Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 198 * 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 198 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 30 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 -79888.508 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 -79888.508

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 30 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 198 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 035638,6249.083,-1259.630,36,1.1,36,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 4 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.207,0.025

_SM_DEPTHo 3.50 KALMAN_X 245564.7,637.9,-1371.1,-482705.8,8548.2

_SM_ANGLEo -44.7 KALMAN_Y 41020.9,773.4,-1846.3,100575.1,-6916.6

GPS2 040302,6249.025,-1259.686,15,1.3,15,-11.9 MHEAD_RNG_PITCHd_Wd 288.7,49770,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22339,91.47,0.777,2,0,603,558.06 ALTIM_BOTTOM_PING 700.8,103.4

SM_GC 3.87,11.70,0.00,0.00,0.028,0.000,0.000,29,1881,603,-11.27,-0.54,558.06 _24V_AH 23.2,44.816

IRIDIUM_FIX 6225.82,-1303.91,261207,010105 _10V_AH 10.1,21.541

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53747,1082

HUMID 2035 CFSIZE 260165632,246104064

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,2,0

TCM_TEMP 16.70 GPS 261207,102608,6249.437,-1310.074,36,1.4,36,-12.0

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 92 52.48 SBE_CT 801 24 446.44

Roll_motor 123 68 195.07 SBE_O2 731 19 322.50

VBD_pump_during_apogee 452 1339 14069.89 WL_BB2F 644 105 1570.42

VBD_pump_during_surface 91 776 1648.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 89.56 nil 0 0 0.00

Iridium_during_connect 41 160 153.54 nil 0 0 0.00

Iridium_during_xfer 197 223 1019.31

Transponder_ping 7 420 68.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.54

TT8 1917 19 383.39

LPSleep 17828 2 394.35

TT8_Active 756 19 151.24

TT8_Sampling 2236 39 899.18

TT8_CF8 507 45 234.62

TT8_Kalman 33 81 27.56

Analog_circuits 1851 12 224.46

GPS_charging 0 0 0.00

Compass 2205 8 178.22

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -0.95 -146.5 0.0 0.0 0 27 0.00 0.00 -3.90 0.000 2 0.000 0.000 33 1884 696

30 -0.95 -146.6 3.6 -0.0 0 202 10.90 0.00 -157.68 0.000 6 0.092 0.000 2293 1887 3476

530 -0.95 -146.6 25.3 -4.2 25 534 0.00 2.55 0.00 0.000 4 0.000 0.048 2294 3296 3476

623 -0.95 -146.6 31.8 -6.7 29 628 0.00 2.50 0.00 0.000 6 0.000 0.042 2294 1901 3476

945 -0.95 -146.6 49.7 -6.8 45 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1901 3476

1255 -0.95 -146.6 77.9 -5.7 60 1256 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1901 3476

1564 -0.95 -146.6 102.7 -7.0 75 1568 0.00 2.53 0.00 0.000 4 0.000 0.047 2294 3300 3476

1613 -0.95 -146.6 105.8 -5.7 77 1618 0.00 2.53 0.00 0.000 6 0.000 0.043 2294 1894 3476

1929 -0.95 -146.6 127.4 -8.1 92 1933 0.00 2.53 0.00 0.000 4 0.000 0.048 2294 3297 3476

1991 -0.95 -146.6 132.7 -8.0 95 1995 0.00 2.50 0.00 0.000 6 0.000 0.044 2293 1902 3476

2317 -0.95 -146.6 162.2 -7.1 111 2318 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1902 3476

2626 -0.95 -146.6 184.6 -6.1 126 2627 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1902 3476

2935 -0.95 -146.6 199.1 -4.8 141 2939 0.00 2.53 0.00 0.000 4 0.000 0.048 2294 3300 3476

3024 -0.95 -146.6 203.6 -4.8 145 3029 0.00 2.50 0.00 0.000 6 0.000 0.043 2293 1899 3476

3346 -0.95 -146.6 221.0 -5.8 161 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1899 3476

3655 -0.95 -146.6 237.5 -5.7 176 3656 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1900 3476

3964 -0.95 -146.6 256.4 -6.3 191 3968 0.00 2.53 0.00 0.000 4 0.000 0.048 2293 3296 3476

4040 -0.95 -146.6 261.4 -6.2 194 4047 0.00 2.50 0.00 0.000 6 0.000 0.043 2293 1898 3476

4356 -0.95 -146.6 279.9 -5.8 210 4358 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1898 3476

4665 -0.95 -146.6 299.9 -6.7 225 4673 0.00 2.53 0.00 0.000 4 0.000 0.048 2293 3300 3476

4728 -0.95 -146.6 304.3 -7.4 227 4734 0.00 2.50 0.00 0.000 6 0.000 0.043 2294 1899 3476

5044 -0.95 -146.6 325.8 -6.7 243 5046 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1900 3476

5353 -0.95 -146.6 346.7 -6.5 258 5357 0.00 2.53 0.00 0.000 4 0.000 0.049 2293 3298 3476

5414 -0.95 -146.6 350.9 -6.9 261 5418 0.00 2.53 0.00 0.000 6 0.000 0.044 2293 1894 3476

5739 -0.95 -146.6 372.3 -6.7 277 5741 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1894 3476

6048 -0.95 -146.6 395.4 -7.9 292 6049 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1894 3476

6358 -0.95 -146.6 418.2 -6.9 307 6362 0.00 2.53 0.00 0.000 4 0.000 0.051 2294 3295 3476

6451 -0.95 -146.6 425.0 -7.5 311 6457 0.00 2.50 0.00 0.000 6 0.000 0.045 2293 1902 3476

6772 -0.95 -146.6 447.0 -6.8 327 6773 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1901 3476

7081 -0.95 -146.6 467.7 -6.3 342 7082 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1902 3476

7390 -0.95 -146.6 486.5 -6.3 357 7395 0.00 2.53 0.00 0.000 4 0.000 0.052 2294 3294 3476

7519 -0.95 -146.6 495.4 -7.4 363 7524 0.00 2.53 0.00 0.000 6 0.000 0.047 2294 1894 3476

7845 -0.95 -146.6 518.3 -6.9 379 7846 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1891 3475

8154 -0.95 -146.6 539.4 -7.0 394 8159 0.00 2.55 0.00 0.000 4 0.000 0.052 2293 3297 3475

8243 -0.95 -146.6 546.3 -8.4 398 8247 0.00 2.53 0.00 0.000 6 0.000 0.047 2293 1897 3475

8570 -0.95 -146.6 570.8 -7.7 414 8571 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1897 3475

8879 -0.95 -146.6 594.3 -7.4 429 8880 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1897 3475

9188 -0.95 -146.6 615.2 -6.1 444 9192 0.00 2.55 0.00 0.000 4 0.000 0.057 2293 3298 3475

9276 -0.95 -146.6 621.0 -6.5 448 9280 0.00 2.53 0.00 0.000 6 0.000 0.048 2293 1900 3475

9603 -0.95 -146.6 642.1 -6.4 464 9604 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1900 3475

9912 -0.95 -146.6 663.3 -6.7 479 9916 0.00 2.58 0.00 0.000 4 0.000 0.058 2293 3301 3475

10006 -0.95 -146.6 670.1 -6.4 483 10010 0.00 2.55 0.00 0.000 6 0.000 0.050 2293 1897 3475

10326 -0.95 -146.6 690.4 -6.1 499 10331 0.00 2.55 0.00 0.000 4 0.000 0.058 2293 3294 3475

10381 -0.95 -146.6 693.9 -6.2 501 10388 0.00 2.53 0.00 0.000 6 0.000 0.049 2293 1898 3475

10697 -0.95 -146.6 712.8 -5.5 517 10702 0.00 2.58 0.00 0.000 4 0.000 0.059 2293 3301 3474

10814 -0.95 -146.6 720.0 -6.5 522 10818 0.00 2.55 0.00 0.000 6 0.000 0.052 2293 1895 3474

11135 -0.95 -146.6 741.3 -6.8 538 11136 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3474

11444 -0.95 -146.6 760.9 -6.1 553 11445 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1895 3473

11754 -0.95 -146.6 776.1 -4.1 568 11755 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3473

12063 -0.95 -146.6 793.4 -6.4 583 12064 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1895 3474

12082 end dive: BOTTOM_OBSTACLE_DETECTED

state 12082 begin apogee

12087 -0.36 0.0 794.4 6.3 584 12215 0.57 0.00 125.25 1.340 6 0.067 0.000 2418 2089 2878

12216 end apogee: CONTROL_FINISHED_OK

state 12217 begin climb

12219 0.95 146.6 799.6 0.0 590 12351 1.25 2.72 124.78 1.309 4 0.053 0.066 2701 3502 2280

12413 0.95 146.6 794.5 7.8 600 12418 0.00 2.60 0.00 0.000 6 0.000 0.055 2701 2104 2279

12733 0.95 146.6 772.1 8.3 616 12734 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2278

13043 0.95 146.6 749.1 7.1 631 13044 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2277

13352 0.98 175.4 731.3 5.1 646 13382 0.00 2.67 24.38 1.328 4 0.000 0.063 2701 3500 2163

13556 1.03 212.2 720.8 4.9 655 13593 0.00 2.58 31.60 1.325 6 0.000 0.054 2701 2096 2013

13915 1.03 216.3 700.6 5.9 673 13922 0.00 0.00 4.90 1.259 6 0.000 0.000 2701 2097 1996

14224 1.10 272.9 686.2 4.3 688 14274 0.15 0.00 48.12 1.305 6 0.045 0.000 2749 2097 1765

14572 1.10 272.9 656.6 9.3 705 14573 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2096 1765

14882 1.10 272.9 627.7 9.5 720 14883 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2097 1765

15191 1.10 272.9 603.3 7.2 735 15192 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2096 1765

15500 1.10 272.9 579.8 7.7 750 15504 0.00 2.58 0.00 0.000 4 0.000 0.054 2750 3507 1766

15561 1.10 272.9 574.6 8.9 753 15565 0.00 2.55 0.00 0.000 6 0.000 0.048 2749 2102 1765

15886 1.10 272.9 546.2 8.9 769 15888 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2102 1765

16195 1.10 272.9 520.2 8.3 784 16200 0.00 2.62 0.00 0.000 4 0.000 0.068 2750 691 1766

16244 1.10 272.9 515.5 8.4 786 16249 0.00 2.47 0.00 0.000 6 0.000 0.043 2749 2103 1766

16566 1.10 272.9 488.5 8.6 802 16567 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2108 1766

16875 1.10 272.9 461.8 8.7 817 16876 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2107 1766

17184 1.10 272.9 433.4 9.5 832 17185 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2107 1766

17494 1.10 272.9 405.1 9.1 847 17498 0.00 2.65 0.00 0.000 4 0.000 0.064 2749 685 1767

17565 1.10 272.9 398.4 9.3 850 17569 0.00 2.50 0.00 0.000 6 0.000 0.042 2750 2105 1767

17887 1.10 272.9 369.5 8.9 866 17888 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2108 1767

18196 1.10 272.9 341.9 9.0 881 18200 0.00 2.62 0.00 0.000 4 0.000 0.064 2750 690 1768

18250 1.10 272.9 336.7 9.6 883 18257 0.00 2.50 0.00 0.000 6 0.000 0.041 2750 2106 1768

18566 1.10 272.9 308.4 9.1 899 18567 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2108 1768

18875 1.10 272.9 280.6 9.2 914 18880 0.00 2.62 0.00 0.000 4 0.000 0.062 2749 682 1769

18930 1.10 272.9 275.3 10.0 916 18937 0.00 2.50 0.00 0.000 6 0.000 0.041 2750 2100 1769

19245 1.10 272.9 248.2 8.5 932 19247 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2103 1769

19555 1.10 272.9 223.5 7.6 947 19556 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2104 1769

19864 1.10 272.9 199.8 7.9 962 19865 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2104 1769

20173 1.10 272.9 171.0 9.6 977 20174 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2103 1770

20483 1.10 272.9 140.8 8.3 992 20484 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2103 1770

20793 1.23 375.8 121.4 2.9 1007 20876 0.00 0.00 81.55 0.881 6 0.000 0.000 2750 2103 1346

21183 1.23 375.8 89.9 9.6 1026 21188 0.00 2.65 0.00 0.000 4 0.000 0.064 2750 688 1345

21247 1.23 375.8 82.8 11.1 1029 21251 0.00 2.50 0.00 0.000 6 0.000 0.039 2750 2108 1345

21573 1.23 375.8 44.8 10.2 1045 21578 0.00 2.65 0.00 0.000 4 0.000 0.063 2750 688 1345

21617 1.23 375.8 40.4 9.9 1047 21621 0.00 2.47 0.00 0.000 6 0.000 0.039 2750 2106 1345

21944 1.23 375.8 9.7 10.1 1063 21949 0.00 2.65 0.00 0.000 4 0.000 0.065 2750 687 1346

22010 1.25 390.2 3.1 5.6 1066 22028 0.00 2.50 12.02 0.837 6 0.000 0.041 2750 2103 1287

22335 end climb: NO_VERTICAL_VELOCITY

state 22335 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	198	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	30	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	-79888.508	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	035638,6249.083,-1259.630,36,1.1,36,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	4	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.207,0.025
_SM_DEPTHo	3.50	KALMAN_X	245564.7,637.9,-1371.1,-482705.8,8548.2
_SM_ANGLEo	-44.7	KALMAN_Y	41020.9,773.4,-1846.3,100575.1,-6916.6
GPS2	040302,6249.025,-1259.686,15,1.3,15,-11.9	MHEAD_RNG_PITCHd_Wd	288.7,49770,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22339,91.47,0.777,2,0,603,558.06	ALTIM_BOTTOM_PING	700.8,103.4
SM_GC	3.87,11.70,0.00,0.00,0.028,0.000,0.000,29,1881,603,-11.27,-0.54,558.06	_24V_AH	23.2,44.816
IRIDIUM_FIX	6225.82,-1303.91,261207,010105	_10V_AH	10.1,21.541
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53747,1082
HUMID	2035	CFSIZE	260165632,246104064
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,2,0
TCM_TEMP	16.70	GPS	261207,102608,6249.437,-1310.074,36,1.4,36,-12.0
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	92	52.48	SBE_CT	801	24	446.44
Roll_motor	123	68	195.07	SBE_O2	731	19	322.50
VBD_pump_during_apogee	452	1339	14069.89	WL_BB2F	644	105	1570.42
VBD_pump_during_surface	91	776	1648.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	89.56	nil	0	0	0.00
Iridium_during_connect	41	160	153.54	nil	0	0	0.00
Iridium_during_xfer	197	223	1019.31
Transponder_ping	7	420	68.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.54
TT8	1917	19	383.39
LPSleep	17828	2	394.35
TT8_Active	756	19	151.24
TT8_Sampling	2236	39	899.18
TT8_CF8	507	45	234.62
TT8_Kalman	33	81	27.56
Analog_circuits	1851	12	224.46
GPS_charging	0	0	0.00
Compass	2205	8	178.22
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-0.95	-146.5	0.0	0.0	0	27	0.00	0.00	-3.90	0.000	2	0.000	0.000	33	1884	696
30	-0.95	-146.6	3.6	-0.0	0	202	10.90	0.00	-157.68	0.000	6	0.092	0.000	2293	1887	3476
530	-0.95	-146.6	25.3	-4.2	25	534	0.00	2.55	0.00	0.000	4	0.000	0.048	2294	3296	3476
623	-0.95	-146.6	31.8	-6.7	29	628	0.00	2.50	0.00	0.000	6	0.000	0.042	2294	1901	3476
945	-0.95	-146.6	49.7	-6.8	45	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1901	3476
1255	-0.95	-146.6	77.9	-5.7	60	1256	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1901	3476
1564	-0.95	-146.6	102.7	-7.0	75	1568	0.00	2.53	0.00	0.000	4	0.000	0.047	2294	3300	3476
1613	-0.95	-146.6	105.8	-5.7	77	1618	0.00	2.53	0.00	0.000	6	0.000	0.043	2294	1894	3476
1929	-0.95	-146.6	127.4	-8.1	92	1933	0.00	2.53	0.00	0.000	4	0.000	0.048	2294	3297	3476
1991	-0.95	-146.6	132.7	-8.0	95	1995	0.00	2.50	0.00	0.000	6	0.000	0.044	2293	1902	3476
2317	-0.95	-146.6	162.2	-7.1	111	2318	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1902	3476
2626	-0.95	-146.6	184.6	-6.1	126	2627	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1902	3476
2935	-0.95	-146.6	199.1	-4.8	141	2939	0.00	2.53	0.00	0.000	4	0.000	0.048	2294	3300	3476
3024	-0.95	-146.6	203.6	-4.8	145	3029	0.00	2.50	0.00	0.000	6	0.000	0.043	2293	1899	3476
3346	-0.95	-146.6	221.0	-5.8	161	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1899	3476
3655	-0.95	-146.6	237.5	-5.7	176	3656	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1900	3476
3964	-0.95	-146.6	256.4	-6.3	191	3968	0.00	2.53	0.00	0.000	4	0.000	0.048	2293	3296	3476
4040	-0.95	-146.6	261.4	-6.2	194	4047	0.00	2.50	0.00	0.000	6	0.000	0.043	2293	1898	3476
4356	-0.95	-146.6	279.9	-5.8	210	4358	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1898	3476
4665	-0.95	-146.6	299.9	-6.7	225	4673	0.00	2.53	0.00	0.000	4	0.000	0.048	2293	3300	3476
4728	-0.95	-146.6	304.3	-7.4	227	4734	0.00	2.50	0.00	0.000	6	0.000	0.043	2294	1899	3476
5044	-0.95	-146.6	325.8	-6.7	243	5046	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1900	3476
5353	-0.95	-146.6	346.7	-6.5	258	5357	0.00	2.53	0.00	0.000	4	0.000	0.049	2293	3298	3476
5414	-0.95	-146.6	350.9	-6.9	261	5418	0.00	2.53	0.00	0.000	6	0.000	0.044	2293	1894	3476
5739	-0.95	-146.6	372.3	-6.7	277	5741	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1894	3476
6048	-0.95	-146.6	395.4	-7.9	292	6049	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1894	3476
6358	-0.95	-146.6	418.2	-6.9	307	6362	0.00	2.53	0.00	0.000	4	0.000	0.051	2294	3295	3476
6451	-0.95	-146.6	425.0	-7.5	311	6457	0.00	2.50	0.00	0.000	6	0.000	0.045	2293	1902	3476
6772	-0.95	-146.6	447.0	-6.8	327	6773	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1901	3476
7081	-0.95	-146.6	467.7	-6.3	342	7082	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1902	3476
7390	-0.95	-146.6	486.5	-6.3	357	7395	0.00	2.53	0.00	0.000	4	0.000	0.052	2294	3294	3476
7519	-0.95	-146.6	495.4	-7.4	363	7524	0.00	2.53	0.00	0.000	6	0.000	0.047	2294	1894	3476
7845	-0.95	-146.6	518.3	-6.9	379	7846	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1891	3475
8154	-0.95	-146.6	539.4	-7.0	394	8159	0.00	2.55	0.00	0.000	4	0.000	0.052	2293	3297	3475
8243	-0.95	-146.6	546.3	-8.4	398	8247	0.00	2.53	0.00	0.000	6	0.000	0.047	2293	1897	3475
8570	-0.95	-146.6	570.8	-7.7	414	8571	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1897	3475
8879	-0.95	-146.6	594.3	-7.4	429	8880	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1897	3475
9188	-0.95	-146.6	615.2	-6.1	444	9192	0.00	2.55	0.00	0.000	4	0.000	0.057	2293	3298	3475
9276	-0.95	-146.6	621.0	-6.5	448	9280	0.00	2.53	0.00	0.000	6	0.000	0.048	2293	1900	3475
9603	-0.95	-146.6	642.1	-6.4	464	9604	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1900	3475
9912	-0.95	-146.6	663.3	-6.7	479	9916	0.00	2.58	0.00	0.000	4	0.000	0.058	2293	3301	3475
10006	-0.95	-146.6	670.1	-6.4	483	10010	0.00	2.55	0.00	0.000	6	0.000	0.050	2293	1897	3475
10326	-0.95	-146.6	690.4	-6.1	499	10331	0.00	2.55	0.00	0.000	4	0.000	0.058	2293	3294	3475
10381	-0.95	-146.6	693.9	-6.2	501	10388	0.00	2.53	0.00	0.000	6	0.000	0.049	2293	1898	3475
10697	-0.95	-146.6	712.8	-5.5	517	10702	0.00	2.58	0.00	0.000	4	0.000	0.059	2293	3301	3474
10814	-0.95	-146.6	720.0	-6.5	522	10818	0.00	2.55	0.00	0.000	6	0.000	0.052	2293	1895	3474
11135	-0.95	-146.6	741.3	-6.8	538	11136	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3474
11444	-0.95	-146.6	760.9	-6.1	553	11445	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1895	3473
11754	-0.95	-146.6	776.1	-4.1	568	11755	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3473
12063	-0.95	-146.6	793.4	-6.4	583	12064	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1895	3474
12082	end dive: BOTTOM_OBSTACLE_DETECTED
state	12082	begin apogee
12087	-0.36	0.0	794.4	6.3	584	12215	0.57	0.00	125.25	1.340	6	0.067	0.000	2418	2089	2878
12216	end apogee: CONTROL_FINISHED_OK
state	12217	begin climb
12219	0.95	146.6	799.6	0.0	590	12351	1.25	2.72	124.78	1.309	4	0.053	0.066	2701	3502	2280
12413	0.95	146.6	794.5	7.8	600	12418	0.00	2.60	0.00	0.000	6	0.000	0.055	2701	2104	2279
12733	0.95	146.6	772.1	8.3	616	12734	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2278
13043	0.95	146.6	749.1	7.1	631	13044	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2277
13352	0.98	175.4	731.3	5.1	646	13382	0.00	2.67	24.38	1.328	4	0.000	0.063	2701	3500	2163
13556	1.03	212.2	720.8	4.9	655	13593	0.00	2.58	31.60	1.325	6	0.000	0.054	2701	2096	2013
13915	1.03	216.3	700.6	5.9	673	13922	0.00	0.00	4.90	1.259	6	0.000	0.000	2701	2097	1996
14224	1.10	272.9	686.2	4.3	688	14274	0.15	0.00	48.12	1.305	6	0.045	0.000	2749	2097	1765
14572	1.10	272.9	656.6	9.3	705	14573	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2096	1765
14882	1.10	272.9	627.7	9.5	720	14883	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2097	1765
15191	1.10	272.9	603.3	7.2	735	15192	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2096	1765
15500	1.10	272.9	579.8	7.7	750	15504	0.00	2.58	0.00	0.000	4	0.000	0.054	2750	3507	1766
15561	1.10	272.9	574.6	8.9	753	15565	0.00	2.55	0.00	0.000	6	0.000	0.048	2749	2102	1765
15886	1.10	272.9	546.2	8.9	769	15888	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2102	1765
16195	1.10	272.9	520.2	8.3	784	16200	0.00	2.62	0.00	0.000	4	0.000	0.068	2750	691	1766
16244	1.10	272.9	515.5	8.4	786	16249	0.00	2.47	0.00	0.000	6	0.000	0.043	2749	2103	1766
16566	1.10	272.9	488.5	8.6	802	16567	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2108	1766
16875	1.10	272.9	461.8	8.7	817	16876	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2107	1766
17184	1.10	272.9	433.4	9.5	832	17185	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2107	1766
17494	1.10	272.9	405.1	9.1	847	17498	0.00	2.65	0.00	0.000	4	0.000	0.064	2749	685	1767
17565	1.10	272.9	398.4	9.3	850	17569	0.00	2.50	0.00	0.000	6	0.000	0.042	2750	2105	1767
17887	1.10	272.9	369.5	8.9	866	17888	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2108	1767
18196	1.10	272.9	341.9	9.0	881	18200	0.00	2.62	0.00	0.000	4	0.000	0.064	2750	690	1768
18250	1.10	272.9	336.7	9.6	883	18257	0.00	2.50	0.00	0.000	6	0.000	0.041	2750	2106	1768
18566	1.10	272.9	308.4	9.1	899	18567	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2108	1768
18875	1.10	272.9	280.6	9.2	914	18880	0.00	2.62	0.00	0.000	4	0.000	0.062	2749	682	1769
18930	1.10	272.9	275.3	10.0	916	18937	0.00	2.50	0.00	0.000	6	0.000	0.041	2750	2100	1769
19245	1.10	272.9	248.2	8.5	932	19247	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2103	1769
19555	1.10	272.9	223.5	7.6	947	19556	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2104	1769
19864	1.10	272.9	199.8	7.9	962	19865	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2104	1769
20173	1.10	272.9	171.0	9.6	977	20174	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2103	1770
20483	1.10	272.9	140.8	8.3	992	20484	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2103	1770
20793	1.23	375.8	121.4	2.9	1007	20876	0.00	0.00	81.55	0.881	6	0.000	0.000	2750	2103	1346
21183	1.23	375.8	89.9	9.6	1026	21188	0.00	2.65	0.00	0.000	4	0.000	0.064	2750	688	1345
21247	1.23	375.8	82.8	11.1	1029	21251	0.00	2.50	0.00	0.000	6	0.000	0.039	2750	2108	1345
21573	1.23	375.8	44.8	10.2	1045	21578	0.00	2.65	0.00	0.000	4	0.000	0.063	2750	688	1345
21617	1.23	375.8	40.4	9.9	1047	21621	0.00	2.47	0.00	0.000	6	0.000	0.039	2750	2106	1345
21944	1.23	375.8	9.7	10.1	1063	21949	0.00	2.65	0.00	0.000	4	0.000	0.065	2750	687	1346
22010	1.25	390.2	3.1	5.6	1066	22028	0.00	2.50	12.02	0.837	6	0.000	0.041	2750	2103	1287
22335	end climb: NO_VERTICAL_VELOCITY
state	22335	begin surface