Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 196 * 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 196 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 -79855.539 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 -79855.539

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 196 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 145638,6247.353,-1259.014,33,1.3,33,-11.9 TGT_NAME HW

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.077,0.194

_SM_DEPTHo 3.64 KALMAN_X 243292.8,-643.9,647.4,-480663.7,2089.7

_SM_ANGLEo -51.1 KALMAN_Y 49765.3,-214.9,-19.9,87760.7,-5985.0

GPS2 150626,6247.273,-1259.108,15,1.3,15,-11.9 MHEAD_RNG_PITCHd_Wd 350.4,7094,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22933,140.18,0.759,2,0,602,558.06 ALTIM_BOTTOM_PING 701.0,91.1

SM_GC 3.77,11.90,0.00,0.00,0.028,0.000,0.000,28,1890,603,-11.27,-0.28,558.30 _24V_AH 23.2,44.446

IRIDIUM_FIX 6221.17,-1252.63,251207,181836 _10V_AH 10.1,21.347

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56927,1109

HUMID 2027 CFSIZE 260165632,246239232

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,2,0

TCM_TEMP 18.70 GPS 251207,214007,6248.557,-1301.327,27,1.7,27,-11.9

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 62.90 SBE_CT 822 24 458.17

Roll_motor 92 79 170.41 SBE_O2 751 19 331.31

VBD_pump_during_apogee 372 1333 11529.13 WL_BB2F 668 105 1628.93

VBD_pump_during_surface 140 758 2466.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 186.33 nil 0 0 0.00

Iridium_during_connect 70 160 259.97 nil 0 0 0.00

Iridium_during_xfer 262 223 1358.83

Transponder_ping 8 420 77.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.51

TT8 1930 19 386.04

LPSleep 18612 2 411.69

TT8_Active 686 19 137.35

TT8_Sampling 2227 39 895.27

TT8_CF8 635 45 293.97

TT8_Kalman 33 81 27.57

Analog_circuits 1775 12 215.14

GPS_charging 0 0 0.00

Compass 2195 8 177.44

RAFOS 0 0 0.00

Guidance and control:

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -21.70 0.000 2 0.000 0.000 27 1885 1086

47 -0.95 -146.6 3.6 -0.0 1 213 11.20 2.62 -148.10 0.000 4 0.107 0.076 2286 499 3476

449 -0.95 -146.6 20.0 -7.4 19 454 0.00 2.47 0.00 0.000 6 0.000 0.042 2286 1904 3475

772 -0.95 -146.6 45.3 -6.6 35 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

1080 -0.95 -146.6 67.4 -6.2 50 1081 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

1390 -0.95 -146.6 88.0 -5.7 65 1391 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

1699 -0.95 -146.6 108.8 -8.1 80 1700 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2008 -0.95 -146.6 133.0 -7.0 95 2009 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2317 -0.95 -146.6 156.2 -7.7 110 2318 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2626 -0.95 -146.6 179.8 -7.9 125 2627 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2935 -0.95 -146.6 203.1 -7.6 140 2936 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

3245 -0.95 -146.6 226.4 -7.4 155 3249 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3302 3476

3316 -0.95 -146.6 231.7 -7.0 158 3320 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1904 3476

3637 -0.95 -146.6 254.8 -7.1 174 3641 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3301 3476

3698 -0.95 -146.6 259.3 -7.3 177 3702 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1896 3476

4023 -0.95 -146.6 281.4 -6.6 193 4024 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

4333 -0.95 -146.6 300.7 -6.2 208 4334 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

4642 -0.95 -146.6 321.5 -6.9 223 4646 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3298 3476

4730 -0.95 -146.6 328.1 -6.7 227 4734 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1894 3476

5057 -0.95 -146.6 350.6 -7.0 243 5059 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3475

5366 -0.95 -146.6 372.9 -7.1 258 5370 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3302 3475

5450 -0.95 -146.6 379.6 -8.0 262 5454 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1900 3475

5776 -0.95 -146.6 402.7 -6.9 278 5777 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

6085 -0.95 -146.6 423.5 -6.7 293 6086 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

6394 -0.95 -146.6 443.5 -6.8 308 6398 0.00 2.55 0.00 0.000 4 0.000 0.051 2286 3304 3475

6477 -0.95 -146.6 449.0 -7.0 312 6481 0.00 2.53 0.00 0.000 6 0.000 0.046 2286 1901 3475

6803 -0.95 -146.6 472.0 -7.6 328 6804 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

7112 -0.95 -146.6 494.8 -7.2 343 7116 0.00 2.53 0.00 0.000 4 0.000 0.052 2286 3299 3475

7189 -0.95 -146.6 500.5 -7.3 346 7195 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1900 3474

7504 -0.95 -146.6 523.2 -7.1 362 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

7813 -0.95 -146.6 545.7 -7.5 377 7817 0.00 2.55 0.00 0.000 4 0.000 0.054 2286 3304 3474

7862 -0.95 -146.6 549.3 -7.6 379 7866 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1901 3474

8183 -0.95 -146.6 571.6 -6.7 395 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

8492 -0.95 -146.6 592.8 -6.7 410 8496 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3302 3474

8558 -0.95 -146.6 597.4 -6.9 413 8562 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1899 3474

8884 -0.95 -146.6 618.8 -6.5 429 8885 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3474

9193 -0.95 -146.6 639.5 -6.7 444 9194 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

9503 -0.95 -146.6 659.3 -6.0 459 9504 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3474

9812 -0.95 -146.6 678.0 -5.4 474 9813 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3474

10121 -0.95 -146.6 695.9 -6.0 489 10126 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3295 3474

10171 -0.95 -146.6 699.1 -6.8 491 10175 0.00 2.53 0.00 0.000 6 0.000 0.050 2286 1900 3474

10492 -0.95 -146.6 718.1 -5.9 507 10493 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

10801 -0.95 -146.6 738.2 -6.7 522 10805 0.00 2.62 0.00 0.000 4 0.000 0.074 2286 495 3473

10844 -0.95 -146.6 741.3 -7.3 524 10848 0.00 2.47 0.00 0.000 6 0.000 0.052 2286 1895 3474

11171 -0.95 -146.6 760.5 -5.9 540 11175 0.00 2.60 0.00 0.000 4 0.000 0.064 2286 3301 3473

11270 -0.95 -146.6 767.4 -7.1 544 11277 0.00 2.55 0.00 0.000 6 0.000 0.059 2286 1904 3473

11522 end dive: BOTTOM_OBSTACLE_DETECTED

state 11522 begin apogee

11527 -0.36 0.0 782.7 6.3 557 11655 0.60 0.00 124.28 1.334 6 0.073 0.000 2417 2096 2878

11656 end apogee: CONTROL_FINISHED_OK

state 11656 begin climb

11658 0.95 146.6 786.4 0.0 563 11789 1.27 2.75 123.03 1.301 4 0.057 0.076 2700 691 2280

11851 0.95 146.6 781.4 7.6 572 11856 0.00 2.58 0.00 0.000 6 0.000 0.055 2700 2094 2280

12178 1.02 203.1 765.8 4.3 588 12232 0.00 2.72 47.90 1.307 4 0.000 0.068 2700 3498 2049

12312 1.02 203.1 756.7 6.3 594 12316 0.00 2.60 0.00 0.000 6 0.000 0.057 2700 2098 2049

12632 1.02 203.1 734.8 7.2 610 12634 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2098 2048

12942 1.02 206.7 716.1 5.9 625 12951 0.00 2.72 4.12 1.254 4 0.000 0.079 2700 691 2034

13009 1.02 206.7 711.7 6.4 628 13013 0.00 2.58 0.00 0.000 6 0.000 0.054 2700 2103 2034

13334 1.02 206.7 690.6 6.4 644 13335 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2103 2033

13643 1.02 206.7 670.5 6.6 659 13645 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2104 2032

13953 1.02 206.7 650.0 6.6 674 13954 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2104 2032

14262 1.02 206.7 629.3 7.1 689 14263 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2105 2032

14571 1.02 206.7 607.1 7.0 704 14576 0.00 2.65 0.00 0.000 4 0.000 0.069 2700 685 2032

14700 1.02 206.7 597.2 9.4 710 14705 0.00 2.53 0.00 0.000 6 0.000 0.047 2700 2103 2033

15026 1.02 206.7 574.3 6.5 726 15027 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2104 2032

15335 1.02 206.7 554.1 6.7 741 15336 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2104 2032

15644 1.02 206.7 534.1 6.2 756 15645 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2105 2033

15954 1.02 206.7 513.9 6.9 771 15955 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2105 2033

16263 1.02 206.7 492.6 7.0 786 16267 0.00 2.62 0.00 0.000 4 0.000 0.065 2700 690 2033

16312 1.02 206.7 489.2 6.8 788 16316 0.00 2.50 0.00 0.000 6 0.000 0.044 2700 2105 2033

16633 1.02 209.8 469.4 5.9 804 16638 0.00 0.00 3.70 1.083 6 0.000 0.000 2700 2105 2021

16942 1.03 216.4 451.0 5.8 819 16950 0.00 0.00 6.78 1.120 6 0.000 0.000 2700 2105 1995

17251 1.05 230.0 433.1 5.6 834 17266 0.10 0.00 12.00 1.115 6 0.057 0.000 2744 2108 1940

17560 1.05 230.0 410.4 7.7 849 17561 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1940

17869 1.05 230.0 385.5 8.3 864 17870 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1940

18178 1.05 230.0 359.7 8.5 879 18179 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1940

18488 1.05 230.0 334.4 8.1 894 18489 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1940

18797 1.05 230.0 309.5 8.0 909 18798 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1941

19106 1.05 230.0 285.1 8.0 924 19107 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1941

19416 1.05 230.0 259.0 8.6 939 19417 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1941

19725 1.05 230.0 232.1 8.4 954 19726 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1941

20034 1.05 230.0 207.0 7.8 969 20035 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1941

20343 1.05 230.0 183.4 7.4 984 20345 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1942

20652 1.05 230.0 159.6 7.9 999 20654 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2109 1942

20962 1.05 230.0 132.6 7.9 1014 20964 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1942

21272 1.12 284.5 113.6 4.4 1029 21318 0.00 0.00 43.97 0.877 6 0.000 0.000 2743 2108 1718

21622 1.12 284.5 83.5 8.1 1046 21623 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2108 1718

21930 1.12 284.5 56.1 9.3 1061 21931 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1718

22240 1.12 284.5 30.7 9.1 1076 22241 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2108 1718

22548 1.12 284.5 5.7 9.6 1091 22553 0.00 2.62 0.00 0.000 4 0.000 0.059 2743 684 1718

22592 1.12 284.5 3.2 6.4 1093 22596 0.00 2.50 0.00 0.000 6 0.000 0.042 2743 2102 1718

22920 1.36 480.7 3.0 0.1 1109 22929 0.17 0.00 6.80 0.851 2 0.058 0.000 2794 2110 1688

22930 end climb: NO_VERTICAL_VELOCITY

state 22930 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	196	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	-79855.539	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	145638,6247.353,-1259.014,33,1.3,33,-11.9	TGT_NAME	HW
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.077,0.194
_SM_DEPTHo	3.64	KALMAN_X	243292.8,-643.9,647.4,-480663.7,2089.7
_SM_ANGLEo	-51.1	KALMAN_Y	49765.3,-214.9,-19.9,87760.7,-5985.0
GPS2	150626,6247.273,-1259.108,15,1.3,15,-11.9	MHEAD_RNG_PITCHd_Wd	350.4,7094,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22933,140.18,0.759,2,0,602,558.06	ALTIM_BOTTOM_PING	701.0,91.1
SM_GC	3.77,11.90,0.00,0.00,0.028,0.000,0.000,28,1890,603,-11.27,-0.28,558.30	_24V_AH	23.2,44.446
IRIDIUM_FIX	6221.17,-1252.63,251207,181836	_10V_AH	10.1,21.347
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56927,1109
HUMID	2027	CFSIZE	260165632,246239232
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,2,0
TCM_TEMP	18.70	GPS	251207,214007,6248.557,-1301.327,27,1.7,27,-11.9
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	62.90	SBE_CT	822	24	458.17
Roll_motor	92	79	170.41	SBE_O2	751	19	331.31
VBD_pump_during_apogee	372	1333	11529.13	WL_BB2F	668	105	1628.93
VBD_pump_during_surface	140	758	2466.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	186.33	nil	0	0	0.00
Iridium_during_connect	70	160	259.97	nil	0	0	0.00
Iridium_during_xfer	262	223	1358.83
Transponder_ping	8	420	77.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.51
TT8	1930	19	386.04
LPSleep	18612	2	411.69
TT8_Active	686	19	137.35
TT8_Sampling	2227	39	895.27
TT8_CF8	635	45	293.97
TT8_Kalman	33	81	27.57
Analog_circuits	1775	12	215.14
GPS_charging	0	0	0.00
Compass	2195	8	177.44
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-21.70	0.000	2	0.000	0.000	27	1885	1086
47	-0.95	-146.6	3.6	-0.0	1	213	11.20	2.62	-148.10	0.000	4	0.107	0.076	2286	499	3476
449	-0.95	-146.6	20.0	-7.4	19	454	0.00	2.47	0.00	0.000	6	0.000	0.042	2286	1904	3475
772	-0.95	-146.6	45.3	-6.6	35	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
1080	-0.95	-146.6	67.4	-6.2	50	1081	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
1390	-0.95	-146.6	88.0	-5.7	65	1391	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
1699	-0.95	-146.6	108.8	-8.1	80	1700	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2008	-0.95	-146.6	133.0	-7.0	95	2009	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2317	-0.95	-146.6	156.2	-7.7	110	2318	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2626	-0.95	-146.6	179.8	-7.9	125	2627	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2935	-0.95	-146.6	203.1	-7.6	140	2936	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
3245	-0.95	-146.6	226.4	-7.4	155	3249	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3302	3476
3316	-0.95	-146.6	231.7	-7.0	158	3320	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1904	3476
3637	-0.95	-146.6	254.8	-7.1	174	3641	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3301	3476
3698	-0.95	-146.6	259.3	-7.3	177	3702	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1896	3476
4023	-0.95	-146.6	281.4	-6.6	193	4024	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
4333	-0.95	-146.6	300.7	-6.2	208	4334	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
4642	-0.95	-146.6	321.5	-6.9	223	4646	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3298	3476
4730	-0.95	-146.6	328.1	-6.7	227	4734	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1894	3476
5057	-0.95	-146.6	350.6	-7.0	243	5059	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3475
5366	-0.95	-146.6	372.9	-7.1	258	5370	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3302	3475
5450	-0.95	-146.6	379.6	-8.0	262	5454	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1900	3475
5776	-0.95	-146.6	402.7	-6.9	278	5777	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
6085	-0.95	-146.6	423.5	-6.7	293	6086	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
6394	-0.95	-146.6	443.5	-6.8	308	6398	0.00	2.55	0.00	0.000	4	0.000	0.051	2286	3304	3475
6477	-0.95	-146.6	449.0	-7.0	312	6481	0.00	2.53	0.00	0.000	6	0.000	0.046	2286	1901	3475
6803	-0.95	-146.6	472.0	-7.6	328	6804	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
7112	-0.95	-146.6	494.8	-7.2	343	7116	0.00	2.53	0.00	0.000	4	0.000	0.052	2286	3299	3475
7189	-0.95	-146.6	500.5	-7.3	346	7195	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1900	3474
7504	-0.95	-146.6	523.2	-7.1	362	7505	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
7813	-0.95	-146.6	545.7	-7.5	377	7817	0.00	2.55	0.00	0.000	4	0.000	0.054	2286	3304	3474
7862	-0.95	-146.6	549.3	-7.6	379	7866	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1901	3474
8183	-0.95	-146.6	571.6	-6.7	395	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
8492	-0.95	-146.6	592.8	-6.7	410	8496	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3302	3474
8558	-0.95	-146.6	597.4	-6.9	413	8562	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1899	3474
8884	-0.95	-146.6	618.8	-6.5	429	8885	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3474
9193	-0.95	-146.6	639.5	-6.7	444	9194	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
9503	-0.95	-146.6	659.3	-6.0	459	9504	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3474
9812	-0.95	-146.6	678.0	-5.4	474	9813	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3474
10121	-0.95	-146.6	695.9	-6.0	489	10126	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3295	3474
10171	-0.95	-146.6	699.1	-6.8	491	10175	0.00	2.53	0.00	0.000	6	0.000	0.050	2286	1900	3474
10492	-0.95	-146.6	718.1	-5.9	507	10493	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
10801	-0.95	-146.6	738.2	-6.7	522	10805	0.00	2.62	0.00	0.000	4	0.000	0.074	2286	495	3473
10844	-0.95	-146.6	741.3	-7.3	524	10848	0.00	2.47	0.00	0.000	6	0.000	0.052	2286	1895	3474
11171	-0.95	-146.6	760.5	-5.9	540	11175	0.00	2.60	0.00	0.000	4	0.000	0.064	2286	3301	3473
11270	-0.95	-146.6	767.4	-7.1	544	11277	0.00	2.55	0.00	0.000	6	0.000	0.059	2286	1904	3473
11522	end dive: BOTTOM_OBSTACLE_DETECTED
state	11522	begin apogee
11527	-0.36	0.0	782.7	6.3	557	11655	0.60	0.00	124.28	1.334	6	0.073	0.000	2417	2096	2878
11656	end apogee: CONTROL_FINISHED_OK
state	11656	begin climb
11658	0.95	146.6	786.4	0.0	563	11789	1.27	2.75	123.03	1.301	4	0.057	0.076	2700	691	2280
11851	0.95	146.6	781.4	7.6	572	11856	0.00	2.58	0.00	0.000	6	0.000	0.055	2700	2094	2280
12178	1.02	203.1	765.8	4.3	588	12232	0.00	2.72	47.90	1.307	4	0.000	0.068	2700	3498	2049
12312	1.02	203.1	756.7	6.3	594	12316	0.00	2.60	0.00	0.000	6	0.000	0.057	2700	2098	2049
12632	1.02	203.1	734.8	7.2	610	12634	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2098	2048
12942	1.02	206.7	716.1	5.9	625	12951	0.00	2.72	4.12	1.254	4	0.000	0.079	2700	691	2034
13009	1.02	206.7	711.7	6.4	628	13013	0.00	2.58	0.00	0.000	6	0.000	0.054	2700	2103	2034
13334	1.02	206.7	690.6	6.4	644	13335	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2103	2033
13643	1.02	206.7	670.5	6.6	659	13645	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2104	2032
13953	1.02	206.7	650.0	6.6	674	13954	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2104	2032
14262	1.02	206.7	629.3	7.1	689	14263	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2105	2032
14571	1.02	206.7	607.1	7.0	704	14576	0.00	2.65	0.00	0.000	4	0.000	0.069	2700	685	2032
14700	1.02	206.7	597.2	9.4	710	14705	0.00	2.53	0.00	0.000	6	0.000	0.047	2700	2103	2033
15026	1.02	206.7	574.3	6.5	726	15027	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2104	2032
15335	1.02	206.7	554.1	6.7	741	15336	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2104	2032
15644	1.02	206.7	534.1	6.2	756	15645	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2105	2033
15954	1.02	206.7	513.9	6.9	771	15955	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2105	2033
16263	1.02	206.7	492.6	7.0	786	16267	0.00	2.62	0.00	0.000	4	0.000	0.065	2700	690	2033
16312	1.02	206.7	489.2	6.8	788	16316	0.00	2.50	0.00	0.000	6	0.000	0.044	2700	2105	2033
16633	1.02	209.8	469.4	5.9	804	16638	0.00	0.00	3.70	1.083	6	0.000	0.000	2700	2105	2021
16942	1.03	216.4	451.0	5.8	819	16950	0.00	0.00	6.78	1.120	6	0.000	0.000	2700	2105	1995
17251	1.05	230.0	433.1	5.6	834	17266	0.10	0.00	12.00	1.115	6	0.057	0.000	2744	2108	1940
17560	1.05	230.0	410.4	7.7	849	17561	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1940
17869	1.05	230.0	385.5	8.3	864	17870	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1940
18178	1.05	230.0	359.7	8.5	879	18179	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1940
18488	1.05	230.0	334.4	8.1	894	18489	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1940
18797	1.05	230.0	309.5	8.0	909	18798	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1941
19106	1.05	230.0	285.1	8.0	924	19107	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1941
19416	1.05	230.0	259.0	8.6	939	19417	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1941
19725	1.05	230.0	232.1	8.4	954	19726	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1941
20034	1.05	230.0	207.0	7.8	969	20035	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1941
20343	1.05	230.0	183.4	7.4	984	20345	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1942
20652	1.05	230.0	159.6	7.9	999	20654	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2109	1942
20962	1.05	230.0	132.6	7.9	1014	20964	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1942
21272	1.12	284.5	113.6	4.4	1029	21318	0.00	0.00	43.97	0.877	6	0.000	0.000	2743	2108	1718
21622	1.12	284.5	83.5	8.1	1046	21623	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2108	1718
21930	1.12	284.5	56.1	9.3	1061	21931	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1718
22240	1.12	284.5	30.7	9.1	1076	22241	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2108	1718
22548	1.12	284.5	5.7	9.6	1091	22553	0.00	2.62	0.00	0.000	4	0.000	0.059	2743	684	1718
22592	1.12	284.5	3.2	6.4	1093	22596	0.00	2.50	0.00	0.000	6	0.000	0.042	2743	2102	1718
22920	1.36	480.7	3.0	0.1	1109	22929	0.17	0.00	6.80	0.851	2	0.058	0.000	2794	2110	1688
22930	end climb: NO_VERTICAL_VELOCITY
state	22930	begin surface