Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 200 * 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 200 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -79937.664 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 -79937.664

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 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 200 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 170326,6249.770,-1307.962,37,1.5,37,-12.0 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.062,0.199

_SM_DEPTHo 3.59 KALMAN_X 241708.1,486.7,-3448.1,-484201.8,12565.8

_SM_ANGLEo -53.6 KALMAN_Y 35682.3,318.6,696.5,105091.9,-12415.3

GPS2 171409,6249.713,-1308.279,12,1.3,12,-12.0 MHEAD_RNG_PITCHd_Wd 354.7,47165,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22713,48.65,0.769,0,0,603,558.06 ALTIM_BOTTOM_PING 725.1,89.1

SM_GC 3.55,11.82,0.00,0.00,0.025,0.000,0.000,28,1893,603,-11.27,-0.20,558.06 _24V_AH 23.3,45.188

IRIDIUM_FIX 6225.82,-1302.85,261207,212129 _10V_AH 10.1,21.750

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56878,1100

HUMID 2032 CFSIZE 260165632,245964800

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

TCM_TEMP 16.80 GPS 261207,234237,6252.886,-1309.575,35,1.4,35,-12.0

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 111 65.50 SBE_CT 814 24 455.66

Roll_motor 133 75 235.80 SBE_O2 744 19 329.39

VBD_pump_during_apogee 451 1338 14077.72 WL_BB2F 642 105 1572.77

VBD_pump_during_surface 48 769 872.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 178.95 nil 0 0 0.00

Iridium_during_connect 82 160 306.64 nil 0 0 0.00

Iridium_during_xfer 228 223 1186.01

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.22

TT8 1934 19 386.95

LPSleep 18184 2 402.23

TT8_Active 725 19 145.04

TT8_Sampling 2286 39 919.09

TT8_CF8 693 45 320.99

TT8_Kalman 33 81 27.56

Analog_circuits 1862 12 225.75

GPS_charging 0 0 0.00

Compass 2247 8 181.56

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 44 0.00 0.00 -22.10 0.000 2 0.000 0.000 27 1891 1095

47 -0.95 -146.6 3.7 -0.0 1 242 11.30 2.60 -173.23 0.000 4 0.111 0.062 2287 3295 3475

254 -0.95 -146.6 4.1 -5.4 11 258 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1902 3476

580 -0.95 -146.6 31.6 -8.1 27 584 0.00 2.62 0.00 0.000 4 0.000 0.066 2287 493 3475

836 -0.95 -146.6 51.5 -8.9 38 843 0.00 2.47 0.00 0.000 6 0.000 0.041 2287 1898 3475

1154 -0.95 -146.6 73.3 -7.8 54 1158 0.00 2.60 0.00 0.000 4 0.000 0.064 2287 499 3475

1333 -0.95 -146.6 87.4 -8.2 62 1337 0.00 2.45 0.00 0.000 6 0.000 0.041 2287 1899 3476

1653 -0.95 -146.6 107.1 -8.3 78 1657 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3301 3475

1702 -0.95 -146.6 111.4 -8.1 80 1706 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1895 3476

2023 -0.95 -146.6 137.9 -8.3 96 2024 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3475

2333 -0.95 -146.6 159.6 -6.0 111 2334 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

2642 -0.95 -146.6 179.0 -6.5 126 2643 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

2952 -0.95 -146.6 200.9 -7.5 141 2956 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3298 3475

3006 -0.95 -146.6 205.2 -7.5 143 3013 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1892 3475

3322 -0.95 -146.6 227.7 -6.1 159 3323 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1892 3475

3631 -0.95 -146.6 246.4 -6.2 174 3635 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3297 3475

3679 -0.95 -146.6 249.7 -6.4 176 3684 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1900 3475

4001 -0.95 -146.6 267.6 -5.5 192 4002 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

4310 -0.95 -146.6 285.4 -5.9 207 4314 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3298 3475

4365 -0.95 -146.6 289.0 -6.6 209 4372 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1900 3475

4681 -0.95 -146.6 309.7 -6.7 225 4685 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3301 3475

4729 -0.95 -146.6 313.1 -7.2 227 4734 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1898 3475

5051 -0.95 -146.6 332.2 -5.7 243 5055 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3297 3475

5113 -0.95 -146.6 336.2 -6.8 246 5117 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3475

5438 -0.95 -146.6 358.5 -7.0 262 5439 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3475

5747 -0.95 -146.6 380.0 -6.9 277 5752 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3296 3475

5813 -0.95 -146.6 385.0 -7.2 280 5818 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1902 3475

6140 -0.95 -146.6 407.6 -6.9 296 6142 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

6450 -0.95 -146.6 428.8 -7.2 311 6454 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3296 3475

6521 -0.95 -146.6 434.1 -7.5 314 6525 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1898 3474

6842 -0.95 -146.6 458.1 -7.7 330 6843 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

7152 -0.95 -146.6 481.9 -7.8 345 7153 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

7461 -0.95 -146.6 505.3 -7.4 360 7465 0.00 2.53 0.00 0.000 4 0.000 0.052 2287 3296 3474

7522 -0.95 -146.6 509.9 -7.9 363 7526 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1895 3474

7848 -0.95 -146.6 532.6 -7.0 379 7849 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3474

8157 -0.95 -146.6 553.7 -6.7 394 8161 0.00 2.55 0.00 0.000 4 0.000 0.053 2287 3298 3474

8222 -0.95 -146.6 558.1 -6.7 397 8226 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1897 3474

8549 -0.95 -146.6 580.2 -7.4 413 8550 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3474

8858 -0.95 -146.6 605.3 -8.5 428 8859 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3473

9167 -0.95 -146.6 631.2 -8.5 443 9168 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3473

9477 -0.95 -146.6 656.1 -7.9 458 9481 0.00 2.58 0.00 0.000 4 0.000 0.059 2286 3294 3474

9525 -0.95 -146.6 659.9 -7.9 460 9530 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1899 3473

9847 -0.95 -146.6 685.3 -8.2 476 9851 0.00 2.60 0.00 0.000 4 0.000 0.068 2287 493 3474

9919 -0.95 -146.6 691.5 -8.7 479 9923 0.00 2.47 0.00 0.000 6 0.000 0.048 2287 1899 3473

10233 -0.95 -146.6 718.2 -8.8 494 10238 0.00 2.62 0.00 0.000 4 0.000 0.071 2287 492 3473

10260 -0.95 -146.6 720.7 -9.2 495 10264 0.00 2.47 0.00 0.000 6 0.000 0.049 2286 1899 3473

10582 -0.95 -146.6 746.2 -7.3 511 10586 0.00 2.62 0.00 0.000 4 0.000 0.072 2287 492 3473

10625 -0.95 -146.6 749.3 -6.2 513 10629 0.00 2.47 0.00 0.000 6 0.000 0.050 2287 1898 3473

10951 -0.95 -146.6 770.3 -6.4 529 10953 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3473

11261 -0.95 -146.6 790.8 -6.9 544 11265 0.00 2.62 0.00 0.000 4 0.000 0.074 2287 495 3473

11287 -0.95 -146.6 792.6 -6.7 545 11291 0.00 2.53 0.00 0.000 6 0.000 0.053 2287 1904 3473

11504 end dive: BOTTOM_OBSTACLE_DETECTED

state 11504 begin apogee

11509 -0.36 0.0 805.1 6.7 556 11637 0.60 0.00 124.95 1.338 6 0.069 0.000 2419 2103 2878

11638 end apogee: CONTROL_FINISHED_OK

state 11639 begin climb

11641 0.95 146.6 809.3 0.0 562 11772 1.25 2.75 124.10 1.302 4 0.052 0.074 2699 693 2280

11867 0.95 146.6 800.5 8.1 573 11874 0.00 2.58 0.00 0.000 6 0.000 0.053 2699 2086 2280

12183 0.95 147.2 783.4 6.0 589 12187 0.00 2.65 0.00 0.000 4 0.000 0.067 2699 3504 2279

12237 0.95 147.2 779.7 6.9 591 12244 0.00 2.58 0.00 0.000 6 0.000 0.057 2699 2104 2279

12553 0.95 149.8 761.2 5.9 607 12562 0.00 2.72 3.72 1.189 4 0.000 0.076 2699 688 2266

12664 0.95 149.8 754.5 6.0 612 12668 0.00 2.58 0.00 0.000 6 0.000 0.053 2699 2106 2266

12989 0.95 151.4 736.4 6.0 628 12994 0.00 2.60 0.00 0.000 4 0.000 0.065 2699 3501 2265

13089 0.95 151.4 730.7 6.3 632 13096 0.00 2.58 0.00 0.000 6 0.000 0.055 2699 2096 2265

13405 1.02 207.3 715.7 4.3 648 13455 0.00 0.00 48.50 1.318 6 0.000 0.000 2699 2096 2033

13755 1.02 207.3 694.4 7.1 665 13759 0.00 2.65 0.00 0.000 4 0.000 0.074 2699 692 2033

13820 1.02 207.3 689.4 7.3 668 13825 0.00 2.53 0.00 0.000 6 0.000 0.048 2699 2103 2033

14147 1.02 207.3 668.9 6.1 684 14148 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2104 2032

14456 1.02 207.3 650.0 6.0 699 14457 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2105 2032

14766 1.07 244.9 633.1 4.9 714 14800 0.12 0.00 32.40 1.252 6 0.048 0.000 2746 2107 1879

15095 1.07 244.9 611.2 7.0 730 15096 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1879

15404 1.07 244.9 586.7 8.1 745 15405 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1879

15713 1.07 244.9 561.4 8.0 760 15714 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1879

16022 1.07 244.9 538.0 7.4 775 16024 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2106 1879

16332 1.07 244.9 515.7 7.3 790 16333 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1879

16641 1.07 244.9 491.5 7.9 805 16642 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1879

16950 1.07 244.9 466.4 8.4 820 16951 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1880

17260 1.07 244.9 440.2 8.5 835 17261 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1880

17569 1.07 244.9 414.9 7.9 850 17570 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1881

17878 1.07 244.9 389.3 8.7 865 17879 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1881

18188 1.07 244.9 361.6 9.2 880 18189 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2107 1881

18496 1.07 244.9 333.6 9.0 895 18501 0.00 2.53 0.00 0.000 4 0.000 0.052 2746 3504 1882

18558 1.07 244.9 327.6 10.2 898 18562 0.00 2.50 0.00 0.000 6 0.000 0.043 2746 2097 1882

18883 1.07 244.9 299.2 8.6 914 18884 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2096 1882

19192 1.07 244.9 274.6 7.9 929 19194 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2096 1882

19502 1.07 244.9 251.4 7.4 944 19503 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2096 1882

19811 1.08 254.7 232.2 5.7 959 19823 0.00 0.00 9.85 0.984 6 0.000 0.000 2746 2097 1838

20120 1.08 254.7 208.9 8.2 974 20121 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2097 1838

20429 1.08 254.7 183.8 8.8 989 20434 0.00 2.58 0.00 0.000 4 0.000 0.051 2746 3509 1838

20491 1.08 254.7 178.5 8.5 992 20496 0.00 2.50 0.00 0.000 6 0.000 0.041 2746 2098 1839

20816 1.08 254.7 152.0 7.8 1008 20817 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2098 1839

21126 1.08 254.7 125.0 9.5 1023 21127 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2098 1839

21436 1.08 254.7 91.6 10.3 1038 21437 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2098 1839

21746 1.08 254.7 64.6 8.1 1053 21747 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2097 1839

22054 1.08 254.7 31.2 10.8 1068 22058 0.00 2.55 0.00 0.000 4 0.000 0.049 2746 3504 1839

22131 1.08 254.7 23.4 10.1 1071 22138 0.00 2.50 0.00 0.000 6 0.000 0.040 2746 2104 1839

22447 1.34 463.5 3.1 -0.2 1087 22557 0.17 0.00 107.90 0.779 6 0.051 0.000 2794 2099 988

22710 end climb: NO_VERTICAL_VELOCITY

state 22710 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	200	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-79937.664	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	170326,6249.770,-1307.962,37,1.5,37,-12.0	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.062,0.199
_SM_DEPTHo	3.59	KALMAN_X	241708.1,486.7,-3448.1,-484201.8,12565.8
_SM_ANGLEo	-53.6	KALMAN_Y	35682.3,318.6,696.5,105091.9,-12415.3
GPS2	171409,6249.713,-1308.279,12,1.3,12,-12.0	MHEAD_RNG_PITCHd_Wd	354.7,47165,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22713,48.65,0.769,0,0,603,558.06	ALTIM_BOTTOM_PING	725.1,89.1
SM_GC	3.55,11.82,0.00,0.00,0.025,0.000,0.000,28,1893,603,-11.27,-0.20,558.06	_24V_AH	23.3,45.188
IRIDIUM_FIX	6225.82,-1302.85,261207,212129	_10V_AH	10.1,21.750
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56878,1100
HUMID	2032	CFSIZE	260165632,245964800
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
TCM_TEMP	16.80	GPS	261207,234237,6252.886,-1309.575,35,1.4,35,-12.0
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	111	65.50	SBE_CT	814	24	455.66
Roll_motor	133	75	235.80	SBE_O2	744	19	329.39
VBD_pump_during_apogee	451	1338	14077.72	WL_BB2F	642	105	1572.77
VBD_pump_during_surface	48	769	872.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	178.95	nil	0	0	0.00
Iridium_during_connect	82	160	306.64	nil	0	0	0.00
Iridium_during_xfer	228	223	1186.01
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.22
TT8	1934	19	386.95
LPSleep	18184	2	402.23
TT8_Active	725	19	145.04
TT8_Sampling	2286	39	919.09
TT8_CF8	693	45	320.99
TT8_Kalman	33	81	27.56
Analog_circuits	1862	12	225.75
GPS_charging	0	0	0.00
Compass	2247	8	181.56
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	44	0.00	0.00	-22.10	0.000	2	0.000	0.000	27	1891	1095
47	-0.95	-146.6	3.7	-0.0	1	242	11.30	2.60	-173.23	0.000	4	0.111	0.062	2287	3295	3475
254	-0.95	-146.6	4.1	-5.4	11	258	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1902	3476
580	-0.95	-146.6	31.6	-8.1	27	584	0.00	2.62	0.00	0.000	4	0.000	0.066	2287	493	3475
836	-0.95	-146.6	51.5	-8.9	38	843	0.00	2.47	0.00	0.000	6	0.000	0.041	2287	1898	3475
1154	-0.95	-146.6	73.3	-7.8	54	1158	0.00	2.60	0.00	0.000	4	0.000	0.064	2287	499	3475
1333	-0.95	-146.6	87.4	-8.2	62	1337	0.00	2.45	0.00	0.000	6	0.000	0.041	2287	1899	3476
1653	-0.95	-146.6	107.1	-8.3	78	1657	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3301	3475
1702	-0.95	-146.6	111.4	-8.1	80	1706	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1895	3476
2023	-0.95	-146.6	137.9	-8.3	96	2024	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3475
2333	-0.95	-146.6	159.6	-6.0	111	2334	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
2642	-0.95	-146.6	179.0	-6.5	126	2643	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
2952	-0.95	-146.6	200.9	-7.5	141	2956	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3298	3475
3006	-0.95	-146.6	205.2	-7.5	143	3013	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1892	3475
3322	-0.95	-146.6	227.7	-6.1	159	3323	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1892	3475
3631	-0.95	-146.6	246.4	-6.2	174	3635	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3297	3475
3679	-0.95	-146.6	249.7	-6.4	176	3684	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1900	3475
4001	-0.95	-146.6	267.6	-5.5	192	4002	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
4310	-0.95	-146.6	285.4	-5.9	207	4314	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3298	3475
4365	-0.95	-146.6	289.0	-6.6	209	4372	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1900	3475
4681	-0.95	-146.6	309.7	-6.7	225	4685	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3301	3475
4729	-0.95	-146.6	313.1	-7.2	227	4734	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1898	3475
5051	-0.95	-146.6	332.2	-5.7	243	5055	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3297	3475
5113	-0.95	-146.6	336.2	-6.8	246	5117	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3475
5438	-0.95	-146.6	358.5	-7.0	262	5439	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3475
5747	-0.95	-146.6	380.0	-6.9	277	5752	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3296	3475
5813	-0.95	-146.6	385.0	-7.2	280	5818	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1902	3475
6140	-0.95	-146.6	407.6	-6.9	296	6142	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
6450	-0.95	-146.6	428.8	-7.2	311	6454	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3296	3475
6521	-0.95	-146.6	434.1	-7.5	314	6525	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1898	3474
6842	-0.95	-146.6	458.1	-7.7	330	6843	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
7152	-0.95	-146.6	481.9	-7.8	345	7153	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
7461	-0.95	-146.6	505.3	-7.4	360	7465	0.00	2.53	0.00	0.000	4	0.000	0.052	2287	3296	3474
7522	-0.95	-146.6	509.9	-7.9	363	7526	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1895	3474
7848	-0.95	-146.6	532.6	-7.0	379	7849	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3474
8157	-0.95	-146.6	553.7	-6.7	394	8161	0.00	2.55	0.00	0.000	4	0.000	0.053	2287	3298	3474
8222	-0.95	-146.6	558.1	-6.7	397	8226	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1897	3474
8549	-0.95	-146.6	580.2	-7.4	413	8550	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3474
8858	-0.95	-146.6	605.3	-8.5	428	8859	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3473
9167	-0.95	-146.6	631.2	-8.5	443	9168	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3473
9477	-0.95	-146.6	656.1	-7.9	458	9481	0.00	2.58	0.00	0.000	4	0.000	0.059	2286	3294	3474
9525	-0.95	-146.6	659.9	-7.9	460	9530	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1899	3473
9847	-0.95	-146.6	685.3	-8.2	476	9851	0.00	2.60	0.00	0.000	4	0.000	0.068	2287	493	3474
9919	-0.95	-146.6	691.5	-8.7	479	9923	0.00	2.47	0.00	0.000	6	0.000	0.048	2287	1899	3473
10233	-0.95	-146.6	718.2	-8.8	494	10238	0.00	2.62	0.00	0.000	4	0.000	0.071	2287	492	3473
10260	-0.95	-146.6	720.7	-9.2	495	10264	0.00	2.47	0.00	0.000	6	0.000	0.049	2286	1899	3473
10582	-0.95	-146.6	746.2	-7.3	511	10586	0.00	2.62	0.00	0.000	4	0.000	0.072	2287	492	3473
10625	-0.95	-146.6	749.3	-6.2	513	10629	0.00	2.47	0.00	0.000	6	0.000	0.050	2287	1898	3473
10951	-0.95	-146.6	770.3	-6.4	529	10953	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3473
11261	-0.95	-146.6	790.8	-6.9	544	11265	0.00	2.62	0.00	0.000	4	0.000	0.074	2287	495	3473
11287	-0.95	-146.6	792.6	-6.7	545	11291	0.00	2.53	0.00	0.000	6	0.000	0.053	2287	1904	3473
11504	end dive: BOTTOM_OBSTACLE_DETECTED
state	11504	begin apogee
11509	-0.36	0.0	805.1	6.7	556	11637	0.60	0.00	124.95	1.338	6	0.069	0.000	2419	2103	2878
11638	end apogee: CONTROL_FINISHED_OK
state	11639	begin climb
11641	0.95	146.6	809.3	0.0	562	11772	1.25	2.75	124.10	1.302	4	0.052	0.074	2699	693	2280
11867	0.95	146.6	800.5	8.1	573	11874	0.00	2.58	0.00	0.000	6	0.000	0.053	2699	2086	2280
12183	0.95	147.2	783.4	6.0	589	12187	0.00	2.65	0.00	0.000	4	0.000	0.067	2699	3504	2279
12237	0.95	147.2	779.7	6.9	591	12244	0.00	2.58	0.00	0.000	6	0.000	0.057	2699	2104	2279
12553	0.95	149.8	761.2	5.9	607	12562	0.00	2.72	3.72	1.189	4	0.000	0.076	2699	688	2266
12664	0.95	149.8	754.5	6.0	612	12668	0.00	2.58	0.00	0.000	6	0.000	0.053	2699	2106	2266
12989	0.95	151.4	736.4	6.0	628	12994	0.00	2.60	0.00	0.000	4	0.000	0.065	2699	3501	2265
13089	0.95	151.4	730.7	6.3	632	13096	0.00	2.58	0.00	0.000	6	0.000	0.055	2699	2096	2265
13405	1.02	207.3	715.7	4.3	648	13455	0.00	0.00	48.50	1.318	6	0.000	0.000	2699	2096	2033
13755	1.02	207.3	694.4	7.1	665	13759	0.00	2.65	0.00	0.000	4	0.000	0.074	2699	692	2033
13820	1.02	207.3	689.4	7.3	668	13825	0.00	2.53	0.00	0.000	6	0.000	0.048	2699	2103	2033
14147	1.02	207.3	668.9	6.1	684	14148	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2104	2032
14456	1.02	207.3	650.0	6.0	699	14457	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2105	2032
14766	1.07	244.9	633.1	4.9	714	14800	0.12	0.00	32.40	1.252	6	0.048	0.000	2746	2107	1879
15095	1.07	244.9	611.2	7.0	730	15096	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1879
15404	1.07	244.9	586.7	8.1	745	15405	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1879
15713	1.07	244.9	561.4	8.0	760	15714	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1879
16022	1.07	244.9	538.0	7.4	775	16024	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2106	1879
16332	1.07	244.9	515.7	7.3	790	16333	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1879
16641	1.07	244.9	491.5	7.9	805	16642	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1879
16950	1.07	244.9	466.4	8.4	820	16951	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1880
17260	1.07	244.9	440.2	8.5	835	17261	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1880
17569	1.07	244.9	414.9	7.9	850	17570	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1881
17878	1.07	244.9	389.3	8.7	865	17879	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1881
18188	1.07	244.9	361.6	9.2	880	18189	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2107	1881
18496	1.07	244.9	333.6	9.0	895	18501	0.00	2.53	0.00	0.000	4	0.000	0.052	2746	3504	1882
18558	1.07	244.9	327.6	10.2	898	18562	0.00	2.50	0.00	0.000	6	0.000	0.043	2746	2097	1882
18883	1.07	244.9	299.2	8.6	914	18884	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2096	1882
19192	1.07	244.9	274.6	7.9	929	19194	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2096	1882
19502	1.07	244.9	251.4	7.4	944	19503	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2096	1882
19811	1.08	254.7	232.2	5.7	959	19823	0.00	0.00	9.85	0.984	6	0.000	0.000	2746	2097	1838
20120	1.08	254.7	208.9	8.2	974	20121	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2097	1838
20429	1.08	254.7	183.8	8.8	989	20434	0.00	2.58	0.00	0.000	4	0.000	0.051	2746	3509	1838
20491	1.08	254.7	178.5	8.5	992	20496	0.00	2.50	0.00	0.000	6	0.000	0.041	2746	2098	1839
20816	1.08	254.7	152.0	7.8	1008	20817	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2098	1839
21126	1.08	254.7	125.0	9.5	1023	21127	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2098	1839
21436	1.08	254.7	91.6	10.3	1038	21437	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2098	1839
21746	1.08	254.7	64.6	8.1	1053	21747	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2097	1839
22054	1.08	254.7	31.2	10.8	1068	22058	0.00	2.55	0.00	0.000	4	0.000	0.049	2746	3504	1839
22131	1.08	254.7	23.4	10.1	1071	22138	0.00	2.50	0.00	0.000	6	0.000	0.040	2746	2104	1839
22447	1.34	463.5	3.1	-0.2	1087	22557	0.17	0.00	107.90	0.779	6	0.051	0.000	2794	2099	988
22710	end climb: NO_VERTICAL_VELOCITY
state	22710	begin surface