Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 204 * 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 204 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 23 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 -80018.508 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 -80018.508

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 23 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 204 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 184825,6252.501,-1255.024,26,1.2,44,-11.9 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 7 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.181,0.104

_SM_DEPTHo 3.56 KALMAN_X 244770.1,16.8,-1745.0,-476730.5,12155.1

_SM_ANGLEo -52.6 KALMAN_Y 20390.8,-1053.9,427.1,127018.1,-18033.0

GPS2 185457,6252.391,-1254.934,14,1.5,14,-11.9 MHEAD_RNG_PITCHd_Wd 311.7,45089,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22515,0.00,0.000,0,0,604,558.06 ALTIM_BOTTOM_PING 701.0,42.7

SM_GC 3.77,0.00,0.00,0.00,0.000,0.000,0.000,28,1891,604,-11.35,-0.25,558.06 _24V_AH 23.3,45.901

IRIDIUM_FIX 6230.49,-1241.98,271207,161653 _10V_AH 10.1,22.153

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53775,1067

HUMID 2038 CFSIZE 260165632,245682176

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

TCM_TEMP 18.70 GPS 281207,011207,6252.197,-1259.036,23,1.4,23,-11.9

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 103 60.56 SBE_CT 791 24 442.88

Roll_motor 107 71 178.92 SBE_O2 722 19 319.81

VBD_pump_during_apogee 429 1291 12920.51 WL_BB2F 670 105 1640.09

VBD_pump_during_surface 71 730 1219.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.14 nil 0 0 0.00

Iridium_during_connect 33 160 124.91 nil 0 0 0.00

Iridium_during_xfer 210 223 1092.19

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.02

TT8 1883 19 376.75

LPSleep 17607 2 389.45

TT8_Active 684 19 136.88

TT8_Sampling 2229 39 896.16

TT8_CF8 504 45 233.25

TT8_Kalman 33 81 27.56

Analog_circuits 1789 12 216.87

GPS_charging 0 0 0.00

Compass 2190 8 177.02

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 29 0.00 0.00 -6.97 0.000 2 0.000 0.000 27 1904 769

32 -0.95 -146.6 3.7 -0.0 1 225 11.12 0.00 -178.82 0.000 6 0.104 0.000 2287 1906 3475

526 -0.95 -146.6 32.7 -9.0 25 530 0.00 2.65 0.00 0.000 4 0.000 0.067 2288 488 3475

580 -0.95 -146.6 38.5 -10.4 27 587 0.00 2.53 0.00 0.000 6 0.000 0.041 2288 1910 3475

896 -0.95 -146.6 59.4 -7.3 43 897 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3476

1205 -0.95 -146.6 79.2 -5.9 58 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1910 3475

1515 -0.95 -146.6 100.9 -3.3 73 1516 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

1824 -0.95 -146.6 118.7 -5.5 88 1825 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1910 3475

2134 -0.95 -146.6 137.3 -7.0 103 2139 0.00 2.50 0.00 0.000 4 0.000 0.049 2287 3298 3475

2201 -0.95 -146.6 142.2 -7.4 106 2205 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1900 3475

2528 -0.95 -146.6 159.6 -6.9 122 2529 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

2836 -0.95 -146.6 186.9 -7.1 137 2841 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3301 3475

2908 -0.95 -146.6 191.7 -5.7 140 2913 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1895 3475

3230 -0.95 -146.6 211.2 -6.8 156 3231 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1896 3475

3539 -0.95 -146.6 232.8 -3.2 171 3540 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3475

3848 -0.95 -146.6 247.0 -3.8 186 3849 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3475

4158 -0.95 -146.6 263.2 -6.5 201 4162 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3297 3475

4241 -0.95 -146.6 269.5 -7.8 205 4246 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1895 3475

4568 -0.95 -146.6 290.3 -6.4 221 4569 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3475

4877 -0.95 -146.6 311.1 -6.8 236 4882 0.00 2.53 0.00 0.000 4 0.000 0.050 2287 3295 3475

4932 -0.95 -146.6 314.9 -6.7 238 4939 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1902 3475

5248 -0.95 -146.6 335.0 -6.6 254 5249 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

5558 -0.95 -146.6 354.4 -6.0 269 5562 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3300 3475

5629 -0.95 -146.6 358.5 -5.3 272 5633 0.00 2.50 0.00 0.000 6 0.000 0.046 2288 1897 3475

5951 -0.95 -146.6 376.1 -5.5 288 5952 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

6259 -0.95 -146.6 393.7 -6.0 303 6260 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1897 3475

6568 -0.95 -146.6 414.4 -7.2 318 6573 0.00 2.50 0.00 0.000 4 0.000 0.051 2287 3295 3475

6640 -0.95 -146.6 419.7 -7.4 321 6644 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1894 3475

6961 -0.95 -146.6 445.0 -8.3 337 6962 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3475

7270 -0.95 -146.6 473.0 -9.2 352 7275 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3298 3474

7359 -0.95 -146.6 481.2 -9.4 356 7363 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1902 3475

7686 -0.95 -146.6 505.7 -6.7 372 7690 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3295 3474

7752 -0.95 -146.6 510.1 -5.9 375 7756 0.00 2.53 0.00 0.000 6 0.000 0.046 2287 1894 3474

8079 -0.95 -146.6 529.6 -6.3 391 8080 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3474

8388 -0.95 -146.6 552.5 -8.5 406 8389 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3474

8697 -0.95 -146.6 577.4 -7.3 421 8699 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3474

9007 -0.95 -146.6 595.9 -5.8 436 9009 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3474

9316 -0.95 -146.6 613.8 -6.3 451 9317 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3473

9625 -0.95 -146.6 634.1 -6.8 466 9630 0.00 2.58 0.00 0.000 4 0.000 0.060 2287 3297 3473

9709 -0.95 -146.6 639.7 -6.5 470 9713 0.00 2.55 0.00 0.000 6 0.000 0.051 2287 1895 3473

10035 -0.95 -146.6 659.5 -6.2 486 10036 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3473

10345 -0.95 -146.6 679.9 -6.6 501 10346 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3473

10656 -0.95 -146.6 701.0 -6.3 516 10658 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3473

10963 -0.95 -146.6 718.5 -5.0 531 10964 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3472

11229 end dive: BOTTOM_OBSTACLE_DETECTED

state 11229 begin apogee

11234 -0.36 0.0 734.7 6.0 544 11362 0.60 0.00 124.07 1.292 6 0.071 0.000 2418 2089 2878

11362 end apogee: CONTROL_FINISHED_OK

state 11362 begin climb

11364 0.95 146.6 738.7 0.0 550 11496 1.27 2.72 123.22 1.251 4 0.052 0.066 2703 3494 2280

11592 0.96 156.0 731.8 5.7 560 11607 0.00 2.58 9.00 1.222 6 0.000 0.054 2703 2100 2241

11929 0.96 156.0 711.2 6.6 577 11930 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2240

12239 0.96 160.0 692.1 5.9 592 12245 0.00 0.00 4.32 1.192 6 0.000 0.000 2703 2100 2225

12548 0.97 167.4 675.5 5.8 607 12557 0.00 0.00 7.32 1.260 6 0.000 0.000 2703 2100 2195

12857 0.97 167.4 657.0 6.1 622 12858 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2193

13167 0.97 167.4 637.5 6.4 637 13168 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2194

13476 1.01 201.4 620.2 5.0 652 13510 0.00 2.65 29.20 1.263 4 0.000 0.060 2703 3499 2056

13606 1.01 201.4 612.3 6.3 658 13611 0.00 2.55 0.00 0.000 6 0.000 0.051 2703 2098 2055

13932 1.01 201.4 589.1 7.0 674 13933 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2055

14241 1.01 201.4 565.8 7.8 689 14242 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2055

14551 1.01 201.4 541.7 7.2 704 14555 0.00 2.62 0.00 0.000 4 0.000 0.071 2703 691 2055

14606 1.01 201.4 538.1 6.6 706 14612 0.00 2.53 0.00 0.000 6 0.000 0.046 2703 2105 2055

14921 1.01 201.4 518.9 6.1 722 14922 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 2055

15230 1.01 201.4 498.8 6.3 737 15235 0.00 2.55 0.00 0.000 4 0.000 0.058 2703 3499 2056

15324 1.01 201.4 492.7 6.4 741 15329 0.00 2.53 0.00 0.000 6 0.000 0.047 2703 2094 2055

15646 1.02 204.8 473.8 5.9 757 15651 0.00 0.00 3.88 1.096 6 0.000 0.000 2703 2094 2043

15955 1.02 206.1 455.3 6.0 772 15956 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2094 2043

16264 1.03 212.9 436.9 5.8 787 16278 0.00 2.65 8.05 1.118 4 0.000 0.055 2703 3498 2009

16346 1.03 212.9 431.5 6.7 790 16353 0.00 2.53 0.00 0.000 6 0.000 0.045 2703 2096 2009

16662 1.04 225.0 413.6 5.6 806 16675 0.00 0.00 11.20 1.100 6 0.000 0.000 2703 2096 1960

16971 1.06 238.4 396.5 5.6 821 16993 0.10 2.72 11.88 1.079 4 0.056 0.067 2741 691 1905

17031 1.06 238.4 392.1 8.6 823 17038 0.00 2.50 0.00 0.000 6 0.000 0.042 2741 2101 1905

17346 1.06 238.4 368.9 7.7 839 17348 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1905

17656 1.06 238.4 344.5 7.8 854 17657 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2106 1905

17965 1.06 238.4 319.8 8.2 869 17966 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2105 1906

18274 1.06 238.4 291.2 9.6 884 18278 0.00 2.53 0.00 0.000 4 0.000 0.052 2741 3500 1906

18375 1.06 238.4 281.4 9.3 888 18381 0.00 2.53 0.00 0.000 6 0.000 0.044 2741 2094 1906

18690 1.06 238.4 253.7 7.8 904 18691 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1907

18999 1.06 238.4 228.2 8.0 919 19003 0.00 2.58 0.00 0.000 4 0.000 0.051 2741 3503 1907

19092 1.06 238.4 219.3 9.4 923 19096 0.00 2.50 0.00 0.000 6 0.000 0.042 2741 2097 1907

19413 1.06 238.4 190.7 9.2 939 19415 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1907

19722 1.06 238.4 162.6 8.4 954 19727 0.00 2.58 0.00 0.000 4 0.000 0.051 2741 3507 1907

19817 1.06 238.4 153.9 9.6 958 19821 0.00 2.50 0.00 0.000 6 0.000 0.042 2741 2099 1907

20138 1.06 238.4 126.6 7.9 974 20139 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2099 1908

20447 1.06 238.4 104.0 7.4 989 20451 0.00 2.55 0.00 0.000 4 0.000 0.050 2741 3501 1907

20554 1.06 238.4 94.7 9.1 994 20559 0.00 2.50 0.00 0.000 6 0.000 0.041 2741 2094 1907

20881 1.06 238.4 65.6 8.8 1010 20882 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2094 1907

21190 1.06 238.4 39.6 7.2 1025 21194 0.00 2.55 0.00 0.000 4 0.000 0.050 2741 3501 1908

21335 1.06 241.3 31.7 5.9 1031 21344 0.00 2.47 4.40 0.876 6 0.000 0.041 2741 2101 1893

21672 1.06 241.3 4.8 8.5 1048 21673 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2100 1893

21982 1.31 440.9 3.1 0.1 1063 22078 0.15 0.00 92.78 0.765 2 0.057 0.000 2785 2094 1173

22079 end climb: NO_VERTICAL_VELOCITY

state 22079 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	204	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	23	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	-80018.508	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	184825,6252.501,-1255.024,26,1.2,44,-11.9	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	7	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.181,0.104
_SM_DEPTHo	3.56	KALMAN_X	244770.1,16.8,-1745.0,-476730.5,12155.1
_SM_ANGLEo	-52.6	KALMAN_Y	20390.8,-1053.9,427.1,127018.1,-18033.0
GPS2	185457,6252.391,-1254.934,14,1.5,14,-11.9	MHEAD_RNG_PITCHd_Wd	311.7,45089,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22515,0.00,0.000,0,0,604,558.06	ALTIM_BOTTOM_PING	701.0,42.7
SM_GC	3.77,0.00,0.00,0.00,0.000,0.000,0.000,28,1891,604,-11.35,-0.25,558.06	_24V_AH	23.3,45.901
IRIDIUM_FIX	6230.49,-1241.98,271207,161653	_10V_AH	10.1,22.153
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53775,1067
HUMID	2038	CFSIZE	260165632,245682176
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	18.70	GPS	281207,011207,6252.197,-1259.036,23,1.4,23,-11.9
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	103	60.56	SBE_CT	791	24	442.88
Roll_motor	107	71	178.92	SBE_O2	722	19	319.81
VBD_pump_during_apogee	429	1291	12920.51	WL_BB2F	670	105	1640.09
VBD_pump_during_surface	71	730	1219.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.14	nil	0	0	0.00
Iridium_during_connect	33	160	124.91	nil	0	0	0.00
Iridium_during_xfer	210	223	1092.19
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.02
TT8	1883	19	376.75
LPSleep	17607	2	389.45
TT8_Active	684	19	136.88
TT8_Sampling	2229	39	896.16
TT8_CF8	504	45	233.25
TT8_Kalman	33	81	27.56
Analog_circuits	1789	12	216.87
GPS_charging	0	0	0.00
Compass	2190	8	177.02
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	29	0.00	0.00	-6.97	0.000	2	0.000	0.000	27	1904	769
32	-0.95	-146.6	3.7	-0.0	1	225	11.12	0.00	-178.82	0.000	6	0.104	0.000	2287	1906	3475
526	-0.95	-146.6	32.7	-9.0	25	530	0.00	2.65	0.00	0.000	4	0.000	0.067	2288	488	3475
580	-0.95	-146.6	38.5	-10.4	27	587	0.00	2.53	0.00	0.000	6	0.000	0.041	2288	1910	3475
896	-0.95	-146.6	59.4	-7.3	43	897	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3476
1205	-0.95	-146.6	79.2	-5.9	58	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1910	3475
1515	-0.95	-146.6	100.9	-3.3	73	1516	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
1824	-0.95	-146.6	118.7	-5.5	88	1825	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1910	3475
2134	-0.95	-146.6	137.3	-7.0	103	2139	0.00	2.50	0.00	0.000	4	0.000	0.049	2287	3298	3475
2201	-0.95	-146.6	142.2	-7.4	106	2205	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1900	3475
2528	-0.95	-146.6	159.6	-6.9	122	2529	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
2836	-0.95	-146.6	186.9	-7.1	137	2841	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3301	3475
2908	-0.95	-146.6	191.7	-5.7	140	2913	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1895	3475
3230	-0.95	-146.6	211.2	-6.8	156	3231	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1896	3475
3539	-0.95	-146.6	232.8	-3.2	171	3540	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3475
3848	-0.95	-146.6	247.0	-3.8	186	3849	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3475
4158	-0.95	-146.6	263.2	-6.5	201	4162	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3297	3475
4241	-0.95	-146.6	269.5	-7.8	205	4246	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1895	3475
4568	-0.95	-146.6	290.3	-6.4	221	4569	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3475
4877	-0.95	-146.6	311.1	-6.8	236	4882	0.00	2.53	0.00	0.000	4	0.000	0.050	2287	3295	3475
4932	-0.95	-146.6	314.9	-6.7	238	4939	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1902	3475
5248	-0.95	-146.6	335.0	-6.6	254	5249	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
5558	-0.95	-146.6	354.4	-6.0	269	5562	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3300	3475
5629	-0.95	-146.6	358.5	-5.3	272	5633	0.00	2.50	0.00	0.000	6	0.000	0.046	2288	1897	3475
5951	-0.95	-146.6	376.1	-5.5	288	5952	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
6259	-0.95	-146.6	393.7	-6.0	303	6260	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1897	3475
6568	-0.95	-146.6	414.4	-7.2	318	6573	0.00	2.50	0.00	0.000	4	0.000	0.051	2287	3295	3475
6640	-0.95	-146.6	419.7	-7.4	321	6644	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1894	3475
6961	-0.95	-146.6	445.0	-8.3	337	6962	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3475
7270	-0.95	-146.6	473.0	-9.2	352	7275	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3298	3474
7359	-0.95	-146.6	481.2	-9.4	356	7363	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1902	3475
7686	-0.95	-146.6	505.7	-6.7	372	7690	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3295	3474
7752	-0.95	-146.6	510.1	-5.9	375	7756	0.00	2.53	0.00	0.000	6	0.000	0.046	2287	1894	3474
8079	-0.95	-146.6	529.6	-6.3	391	8080	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3474
8388	-0.95	-146.6	552.5	-8.5	406	8389	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3474
8697	-0.95	-146.6	577.4	-7.3	421	8699	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3474
9007	-0.95	-146.6	595.9	-5.8	436	9009	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3474
9316	-0.95	-146.6	613.8	-6.3	451	9317	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3473
9625	-0.95	-146.6	634.1	-6.8	466	9630	0.00	2.58	0.00	0.000	4	0.000	0.060	2287	3297	3473
9709	-0.95	-146.6	639.7	-6.5	470	9713	0.00	2.55	0.00	0.000	6	0.000	0.051	2287	1895	3473
10035	-0.95	-146.6	659.5	-6.2	486	10036	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3473
10345	-0.95	-146.6	679.9	-6.6	501	10346	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3473
10656	-0.95	-146.6	701.0	-6.3	516	10658	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3473
10963	-0.95	-146.6	718.5	-5.0	531	10964	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3472
11229	end dive: BOTTOM_OBSTACLE_DETECTED
state	11229	begin apogee
11234	-0.36	0.0	734.7	6.0	544	11362	0.60	0.00	124.07	1.292	6	0.071	0.000	2418	2089	2878
11362	end apogee: CONTROL_FINISHED_OK
state	11362	begin climb
11364	0.95	146.6	738.7	0.0	550	11496	1.27	2.72	123.22	1.251	4	0.052	0.066	2703	3494	2280
11592	0.96	156.0	731.8	5.7	560	11607	0.00	2.58	9.00	1.222	6	0.000	0.054	2703	2100	2241
11929	0.96	156.0	711.2	6.6	577	11930	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2240
12239	0.96	160.0	692.1	5.9	592	12245	0.00	0.00	4.32	1.192	6	0.000	0.000	2703	2100	2225
12548	0.97	167.4	675.5	5.8	607	12557	0.00	0.00	7.32	1.260	6	0.000	0.000	2703	2100	2195
12857	0.97	167.4	657.0	6.1	622	12858	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2193
13167	0.97	167.4	637.5	6.4	637	13168	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2194
13476	1.01	201.4	620.2	5.0	652	13510	0.00	2.65	29.20	1.263	4	0.000	0.060	2703	3499	2056
13606	1.01	201.4	612.3	6.3	658	13611	0.00	2.55	0.00	0.000	6	0.000	0.051	2703	2098	2055
13932	1.01	201.4	589.1	7.0	674	13933	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2055
14241	1.01	201.4	565.8	7.8	689	14242	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2055
14551	1.01	201.4	541.7	7.2	704	14555	0.00	2.62	0.00	0.000	4	0.000	0.071	2703	691	2055
14606	1.01	201.4	538.1	6.6	706	14612	0.00	2.53	0.00	0.000	6	0.000	0.046	2703	2105	2055
14921	1.01	201.4	518.9	6.1	722	14922	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	2055
15230	1.01	201.4	498.8	6.3	737	15235	0.00	2.55	0.00	0.000	4	0.000	0.058	2703	3499	2056
15324	1.01	201.4	492.7	6.4	741	15329	0.00	2.53	0.00	0.000	6	0.000	0.047	2703	2094	2055
15646	1.02	204.8	473.8	5.9	757	15651	0.00	0.00	3.88	1.096	6	0.000	0.000	2703	2094	2043
15955	1.02	206.1	455.3	6.0	772	15956	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2094	2043
16264	1.03	212.9	436.9	5.8	787	16278	0.00	2.65	8.05	1.118	4	0.000	0.055	2703	3498	2009
16346	1.03	212.9	431.5	6.7	790	16353	0.00	2.53	0.00	0.000	6	0.000	0.045	2703	2096	2009
16662	1.04	225.0	413.6	5.6	806	16675	0.00	0.00	11.20	1.100	6	0.000	0.000	2703	2096	1960
16971	1.06	238.4	396.5	5.6	821	16993	0.10	2.72	11.88	1.079	4	0.056	0.067	2741	691	1905
17031	1.06	238.4	392.1	8.6	823	17038	0.00	2.50	0.00	0.000	6	0.000	0.042	2741	2101	1905
17346	1.06	238.4	368.9	7.7	839	17348	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1905
17656	1.06	238.4	344.5	7.8	854	17657	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2106	1905
17965	1.06	238.4	319.8	8.2	869	17966	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2105	1906
18274	1.06	238.4	291.2	9.6	884	18278	0.00	2.53	0.00	0.000	4	0.000	0.052	2741	3500	1906
18375	1.06	238.4	281.4	9.3	888	18381	0.00	2.53	0.00	0.000	6	0.000	0.044	2741	2094	1906
18690	1.06	238.4	253.7	7.8	904	18691	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1907
18999	1.06	238.4	228.2	8.0	919	19003	0.00	2.58	0.00	0.000	4	0.000	0.051	2741	3503	1907
19092	1.06	238.4	219.3	9.4	923	19096	0.00	2.50	0.00	0.000	6	0.000	0.042	2741	2097	1907
19413	1.06	238.4	190.7	9.2	939	19415	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1907
19722	1.06	238.4	162.6	8.4	954	19727	0.00	2.58	0.00	0.000	4	0.000	0.051	2741	3507	1907
19817	1.06	238.4	153.9	9.6	958	19821	0.00	2.50	0.00	0.000	6	0.000	0.042	2741	2099	1907
20138	1.06	238.4	126.6	7.9	974	20139	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2099	1908
20447	1.06	238.4	104.0	7.4	989	20451	0.00	2.55	0.00	0.000	4	0.000	0.050	2741	3501	1907
20554	1.06	238.4	94.7	9.1	994	20559	0.00	2.50	0.00	0.000	6	0.000	0.041	2741	2094	1907
20881	1.06	238.4	65.6	8.8	1010	20882	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2094	1907
21190	1.06	238.4	39.6	7.2	1025	21194	0.00	2.55	0.00	0.000	4	0.000	0.050	2741	3501	1908
21335	1.06	241.3	31.7	5.9	1031	21344	0.00	2.47	4.40	0.876	6	0.000	0.041	2741	2101	1893
21672	1.06	241.3	4.8	8.5	1048	21673	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2100	1893
21982	1.31	440.9	3.1	0.1	1063	22078	0.15	0.00	92.78	0.765	2	0.057	0.000	2785	2094	1173
22079	end climb: NO_VERTICAL_VELOCITY
state	22079	begin surface