Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 248 * 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 248 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 19 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 -80920.836 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 -80920.836

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 19 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 248 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 090907,6342.956,-1310.825,41,1.1,41,-12.4 TGT_NAME KW

_CALLS 3 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.102,0.182

_SM_DEPTHo 2.84 KALMAN_X 342017.9,-646.8,-10003.4,-578719.1,13568.5

_SM_ANGLEo -49.6 KALMAN_Y -48559.7,988.0,6985.6,280897.8,-10423.2

GPS2 092145,6342.916,-1310.440,11,2.0,11,-12.4 MHEAD_RNG_PITCHd_Wd 343.2,13125,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23321,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 700.6,69.0

SM_GC 2.90,12.23,0.00,0.00,0.028,0.000,0.000,29,1893,603,-11.27,-0.20,558.06 _24V_AH 23.2,53.637

IRIDIUM_FIX 6317.84,-1308.04,070108,131343 _10V_AH 10.1,26.224

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56844,1106

HUMID 2124 CFSIZE 260165632,242921472

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,23,0,0

TCM_TEMP 16.60 GPS 070108,155231,6344.802,-1309.641,37,1.5,37,-12.4

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 99 59.10 SBE_CT 817 24 455.13

Roll_motor 122 74 212.22 SBE_O2 746 19 329.09

VBD_pump_during_apogee 489 1318 14960.87 WL_BB2F 673 105 1641.44

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 118 103 282.03 nil 0 0 0.00

Iridium_during_connect 103 160 382.37 nil 0 0 0.00

Iridium_during_xfer 293 223 1520.56

Transponder_ping 7 420 70.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.39

TT8 1959 19 391.93

LPSleep 18286 2 404.47

TT8_Active 625 19 125.12

TT8_Sampling 2429 39 976.52

TT8_CF8 777 45 359.78

TT8_Kalman 33 81 27.57

Analog_circuits 1844 12 223.58

GPS_charging 0 0 0.00

Compass 2387 8 192.88

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 19 begin dive

22 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -2.28 0.000 2 0.000 0.000 27 1897 659

29 -0.95 -146.6 3.0 -0.0 0 222 11.05 2.62 -172.77 0.000 4 0.100 0.073 2288 489 3475

350 -0.95 -146.6 15.9 -7.4 14 357 0.00 2.50 0.00 0.000 6 0.000 0.040 2288 1903 3476

666 -0.95 -146.6 36.5 -4.8 30 668 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3475

976 -0.95 -146.6 61.1 -6.9 45 977 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1903 3475

1285 -0.95 -146.6 82.7 -8.6 60 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3475

1595 -0.95 -146.6 104.7 -6.3 75 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3475

1904 -0.95 -146.6 126.4 -6.2 90 1905 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3475

2212 -0.95 -146.6 154.5 -10.2 105 2216 0.00 2.53 0.00 0.000 4 0.000 0.049 2288 3298 3475

2273 -0.95 -146.6 160.0 -8.4 108 2278 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1892 3475

2598 -0.95 -146.6 183.8 -6.9 124 2600 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3475

2908 -0.95 -146.6 202.9 -4.9 139 2909 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3475

3217 -0.95 -146.6 218.7 -5.8 154 3219 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3475

3527 -0.95 -146.6 233.3 -4.8 169 3528 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3475

3836 -0.95 -146.6 250.9 -6.4 184 3841 0.00 2.55 0.00 0.000 4 0.000 0.048 2288 3300 3475

3891 -0.95 -146.6 255.0 -7.6 186 3898 0.00 2.50 0.00 0.000 6 0.000 0.043 2288 1901 3475

4207 -0.95 -146.6 281.6 -9.2 202 4208 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

4516 -0.95 -146.6 311.5 -9.3 217 4517 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

4825 -0.95 -146.6 337.7 -8.0 232 4830 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3295 3475

4903 -0.95 -146.6 343.8 -8.1 235 4910 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1901 3475

5219 -0.95 -146.6 363.3 -5.7 251 5220 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

5528 -0.95 -146.6 381.8 -6.3 266 5532 0.00 2.53 0.00 0.000 4 0.000 0.050 2287 3293 3475

5617 -0.95 -146.6 387.8 -6.6 270 5621 0.00 2.47 0.00 0.000 6 0.000 0.043 2288 1900 3475

5943 -0.95 -146.6 409.2 -6.6 286 5944 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1900 3475

6253 -0.95 -146.6 429.5 -6.4 301 6257 0.00 2.53 0.00 0.000 4 0.000 0.050 2287 3297 3475

6382 -0.95 -146.6 437.8 -6.7 307 6387 0.00 2.50 0.00 0.000 6 0.000 0.045 2288 1902 3475

6709 -0.95 -146.6 456.1 -5.6 323 6710 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3475

7018 -0.95 -146.6 471.2 -4.4 338 7022 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3294 3473

7148 -0.95 -146.6 477.9 -4.5 344 7152 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1899 3473

7474 -0.95 -146.6 497.3 -7.0 360 7475 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3473

7783 -0.95 -146.6 521.2 -7.9 375 7787 0.00 2.53 0.00 0.000 4 0.000 0.052 2288 3298 3473

7877 -0.95 -146.6 529.2 -8.4 379 7881 0.00 2.53 0.00 0.000 6 0.000 0.046 2288 1898 3473

8198 -0.95 -146.6 557.1 -8.2 395 8199 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3473

8507 -0.95 -146.6 573.9 -5.0 410 8512 0.00 2.55 0.00 0.000 4 0.000 0.053 2288 3295 3473

8563 -0.95 -146.6 577.0 -5.9 412 8569 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1897 3473

8878 -0.95 -146.6 592.3 -5.2 428 8880 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1897 3473

9187 -0.95 -146.6 606.3 -5.3 443 9192 0.00 2.53 0.00 0.000 4 0.000 0.055 2288 3293 3473

9259 -0.95 -146.6 611.6 -8.0 446 9263 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1893 3473

9581 -0.95 -146.6 634.0 -7.2 462 9582 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1893 3473

9890 -0.95 -146.6 652.7 -5.3 477 9891 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1893 3473

10199 -0.95 -146.6 667.0 -2.3 492 10201 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1893 3473

10508 -0.95 -146.6 683.8 -6.9 507 10512 0.00 2.55 0.00 0.000 4 0.000 0.058 2288 3292 3473

10574 -0.95 -146.6 688.5 -7.1 510 10578 0.00 2.53 0.00 0.000 6 0.000 0.049 2288 1902 3473

10901 -0.95 -146.6 705.1 -5.4 526 10903 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3473

11210 -0.95 -146.6 721.5 -6.1 541 11214 0.00 2.55 0.00 0.000 4 0.000 0.061 2288 3290 3473

11304 -0.95 -146.6 728.2 -8.3 545 11308 0.00 2.53 0.00 0.000 6 0.000 0.051 2288 1899 3473

11626 -0.95 -146.6 743.6 -5.5 561 11627 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1899 3473

11912 end dive: BOTTOM_OBSTACLE_DETECTED

state 11912 begin apogee

11917 -0.36 0.0 760.9 6.1 575 12046 0.60 0.00 125.05 1.318 6 0.071 0.000 2419 2094 2879

12046 end apogee: CONTROL_FINISHED_OK

state 12046 begin climb

12049 0.95 146.6 762.3 0.0 581 12180 1.25 2.70 123.53 1.289 4 0.051 0.067 2700 3496 2280

12230 0.99 180.5 759.8 5.0 590 12265 0.00 2.58 29.12 1.299 6 0.000 0.051 2700 2096 2141

12594 0.99 180.5 734.6 7.5 608 12596 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2097 2140

12902 0.99 180.5 713.6 6.4 623 12906 0.00 2.62 0.00 0.000 4 0.000 0.062 2700 3499 2140

13008 0.99 180.5 706.5 6.9 628 13012 0.00 2.58 0.00 0.000 6 0.000 0.054 2700 2096 2139

13334 0.99 180.5 682.7 7.0 644 13338 0.00 2.62 0.00 0.000 4 0.000 0.062 2700 3504 2139

13411 1.02 207.9 678.0 5.2 647 13441 0.00 2.58 23.33 1.308 6 0.000 0.051 2700 2092 2030

13768 1.02 207.9 659.8 6.8 665 13772 0.00 2.65 0.00 0.000 4 0.000 0.074 2700 692 2028

13923 1.02 207.9 647.7 8.8 672 13928 0.00 2.50 0.00 0.000 6 0.000 0.047 2700 2097 2029

14250 1.02 207.9 630.9 6.5 688 14252 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2102 2028

14559 1.02 207.9 607.1 7.8 703 14561 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2103 2029

14869 1.05 226.9 589.2 5.4 718 14891 0.10 2.70 16.55 1.237 4 0.058 0.065 2739 691 1952

14937 1.05 226.9 584.5 6.8 721 14942 0.00 2.53 0.00 0.000 6 0.000 0.044 2739 2110 1952

15263 1.05 226.9 557.7 7.8 737 15267 0.00 2.55 0.00 0.000 4 0.000 0.055 2739 3501 1952

15347 1.05 226.9 550.5 8.6 741 15351 0.00 2.53 0.00 0.000 6 0.000 0.047 2739 2099 1952

15673 1.05 226.9 524.6 7.0 757 15674 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1952

15981 1.05 226.9 504.1 6.8 772 15983 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1952

16291 1.05 226.9 481.7 7.0 787 16295 0.00 2.55 0.00 0.000 4 0.000 0.053 2739 3503 1952

16357 1.05 226.9 476.6 6.6 790 16361 0.00 2.53 0.00 0.000 6 0.000 0.044 2738 2093 1953

16684 1.05 226.9 453.1 7.3 806 16685 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2093 1953

16993 1.05 226.9 433.4 6.1 821 16994 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2093 1953

17302 1.05 226.9 413.4 6.8 836 17307 0.00 2.58 0.00 0.000 4 0.000 0.052 2739 3503 1954

17386 1.05 226.9 407.4 7.0 840 17391 0.00 2.50 0.00 0.000 6 0.000 0.043 2739 2100 1954

17713 1.05 226.9 384.1 7.4 856 17714 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1954

18022 1.05 226.9 359.4 8.2 871 18023 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1954

18331 1.05 226.9 335.2 7.4 886 18332 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1954

18641 1.05 226.9 312.3 7.3 901 18642 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1954

18950 1.05 226.9 287.5 8.7 916 18954 0.00 2.58 0.00 0.000 4 0.000 0.051 2739 3505 1955

19033 1.05 226.9 279.9 9.3 920 19038 0.00 2.50 0.00 0.000 6 0.000 0.042 2739 2099 1955

19360 1.05 226.9 253.5 8.2 936 19361 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1955

19669 1.05 226.9 225.8 9.3 951 19670 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1955

19978 1.05 226.9 197.0 8.9 966 19979 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1955

20288 1.05 226.9 170.4 8.1 981 20289 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1955

20597 1.05 226.9 144.6 8.9 996 20601 0.00 2.55 0.00 0.000 4 0.000 0.049 2739 3501 1955

20681 1.05 226.9 136.5 9.8 1000 20686 0.00 2.50 0.00 0.000 6 0.000 0.041 2739 2089 1955

21007 1.05 226.9 109.2 7.1 1016 21008 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2089 1955

21316 1.05 226.9 84.7 8.1 1031 21317 0.00 0.00 0.00 0.000 6 0.000 0.000 2738 2088 1955

21625 1.05 226.9 56.9 9.3 1046 21630 0.00 2.58 0.00 0.000 4 0.000 0.050 2738 3506 1956

21698 1.05 226.9 49.8 8.9 1049 21702 0.00 2.47 0.00 0.000 6 0.000 0.040 2739 2102 1956

22015 1.05 226.9 20.4 9.9 1064 22016 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2102 1956

22323 1.30 430.5 2.3 -0.1 1079 22438 0.17 2.65 106.68 0.792 4 0.043 0.049 2796 3504 1121

22691 1.54 626.6 2.3 0.2 1096 22763 0.15 2.53 64.85 0.773 6 0.063 0.044 2833 2100 602

22897 end climb: NO_VERTICAL_VELOCITY

state 22897 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	248	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	19	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	-80920.836	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	090907,6342.956,-1310.825,41,1.1,41,-12.4	TGT_NAME	KW
_CALLS	3	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.102,0.182
_SM_DEPTHo	2.84	KALMAN_X	342017.9,-646.8,-10003.4,-578719.1,13568.5
_SM_ANGLEo	-49.6	KALMAN_Y	-48559.7,988.0,6985.6,280897.8,-10423.2
GPS2	092145,6342.916,-1310.440,11,2.0,11,-12.4	MHEAD_RNG_PITCHd_Wd	343.2,13125,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23321,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	700.6,69.0
SM_GC	2.90,12.23,0.00,0.00,0.028,0.000,0.000,29,1893,603,-11.27,-0.20,558.06	_24V_AH	23.2,53.637
IRIDIUM_FIX	6317.84,-1308.04,070108,131343	_10V_AH	10.1,26.224
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56844,1106
HUMID	2124	CFSIZE	260165632,242921472
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,23,0,0
TCM_TEMP	16.60	GPS	070108,155231,6344.802,-1309.641,37,1.5,37,-12.4
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	99	59.10	SBE_CT	817	24	455.13
Roll_motor	122	74	212.22	SBE_O2	746	19	329.09
VBD_pump_during_apogee	489	1318	14960.87	WL_BB2F	673	105	1641.44
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	118	103	282.03	nil	0	0	0.00
Iridium_during_connect	103	160	382.37	nil	0	0	0.00
Iridium_during_xfer	293	223	1520.56
Transponder_ping	7	420	70.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.39
TT8	1959	19	391.93
LPSleep	18286	2	404.47
TT8_Active	625	19	125.12
TT8_Sampling	2429	39	976.52
TT8_CF8	777	45	359.78
TT8_Kalman	33	81	27.57
Analog_circuits	1844	12	223.58
GPS_charging	0	0	0.00
Compass	2387	8	192.88
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	19	begin dive
22	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-2.28	0.000	2	0.000	0.000	27	1897	659
29	-0.95	-146.6	3.0	-0.0	0	222	11.05	2.62	-172.77	0.000	4	0.100	0.073	2288	489	3475
350	-0.95	-146.6	15.9	-7.4	14	357	0.00	2.50	0.00	0.000	6	0.000	0.040	2288	1903	3476
666	-0.95	-146.6	36.5	-4.8	30	668	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3475
976	-0.95	-146.6	61.1	-6.9	45	977	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1903	3475
1285	-0.95	-146.6	82.7	-8.6	60	1286	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3475
1595	-0.95	-146.6	104.7	-6.3	75	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3475
1904	-0.95	-146.6	126.4	-6.2	90	1905	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3475
2212	-0.95	-146.6	154.5	-10.2	105	2216	0.00	2.53	0.00	0.000	4	0.000	0.049	2288	3298	3475
2273	-0.95	-146.6	160.0	-8.4	108	2278	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1892	3475
2598	-0.95	-146.6	183.8	-6.9	124	2600	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3475
2908	-0.95	-146.6	202.9	-4.9	139	2909	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3475
3217	-0.95	-146.6	218.7	-5.8	154	3219	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3475
3527	-0.95	-146.6	233.3	-4.8	169	3528	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3475
3836	-0.95	-146.6	250.9	-6.4	184	3841	0.00	2.55	0.00	0.000	4	0.000	0.048	2288	3300	3475
3891	-0.95	-146.6	255.0	-7.6	186	3898	0.00	2.50	0.00	0.000	6	0.000	0.043	2288	1901	3475
4207	-0.95	-146.6	281.6	-9.2	202	4208	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
4516	-0.95	-146.6	311.5	-9.3	217	4517	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
4825	-0.95	-146.6	337.7	-8.0	232	4830	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3295	3475
4903	-0.95	-146.6	343.8	-8.1	235	4910	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1901	3475
5219	-0.95	-146.6	363.3	-5.7	251	5220	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
5528	-0.95	-146.6	381.8	-6.3	266	5532	0.00	2.53	0.00	0.000	4	0.000	0.050	2287	3293	3475
5617	-0.95	-146.6	387.8	-6.6	270	5621	0.00	2.47	0.00	0.000	6	0.000	0.043	2288	1900	3475
5943	-0.95	-146.6	409.2	-6.6	286	5944	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1900	3475
6253	-0.95	-146.6	429.5	-6.4	301	6257	0.00	2.53	0.00	0.000	4	0.000	0.050	2287	3297	3475
6382	-0.95	-146.6	437.8	-6.7	307	6387	0.00	2.50	0.00	0.000	6	0.000	0.045	2288	1902	3475
6709	-0.95	-146.6	456.1	-5.6	323	6710	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3475
7018	-0.95	-146.6	471.2	-4.4	338	7022	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3294	3473
7148	-0.95	-146.6	477.9	-4.5	344	7152	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1899	3473
7474	-0.95	-146.6	497.3	-7.0	360	7475	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3473
7783	-0.95	-146.6	521.2	-7.9	375	7787	0.00	2.53	0.00	0.000	4	0.000	0.052	2288	3298	3473
7877	-0.95	-146.6	529.2	-8.4	379	7881	0.00	2.53	0.00	0.000	6	0.000	0.046	2288	1898	3473
8198	-0.95	-146.6	557.1	-8.2	395	8199	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3473
8507	-0.95	-146.6	573.9	-5.0	410	8512	0.00	2.55	0.00	0.000	4	0.000	0.053	2288	3295	3473
8563	-0.95	-146.6	577.0	-5.9	412	8569	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1897	3473
8878	-0.95	-146.6	592.3	-5.2	428	8880	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1897	3473
9187	-0.95	-146.6	606.3	-5.3	443	9192	0.00	2.53	0.00	0.000	4	0.000	0.055	2288	3293	3473
9259	-0.95	-146.6	611.6	-8.0	446	9263	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1893	3473
9581	-0.95	-146.6	634.0	-7.2	462	9582	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1893	3473
9890	-0.95	-146.6	652.7	-5.3	477	9891	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1893	3473
10199	-0.95	-146.6	667.0	-2.3	492	10201	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1893	3473
10508	-0.95	-146.6	683.8	-6.9	507	10512	0.00	2.55	0.00	0.000	4	0.000	0.058	2288	3292	3473
10574	-0.95	-146.6	688.5	-7.1	510	10578	0.00	2.53	0.00	0.000	6	0.000	0.049	2288	1902	3473
10901	-0.95	-146.6	705.1	-5.4	526	10903	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3473
11210	-0.95	-146.6	721.5	-6.1	541	11214	0.00	2.55	0.00	0.000	4	0.000	0.061	2288	3290	3473
11304	-0.95	-146.6	728.2	-8.3	545	11308	0.00	2.53	0.00	0.000	6	0.000	0.051	2288	1899	3473
11626	-0.95	-146.6	743.6	-5.5	561	11627	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1899	3473
11912	end dive: BOTTOM_OBSTACLE_DETECTED
state	11912	begin apogee
11917	-0.36	0.0	760.9	6.1	575	12046	0.60	0.00	125.05	1.318	6	0.071	0.000	2419	2094	2879
12046	end apogee: CONTROL_FINISHED_OK
state	12046	begin climb
12049	0.95	146.6	762.3	0.0	581	12180	1.25	2.70	123.53	1.289	4	0.051	0.067	2700	3496	2280
12230	0.99	180.5	759.8	5.0	590	12265	0.00	2.58	29.12	1.299	6	0.000	0.051	2700	2096	2141
12594	0.99	180.5	734.6	7.5	608	12596	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2097	2140
12902	0.99	180.5	713.6	6.4	623	12906	0.00	2.62	0.00	0.000	4	0.000	0.062	2700	3499	2140
13008	0.99	180.5	706.5	6.9	628	13012	0.00	2.58	0.00	0.000	6	0.000	0.054	2700	2096	2139
13334	0.99	180.5	682.7	7.0	644	13338	0.00	2.62	0.00	0.000	4	0.000	0.062	2700	3504	2139
13411	1.02	207.9	678.0	5.2	647	13441	0.00	2.58	23.33	1.308	6	0.000	0.051	2700	2092	2030
13768	1.02	207.9	659.8	6.8	665	13772	0.00	2.65	0.00	0.000	4	0.000	0.074	2700	692	2028
13923	1.02	207.9	647.7	8.8	672	13928	0.00	2.50	0.00	0.000	6	0.000	0.047	2700	2097	2029
14250	1.02	207.9	630.9	6.5	688	14252	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2102	2028
14559	1.02	207.9	607.1	7.8	703	14561	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2103	2029
14869	1.05	226.9	589.2	5.4	718	14891	0.10	2.70	16.55	1.237	4	0.058	0.065	2739	691	1952
14937	1.05	226.9	584.5	6.8	721	14942	0.00	2.53	0.00	0.000	6	0.000	0.044	2739	2110	1952
15263	1.05	226.9	557.7	7.8	737	15267	0.00	2.55	0.00	0.000	4	0.000	0.055	2739	3501	1952
15347	1.05	226.9	550.5	8.6	741	15351	0.00	2.53	0.00	0.000	6	0.000	0.047	2739	2099	1952
15673	1.05	226.9	524.6	7.0	757	15674	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1952
15981	1.05	226.9	504.1	6.8	772	15983	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1952
16291	1.05	226.9	481.7	7.0	787	16295	0.00	2.55	0.00	0.000	4	0.000	0.053	2739	3503	1952
16357	1.05	226.9	476.6	6.6	790	16361	0.00	2.53	0.00	0.000	6	0.000	0.044	2738	2093	1953
16684	1.05	226.9	453.1	7.3	806	16685	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2093	1953
16993	1.05	226.9	433.4	6.1	821	16994	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2093	1953
17302	1.05	226.9	413.4	6.8	836	17307	0.00	2.58	0.00	0.000	4	0.000	0.052	2739	3503	1954
17386	1.05	226.9	407.4	7.0	840	17391	0.00	2.50	0.00	0.000	6	0.000	0.043	2739	2100	1954
17713	1.05	226.9	384.1	7.4	856	17714	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1954
18022	1.05	226.9	359.4	8.2	871	18023	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1954
18331	1.05	226.9	335.2	7.4	886	18332	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1954
18641	1.05	226.9	312.3	7.3	901	18642	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1954
18950	1.05	226.9	287.5	8.7	916	18954	0.00	2.58	0.00	0.000	4	0.000	0.051	2739	3505	1955
19033	1.05	226.9	279.9	9.3	920	19038	0.00	2.50	0.00	0.000	6	0.000	0.042	2739	2099	1955
19360	1.05	226.9	253.5	8.2	936	19361	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1955
19669	1.05	226.9	225.8	9.3	951	19670	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1955
19978	1.05	226.9	197.0	8.9	966	19979	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1955
20288	1.05	226.9	170.4	8.1	981	20289	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1955
20597	1.05	226.9	144.6	8.9	996	20601	0.00	2.55	0.00	0.000	4	0.000	0.049	2739	3501	1955
20681	1.05	226.9	136.5	9.8	1000	20686	0.00	2.50	0.00	0.000	6	0.000	0.041	2739	2089	1955
21007	1.05	226.9	109.2	7.1	1016	21008	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2089	1955
21316	1.05	226.9	84.7	8.1	1031	21317	0.00	0.00	0.00	0.000	6	0.000	0.000	2738	2088	1955
21625	1.05	226.9	56.9	9.3	1046	21630	0.00	2.58	0.00	0.000	4	0.000	0.050	2738	3506	1956
21698	1.05	226.9	49.8	8.9	1049	21702	0.00	2.47	0.00	0.000	6	0.000	0.040	2739	2102	1956
22015	1.05	226.9	20.4	9.9	1064	22016	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2102	1956
22323	1.30	430.5	2.3	-0.1	1079	22438	0.17	2.65	106.68	0.792	4	0.043	0.049	2796	3504	1121
22691	1.54	626.6	2.3	0.2	1096	22763	0.15	2.53	64.85	0.773	6	0.063	0.044	2833	2100	602
22897	end climb: NO_VERTICAL_VELOCITY
state	22897	begin surface