Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 206 * 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 206 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 -80045.156 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 -80045.156

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 36 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 26 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 206 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 072907,6249.961,-1257.089,35,1.4,35,-11.9 TGT_NAME IW

_CALLS 2 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.003,0.209

_SM_DEPTHo 3.67 KALMAN_X 245543.4,-53.0,-1778.2,-479449.2,11431.1

_SM_ANGLEo -59.0 KALMAN_Y 2921.1,26.4,3082.6,136066.5,-41176.2

GPS2 073809,6249.868,-1257.264,9,1.9,9,-11.9 MHEAD_RNG_PITCHd_Wd 12.7,48836,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21790,50.10,0.752,0,0,602,558.06 ALTIM_BOTTOM_PING 650.1,101.9

SM_GC 3.65,11.93,0.00,0.00,0.030,0.000,0.000,28,1882,603,-11.27,-0.45,558.06 _24V_AH 23.3,46.260

IRIDIUM_FIX 6225.82,-1302.85,281207,111104 _10V_AH 10.1,22.348

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53712,1054

HUMID 2037 CFSIZE 260165632,245547008

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 16.50 GPS 281207,135128,6250.963,-1250.664,28,2.8,47,-11.9

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 64.08 SBE_CT 772 24 432.13

Roll_motor 123 72 207.68 SBE_O2 711 19 315.10

VBD_pump_during_apogee 454 1298 13755.03 WL_BB2F 635 105 1555.95

VBD_pump_during_surface 50 752 878.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 176.50 nil 0 0 0.00

Iridium_during_connect 71 160 266.03 nil 0 0 0.00

Iridium_during_xfer 224 223 1166.81

Transponder_ping 6 420 63.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.74

TT8 1847 19 369.48

LPSleep 17527 2 387.70

TT8_Active 687 19 137.56

TT8_Sampling 2150 39 864.47

TT8_CF8 589 45 272.78

TT8_Kalman 33 81 27.56

Analog_circuits 1777 12 215.42

GPS_charging 0 0 0.00

Compass 2116 8 171.03

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 -146.4 0.0 0.0 0 44 0.00 0.00 -21.98 0.000 2 0.000 0.000 31 1877 1110

47 -0.95 -146.6 3.7 -0.0 1 226 11.23 2.60 -160.68 0.000 4 0.109 0.061 2289 3302 3475

237 -0.95 -146.6 3.2 -1.9 9 242 0.00 2.53 0.00 0.000 6 0.000 0.042 2289 1902 3476

552 -0.95 -146.6 28.5 -7.0 24 556 0.00 2.55 0.00 0.000 4 0.000 0.048 2289 3309 3475

618 -0.95 -146.6 33.6 -7.7 27 622 0.00 2.55 0.00 0.000 6 0.000 0.044 2289 1895 3475

946 -0.95 -146.6 57.3 -8.3 43 947 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

1254 -0.95 -146.6 81.6 -6.3 58 1258 0.00 2.55 0.00 0.000 4 0.000 0.048 2289 3305 3475

1304 -0.95 -146.6 85.4 -8.0 60 1308 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1899 3475

1625 -0.95 -146.6 113.7 -9.3 76 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

1934 -0.95 -146.6 134.6 -6.9 91 1938 0.00 2.55 0.00 0.000 4 0.000 0.048 2289 3310 3475

1996 -0.95 -146.6 138.7 -6.6 94 2000 0.00 2.53 0.00 0.000 6 0.000 0.042 2289 1899 3476

2321 -0.95 -146.6 158.0 -6.0 110 2325 0.00 2.55 0.00 0.000 4 0.000 0.048 2289 3310 3475

2364 -0.95 -146.6 160.7 -6.1 112 2368 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1898 3475

2691 -0.95 -146.6 179.3 -5.7 128 2693 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3475

3000 -0.95 -146.6 197.7 -5.7 143 3002 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3475

3309 -0.95 -146.6 216.4 -6.5 158 3314 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3305 3475

3359 -0.95 -146.6 219.8 -6.1 160 3363 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1896 3475

3680 -0.95 -146.6 241.5 -6.4 176 3684 0.00 2.55 0.00 0.000 4 0.000 0.049 2289 3310 3475

3723 -0.95 -146.6 244.9 -8.3 178 3727 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1895 3475

4050 -0.95 -146.6 269.7 -8.5 194 4051 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

4359 -0.95 -146.6 295.8 -6.8 209 4363 0.00 2.55 0.00 0.000 4 0.000 0.050 2289 3305 3475

4413 -0.95 -146.6 299.5 -6.8 211 4419 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1895 3475

4729 -0.95 -146.6 322.1 -7.8 227 4730 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

5038 -0.95 -146.6 343.6 -6.7 242 5042 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3305 3475

5103 -0.95 -146.6 348.7 -7.2 245 5108 0.00 2.55 0.00 0.000 6 0.000 0.045 2289 1903 3475

5430 -0.95 -146.6 372.1 -6.0 261 5432 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1903 3475

5740 -0.95 -146.6 395.1 -7.0 276 5744 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3309 3475

5788 -0.95 -146.6 398.9 -7.6 278 5793 0.00 2.55 0.00 0.000 6 0.000 0.045 2289 1893 3475

6110 -0.95 -146.6 424.6 -7.9 294 6114 0.00 2.55 0.00 0.000 4 0.000 0.051 2289 3305 3475

6164 -0.95 -146.6 428.8 -7.8 296 6170 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1901 3475

6480 -0.95 -146.6 450.7 -6.6 312 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3475

6789 -0.95 -146.6 469.7 -6.0 327 6790 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3475

7098 -0.95 -146.6 487.6 -5.7 342 7103 0.00 2.58 0.00 0.000 4 0.000 0.053 2289 3310 3475

7142 -0.95 -146.6 490.2 -5.5 344 7146 0.00 2.55 0.00 0.000 6 0.000 0.047 2289 1900 3475

7469 -0.95 -146.6 508.8 -5.6 360 7470 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3474

7780 -0.95 -146.6 526.2 -5.6 375 7785 0.00 2.55 0.00 0.000 4 0.000 0.053 2289 3304 3474

7847 -0.95 -146.6 530.1 -5.8 378 7851 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1894 3474

8168 -0.95 -146.6 548.9 -5.7 394 8169 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3474

8477 -0.95 -146.6 566.6 -5.8 409 8478 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3474

8786 -0.95 -146.6 586.6 -6.4 424 8787 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3474

9096 -0.95 -146.6 603.1 -5.0 439 9097 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3474

9405 -0.95 -146.6 617.5 -4.4 454 9406 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3474

9715 -0.95 -146.6 631.5 -4.5 469 9719 0.00 2.60 0.00 0.000 4 0.000 0.060 2288 3302 3474

9769 -0.95 -146.6 634.4 -5.9 471 9775 0.00 2.55 0.00 0.000 6 0.000 0.050 2288 1901 3474

10085 -0.95 -146.6 652.5 -6.0 487 10086 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

10394 -0.95 -146.6 671.6 -6.1 502 10395 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3474

10703 -0.95 -146.6 690.1 -6.0 517 10704 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

11012 -0.95 -146.6 708.6 -6.0 532 11013 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3474

11322 -0.95 -146.6 726.7 -5.6 547 11326 0.00 2.60 0.00 0.000 4 0.000 0.063 2288 3310 3473

11399 -0.95 -146.6 731.5 -5.7 550 11406 0.00 2.58 0.00 0.000 6 0.000 0.054 2289 1897 3473

11589 end dive: BOTTOM_OBSTACLE_DETECTED

state 11589 begin apogee

11594 -0.36 0.0 742.6 5.9 560 11722 0.60 0.00 124.38 1.299 6 0.072 0.000 2419 2104 2877

11723 end apogee: CONTROL_FINISHED_OK

state 11723 begin climb

11725 0.95 146.6 746.1 0.0 566 11856 1.25 2.67 123.00 1.253 4 0.049 0.068 2704 3499 2279

11940 0.95 146.6 738.3 6.6 576 11945 0.00 2.58 0.00 0.000 6 0.000 0.054 2704 2103 2279

12267 0.96 154.5 718.4 5.8 592 12277 0.00 0.00 7.68 1.238 6 0.000 0.000 2704 2103 2248

12576 0.96 154.5 699.5 6.3 607 12580 0.00 2.60 0.00 0.000 4 0.000 0.065 2704 3499 2247

12631 0.96 154.5 695.8 6.5 609 12638 0.00 2.58 0.00 0.000 6 0.000 0.055 2704 2097 2247

12947 0.97 166.3 675.8 5.6 625 12959 0.00 0.00 10.60 1.280 6 0.000 0.000 2704 2097 2200

13256 1.02 205.7 660.1 4.8 640 13298 0.00 2.70 33.72 1.274 4 0.000 0.064 2704 3492 2039

13361 1.02 208.0 653.8 5.9 644 13370 0.00 2.58 3.53 1.139 6 0.000 0.053 2704 2100 2029

13698 1.02 208.0 632.8 6.4 661 13699 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2099 2029

14007 1.07 247.6 615.5 4.8 676 14047 0.10 0.00 33.35 1.246 6 0.054 0.000 2743 2100 1868

14355 1.07 247.6 592.7 7.5 693 14360 0.00 2.60 0.00 0.000 4 0.000 0.058 2743 3500 1868

14421 1.07 247.6 587.5 8.1 696 14426 0.00 2.55 0.00 0.000 6 0.000 0.050 2743 2098 1868

14748 1.07 247.6 563.6 8.1 712 14753 0.00 2.65 0.00 0.000 4 0.000 0.072 2743 690 1868

14797 1.07 247.6 559.7 7.2 714 14802 0.00 2.53 0.00 0.000 6 0.000 0.047 2743 2106 1868

15118 1.07 247.6 536.7 7.6 730 15123 0.00 2.67 0.00 0.000 4 0.000 0.068 2743 687 1868

15173 1.07 247.6 532.5 7.8 732 15179 0.00 2.53 0.00 0.000 6 0.000 0.046 2743 2101 1868

15488 1.07 247.6 506.0 9.0 748 15492 0.00 2.55 0.00 0.000 4 0.000 0.058 2743 3500 1868

15549 1.07 247.6 500.3 9.1 751 15554 0.00 2.53 0.00 0.000 6 0.000 0.049 2743 2098 1868

15875 1.07 247.6 472.6 8.0 767 15876 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1869

16184 1.07 247.6 446.5 8.6 782 16186 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1869

16494 1.07 247.6 420.2 7.8 797 16495 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1870

16803 1.07 247.6 397.1 7.4 812 16804 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1870

17112 1.07 247.6 371.3 8.3 827 17113 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1870

17421 1.07 247.6 348.5 7.3 842 17423 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1870

17731 1.07 247.6 324.5 7.8 857 17732 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1871

18040 1.07 247.6 297.9 8.4 872 18044 0.00 2.55 0.00 0.000 4 0.000 0.052 2743 3501 1871

18094 1.07 247.6 293.1 9.3 874 18101 0.00 2.50 0.00 0.000 6 0.000 0.043 2743 2094 1871

18410 1.07 247.6 265.9 8.8 890 18411 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1872

18719 1.07 247.6 238.6 9.0 905 18720 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2093 1872

19028 1.07 247.6 210.1 9.2 920 19029 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1872

19338 1.07 247.6 183.1 8.2 935 19339 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1872

19647 1.07 247.6 160.0 7.1 950 19651 0.00 2.58 0.00 0.000 4 0.000 0.051 2743 3506 1872

19723 1.09 262.3 155.4 5.6 953 19743 0.00 2.50 13.88 0.941 6 0.000 0.041 2743 2098 1807

20059 1.09 262.3 129.6 8.9 970 20061 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1807

20370 1.09 262.3 97.6 11.5 985 20371 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1807

20678 1.09 262.3 71.2 9.9 1000 20679 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2097 1807

20987 1.09 262.3 38.4 10.7 1015 20988 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2097 1807

21296 1.09 262.3 11.7 7.7 1030 21297 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2097 1807

21606 1.33 461.2 3.0 0.1 1045 21714 0.15 0.00 104.50 0.766 6 0.051 0.000 2789 2091 996

21785 end climb: NO_VERTICAL_VELOCITY

state 21787 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	206	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	-80045.156	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	072907,6249.961,-1257.089,35,1.4,35,-11.9	TGT_NAME	IW
_CALLS	2	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.003,0.209
_SM_DEPTHo	3.67	KALMAN_X	245543.4,-53.0,-1778.2,-479449.2,11431.1
_SM_ANGLEo	-59.0	KALMAN_Y	2921.1,26.4,3082.6,136066.5,-41176.2
GPS2	073809,6249.868,-1257.264,9,1.9,9,-11.9	MHEAD_RNG_PITCHd_Wd	12.7,48836,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21790,50.10,0.752,0,0,602,558.06	ALTIM_BOTTOM_PING	650.1,101.9
SM_GC	3.65,11.93,0.00,0.00,0.030,0.000,0.000,28,1882,603,-11.27,-0.45,558.06	_24V_AH	23.3,46.260
IRIDIUM_FIX	6225.82,-1302.85,281207,111104	_10V_AH	10.1,22.348
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53712,1054
HUMID	2037	CFSIZE	260165632,245547008
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	16.50	GPS	281207,135128,6250.963,-1250.664,28,2.8,47,-11.9
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	64.08	SBE_CT	772	24	432.13
Roll_motor	123	72	207.68	SBE_O2	711	19	315.10
VBD_pump_during_apogee	454	1298	13755.03	WL_BB2F	635	105	1555.95
VBD_pump_during_surface	50	752	878.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	176.50	nil	0	0	0.00
Iridium_during_connect	71	160	266.03	nil	0	0	0.00
Iridium_during_xfer	224	223	1166.81
Transponder_ping	6	420	63.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.74
TT8	1847	19	369.48
LPSleep	17527	2	387.70
TT8_Active	687	19	137.56
TT8_Sampling	2150	39	864.47
TT8_CF8	589	45	272.78
TT8_Kalman	33	81	27.56
Analog_circuits	1777	12	215.42
GPS_charging	0	0	0.00
Compass	2116	8	171.03
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	-146.4	0.0	0.0	0	44	0.00	0.00	-21.98	0.000	2	0.000	0.000	31	1877	1110
47	-0.95	-146.6	3.7	-0.0	1	226	11.23	2.60	-160.68	0.000	4	0.109	0.061	2289	3302	3475
237	-0.95	-146.6	3.2	-1.9	9	242	0.00	2.53	0.00	0.000	6	0.000	0.042	2289	1902	3476
552	-0.95	-146.6	28.5	-7.0	24	556	0.00	2.55	0.00	0.000	4	0.000	0.048	2289	3309	3475
618	-0.95	-146.6	33.6	-7.7	27	622	0.00	2.55	0.00	0.000	6	0.000	0.044	2289	1895	3475
946	-0.95	-146.6	57.3	-8.3	43	947	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
1254	-0.95	-146.6	81.6	-6.3	58	1258	0.00	2.55	0.00	0.000	4	0.000	0.048	2289	3305	3475
1304	-0.95	-146.6	85.4	-8.0	60	1308	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1899	3475
1625	-0.95	-146.6	113.7	-9.3	76	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
1934	-0.95	-146.6	134.6	-6.9	91	1938	0.00	2.55	0.00	0.000	4	0.000	0.048	2289	3310	3475
1996	-0.95	-146.6	138.7	-6.6	94	2000	0.00	2.53	0.00	0.000	6	0.000	0.042	2289	1899	3476
2321	-0.95	-146.6	158.0	-6.0	110	2325	0.00	2.55	0.00	0.000	4	0.000	0.048	2289	3310	3475
2364	-0.95	-146.6	160.7	-6.1	112	2368	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1898	3475
2691	-0.95	-146.6	179.3	-5.7	128	2693	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3475
3000	-0.95	-146.6	197.7	-5.7	143	3002	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3475
3309	-0.95	-146.6	216.4	-6.5	158	3314	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3305	3475
3359	-0.95	-146.6	219.8	-6.1	160	3363	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1896	3475
3680	-0.95	-146.6	241.5	-6.4	176	3684	0.00	2.55	0.00	0.000	4	0.000	0.049	2289	3310	3475
3723	-0.95	-146.6	244.9	-8.3	178	3727	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1895	3475
4050	-0.95	-146.6	269.7	-8.5	194	4051	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
4359	-0.95	-146.6	295.8	-6.8	209	4363	0.00	2.55	0.00	0.000	4	0.000	0.050	2289	3305	3475
4413	-0.95	-146.6	299.5	-6.8	211	4419	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1895	3475
4729	-0.95	-146.6	322.1	-7.8	227	4730	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
5038	-0.95	-146.6	343.6	-6.7	242	5042	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3305	3475
5103	-0.95	-146.6	348.7	-7.2	245	5108	0.00	2.55	0.00	0.000	6	0.000	0.045	2289	1903	3475
5430	-0.95	-146.6	372.1	-6.0	261	5432	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1903	3475
5740	-0.95	-146.6	395.1	-7.0	276	5744	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3309	3475
5788	-0.95	-146.6	398.9	-7.6	278	5793	0.00	2.55	0.00	0.000	6	0.000	0.045	2289	1893	3475
6110	-0.95	-146.6	424.6	-7.9	294	6114	0.00	2.55	0.00	0.000	4	0.000	0.051	2289	3305	3475
6164	-0.95	-146.6	428.8	-7.8	296	6170	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1901	3475
6480	-0.95	-146.6	450.7	-6.6	312	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3475
6789	-0.95	-146.6	469.7	-6.0	327	6790	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3475
7098	-0.95	-146.6	487.6	-5.7	342	7103	0.00	2.58	0.00	0.000	4	0.000	0.053	2289	3310	3475
7142	-0.95	-146.6	490.2	-5.5	344	7146	0.00	2.55	0.00	0.000	6	0.000	0.047	2289	1900	3475
7469	-0.95	-146.6	508.8	-5.6	360	7470	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3474
7780	-0.95	-146.6	526.2	-5.6	375	7785	0.00	2.55	0.00	0.000	4	0.000	0.053	2289	3304	3474
7847	-0.95	-146.6	530.1	-5.8	378	7851	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1894	3474
8168	-0.95	-146.6	548.9	-5.7	394	8169	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3474
8477	-0.95	-146.6	566.6	-5.8	409	8478	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3474
8786	-0.95	-146.6	586.6	-6.4	424	8787	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3474
9096	-0.95	-146.6	603.1	-5.0	439	9097	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3474
9405	-0.95	-146.6	617.5	-4.4	454	9406	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3474
9715	-0.95	-146.6	631.5	-4.5	469	9719	0.00	2.60	0.00	0.000	4	0.000	0.060	2288	3302	3474
9769	-0.95	-146.6	634.4	-5.9	471	9775	0.00	2.55	0.00	0.000	6	0.000	0.050	2288	1901	3474
10085	-0.95	-146.6	652.5	-6.0	487	10086	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
10394	-0.95	-146.6	671.6	-6.1	502	10395	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3474
10703	-0.95	-146.6	690.1	-6.0	517	10704	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
11012	-0.95	-146.6	708.6	-6.0	532	11013	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3474
11322	-0.95	-146.6	726.7	-5.6	547	11326	0.00	2.60	0.00	0.000	4	0.000	0.063	2288	3310	3473
11399	-0.95	-146.6	731.5	-5.7	550	11406	0.00	2.58	0.00	0.000	6	0.000	0.054	2289	1897	3473
11589	end dive: BOTTOM_OBSTACLE_DETECTED
state	11589	begin apogee
11594	-0.36	0.0	742.6	5.9	560	11722	0.60	0.00	124.38	1.299	6	0.072	0.000	2419	2104	2877
11723	end apogee: CONTROL_FINISHED_OK
state	11723	begin climb
11725	0.95	146.6	746.1	0.0	566	11856	1.25	2.67	123.00	1.253	4	0.049	0.068	2704	3499	2279
11940	0.95	146.6	738.3	6.6	576	11945	0.00	2.58	0.00	0.000	6	0.000	0.054	2704	2103	2279
12267	0.96	154.5	718.4	5.8	592	12277	0.00	0.00	7.68	1.238	6	0.000	0.000	2704	2103	2248
12576	0.96	154.5	699.5	6.3	607	12580	0.00	2.60	0.00	0.000	4	0.000	0.065	2704	3499	2247
12631	0.96	154.5	695.8	6.5	609	12638	0.00	2.58	0.00	0.000	6	0.000	0.055	2704	2097	2247
12947	0.97	166.3	675.8	5.6	625	12959	0.00	0.00	10.60	1.280	6	0.000	0.000	2704	2097	2200
13256	1.02	205.7	660.1	4.8	640	13298	0.00	2.70	33.72	1.274	4	0.000	0.064	2704	3492	2039
13361	1.02	208.0	653.8	5.9	644	13370	0.00	2.58	3.53	1.139	6	0.000	0.053	2704	2100	2029
13698	1.02	208.0	632.8	6.4	661	13699	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2099	2029
14007	1.07	247.6	615.5	4.8	676	14047	0.10	0.00	33.35	1.246	6	0.054	0.000	2743	2100	1868
14355	1.07	247.6	592.7	7.5	693	14360	0.00	2.60	0.00	0.000	4	0.000	0.058	2743	3500	1868
14421	1.07	247.6	587.5	8.1	696	14426	0.00	2.55	0.00	0.000	6	0.000	0.050	2743	2098	1868
14748	1.07	247.6	563.6	8.1	712	14753	0.00	2.65	0.00	0.000	4	0.000	0.072	2743	690	1868
14797	1.07	247.6	559.7	7.2	714	14802	0.00	2.53	0.00	0.000	6	0.000	0.047	2743	2106	1868
15118	1.07	247.6	536.7	7.6	730	15123	0.00	2.67	0.00	0.000	4	0.000	0.068	2743	687	1868
15173	1.07	247.6	532.5	7.8	732	15179	0.00	2.53	0.00	0.000	6	0.000	0.046	2743	2101	1868
15488	1.07	247.6	506.0	9.0	748	15492	0.00	2.55	0.00	0.000	4	0.000	0.058	2743	3500	1868
15549	1.07	247.6	500.3	9.1	751	15554	0.00	2.53	0.00	0.000	6	0.000	0.049	2743	2098	1868
15875	1.07	247.6	472.6	8.0	767	15876	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1869
16184	1.07	247.6	446.5	8.6	782	16186	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1869
16494	1.07	247.6	420.2	7.8	797	16495	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1870
16803	1.07	247.6	397.1	7.4	812	16804	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1870
17112	1.07	247.6	371.3	8.3	827	17113	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1870
17421	1.07	247.6	348.5	7.3	842	17423	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1870
17731	1.07	247.6	324.5	7.8	857	17732	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1871
18040	1.07	247.6	297.9	8.4	872	18044	0.00	2.55	0.00	0.000	4	0.000	0.052	2743	3501	1871
18094	1.07	247.6	293.1	9.3	874	18101	0.00	2.50	0.00	0.000	6	0.000	0.043	2743	2094	1871
18410	1.07	247.6	265.9	8.8	890	18411	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1872
18719	1.07	247.6	238.6	9.0	905	18720	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2093	1872
19028	1.07	247.6	210.1	9.2	920	19029	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1872
19338	1.07	247.6	183.1	8.2	935	19339	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1872
19647	1.07	247.6	160.0	7.1	950	19651	0.00	2.58	0.00	0.000	4	0.000	0.051	2743	3506	1872
19723	1.09	262.3	155.4	5.6	953	19743	0.00	2.50	13.88	0.941	6	0.000	0.041	2743	2098	1807
20059	1.09	262.3	129.6	8.9	970	20061	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1807
20370	1.09	262.3	97.6	11.5	985	20371	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1807
20678	1.09	262.3	71.2	9.9	1000	20679	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2097	1807
20987	1.09	262.3	38.4	10.7	1015	20988	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2097	1807
21296	1.09	262.3	11.7	7.7	1030	21297	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2097	1807
21606	1.33	461.2	3.0	0.1	1045	21714	0.15	0.00	104.50	0.766	6	0.051	0.000	2789	2091	996
21785	end climb: NO_VERTICAL_VELOCITY
state	21787	begin surface