20687	1.06	237.5	165.1	6.5	1001	20688	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1909
20998	1.06	237.5	141.5	9.5	1016	20999	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1909
21306	1.06	237.5	115.3	8.4	1031	21307	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1909
21615	1.06	237.5	91.8	8.1	1046	21616	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1909
21924	1.06	237.5	68.6	8.5	1061	21925	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1910
22234	1.06	237.5	48.3	6.9	1076	22235	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2107	1910
22543	1.06	237.5	24.2	8.5	1091	22547	0.00	2.62	0.00	0.000	4	0.000	0.061	2724	685	1910
22591	1.06	237.5	19.6	9.3	1093	22595	0.00	2.47	0.00	0.000	6	0.000	0.039	2724	2108	1910
22913	1.29	429.1	3.2	0.3	1109	23019	0.22	2.58	99.53	0.769	4	0.043	0.053	2784	3498	1127
23149	1.51	605.0	3.1	0.8	1120	23221	0.17	2.53	65.05	0.749	6	0.056	0.044	2827	2095	604
23515	end climb: NO_VERTICAL_VELOCITY
state	23515	begin surface