Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 89 * 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 89 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 2350 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 120 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 -77964.93 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 300

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 -77964.93

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

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 2350 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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 29 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 89 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 205510,6140.271,-904.744,26,1.6,26,-9.3 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,0.036

_SM_DEPTHo 2.25 KALMAN_X 85590.6,312.1,7995.3,-124550.9,22593.9

_SM_ANGLEo -63.6 KALMAN_Y 163160.4,-689.1,-6822.0,-142354.6,-16402.6

GPS2 210044,6140.284,-904.805,12,1.9,30,-9.3 MHEAD_RNG_PITCHd_Wd 289.1,12496,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.5,1.027284 XPDR_PINGS 0

SM_CCo 18568,0.00,0.000,0,0,1238,402.29 ALTIM_BOTTOM_PING 725.5,96.6

SM_GC 2.41,11.82,0.00,0.00,0.030,0.000,0.000,28,1913,1238,-11.27,0.37,402.29 _24V_AH 23.3,25.210

IRIDIUM_FIX 6117.23,-902.37,271107,191940 _10V_AH 10.1,10.958

TT8_MAMPS 0.026845 DATA_FILE_SIZE 44240,891

HUMID 2065 CFSIZE 260165632,253415424

INTERNAL_PRESSURE 9.18981 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,27,0,0

TCM_TEMP 18.90 GPS 281107,021225,6142.183,-915.160,48,1.7,48,-9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 83.78 SBE_CT 656 24 367.00

Roll_motor 159 79 293.23 SBE_O2 601 19 266.31

VBD_pump_during_apogee 460 1379 14810.55 WL_BB2F 500 105 1224.86

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 37 103 90.84 nil 0 0 0.00

Iridium_during_connect 31 160 117.64 nil 0 0 0.00

Iridium_during_xfer 153 223 798.72

Transponder_ping 6 420 61.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.16

TT8 1685 19 337.15

LPSleep 14028 2 310.29

TT8_Active 602 19 120.44

TT8_Sampling 2219 39 892.02

TT8_CF8 363 45 168.09

TT8_Kalman 33 81 27.56

Analog_circuits 1694 12 205.35

GPS_charging 0 0 0.00

Compass 2153 8 173.97

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 83 0.00 0.00 -61.58 0.000 2 0.000 0.000 30 1871 2810

85 -0.95 -146.6 3.5 -3.3 3 128 11.88 2.60 -23.40 0.000 4 0.139 0.058 2283 3308 3476

353 -0.95 -146.6 25.0 -9.4 15 357 0.00 2.53 0.00 0.000 6 0.000 0.041 2283 1900 3476

678 -0.95 -146.6 48.0 -7.2 31 679 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3477

988 -0.95 -146.6 71.7 -7.9 46 989 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3477

1297 -0.95 -146.6 103.6 -9.8 61 1301 0.00 2.53 0.00 0.000 4 0.000 0.044 2283 3309 3476

1373 -0.95 -146.6 112.5 -11.9 64 1380 0.00 2.53 0.00 0.000 6 0.000 0.040 2283 1904 3477

1690 -0.95 -146.6 146.4 -10.9 80 1692 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1904 3477

1998 -0.95 -146.6 176.0 -8.8 95 2000 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1904 3477

2307 -0.95 -146.6 199.3 -7.6 110 2311 0.00 2.50 0.00 0.000 4 0.000 0.044 2284 3304 3477

2378 -0.95 -146.6 203.3 -5.7 113 2382 0.00 2.50 0.00 0.000 6 0.000 0.041 2283 1899 3476

2699 -0.95 -146.6 210.2 -0.2 129 2700 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1899 3477

3008 -0.95 -146.6 206.7 -0.0 144 3009 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1899 3477

3317 -0.95 -146.6 220.2 -6.9 159 3322 0.00 2.50 0.00 0.000 4 0.000 0.044 2283 3304 3477

3394 -0.95 -146.6 227.0 -9.4 162 3401 0.00 2.53 0.00 0.000 6 0.000 0.041 2283 1900 3477

3710 -0.95 -146.6 264.4 -13.4 178 3711 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3477

4019 -0.95 -146.6 306.0 -12.8 193 4023 0.00 2.53 0.00 0.000 4 0.000 0.046 2283 3311 3477

4102 -0.95 -146.6 315.9 -11.6 197 4106 0.00 2.53 0.00 0.000 6 0.000 0.041 2283 1894 3477

4430 -0.95 -146.6 350.2 -9.6 213 4432 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1894 3477

4737 -0.95 -146.6 378.3 -8.8 228 4738 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1894 3477

5046 -0.95 -146.6 412.2 -12.4 243 5050 0.00 2.53 0.00 0.000 4 0.000 0.048 2283 3302 3477

5108 -0.95 -146.6 420.2 -12.8 246 5112 0.00 2.50 0.00 0.000 6 0.000 0.044 2283 1901 3477

5433 -0.95 -146.6 449.0 -6.4 262 5434 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1901 3477

5742 -0.95 -146.6 459.5 -3.4 277 5743 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1901 3476

6054 -0.95 -146.6 475.5 -5.9 292 6058 0.00 2.53 0.00 0.000 4 0.000 0.048 2283 3305 3476

6119 -0.95 -146.6 479.9 -6.5 295 6124 0.00 2.55 0.00 0.000 6 0.000 0.044 2283 1903 3477

6447 -0.95 -146.6 499.8 -5.6 311 6448 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1903 3477

6756 -0.95 -146.6 521.5 -8.1 326 6760 0.00 2.53 0.00 0.000 4 0.000 0.049 2283 3304 3477

6828 -0.95 -146.6 527.8 -8.4 329 6832 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1896 3477

7142 -0.95 -146.6 556.1 -8.3 344 7147 0.00 2.55 0.00 0.000 4 0.000 0.051 2283 3302 3477

7197 -0.95 -146.6 560.8 -9.2 346 7204 0.00 2.55 0.00 0.000 6 0.000 0.046 2283 1902 3477

7512 -0.95 -146.6 587.3 -8.3 362 7516 0.00 2.53 0.00 0.000 4 0.000 0.051 2283 3303 3476

7566 -0.95 -146.6 591.9 -9.2 364 7573 0.00 2.55 0.00 0.000 6 0.000 0.046 2283 1900 3476

7883 -0.95 -146.6 611.6 -4.4 380 7887 0.00 2.55 0.00 0.000 4 0.000 0.053 2283 3310 3476

7960 -0.95 -146.6 614.2 -2.8 383 7966 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1900 3476

8275 -0.95 -146.6 611.9 3.0 399 8280 0.00 2.55 0.00 0.000 4 0.000 0.053 2283 3303 3476

8382 -0.95 -146.6 612.6 -2.7 404 8386 0.00 2.53 0.00 0.000 6 0.000 0.047 2283 1900 3476

8707 -0.95 -146.6 640.5 -13.8 420 8708 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

9016 -0.95 -146.6 686.4 -9.8 435 9018 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

9326 -0.95 -146.6 704.1 -6.0 450 9327 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3476

9635 -0.95 -146.6 712.5 -2.5 465 9636 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

9944 -0.95 -146.6 720.2 -6.2 480 9948 0.00 2.55 0.00 0.000 4 0.000 0.056 2283 3300 3476

10089 -0.95 -146.6 734.0 -8.9 486 10095 0.00 2.55 0.00 0.000 6 0.000 0.052 2283 1902 3476

10404 -0.95 -146.6 758.8 -8.3 502 10405 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1902 3476

10713 -0.95 -146.6 794.2 -10.9 517 10717 0.00 2.58 0.00 0.000 4 0.000 0.066 2283 3305 3475

10808 -0.95 -146.6 801.7 -5.8 521 10812 0.00 2.60 0.00 0.000 6 0.000 0.058 2283 1893 3475

10997 end dive: BOTTOM_OBSTACLE_DETECTED

state 10997 begin apogee

11002 -0.36 0.0 812.8 7.4 530 11130 0.62 0.00 124.93 1.371 6 0.087 0.000 2417 2350 2878

11131 end apogee: CONTROL_FINISHED_OK

state 11131 begin climb

11133 0.95 146.6 814.4 0.0 536 11263 1.27 2.72 123.47 1.333 4 0.058 0.077 2696 3748 2280

11285 1.04 220.7 810.4 3.8 544 11356 0.12 2.60 62.62 1.309 6 0.063 0.054 2732 2350 1978

11670 1.04 220.7 776.0 7.8 563 11675 0.00 2.65 0.00 0.000 4 0.000 0.071 2732 3749 1977

11776 1.04 220.7 765.9 7.0 568 11781 0.00 2.58 0.00 0.000 6 0.000 0.056 2731 2350 1976

12102 1.15 308.9 749.0 3.4 584 12184 0.00 2.80 72.82 1.379 4 0.000 0.079 2732 938 1618

12234 1.15 308.9 744.6 7.1 590 12238 0.00 2.62 0.00 0.000 6 0.000 0.055 2731 2340 1618

12561 1.15 308.9 707.7 12.7 606 12565 0.00 2.70 0.00 0.000 4 0.000 0.077 2732 941 1617

12699 1.15 308.9 694.3 7.2 612 12703 0.00 2.60 0.00 0.000 6 0.000 0.052 2732 2348 1617

13020 1.15 308.9 677.6 8.5 628 13024 0.00 2.67 0.00 0.000 4 0.000 0.071 2731 940 1615

13194 1.15 308.9 658.4 12.4 636 13198 0.00 2.55 0.00 0.000 6 0.000 0.048 2732 2354 1615

13519 1.15 308.9 614.8 11.9 652 13523 0.00 2.65 0.00 0.000 4 0.000 0.064 2732 938 1615

13630 1.26 403.9 607.1 3.2 657 13716 0.17 2.53 77.07 1.289 6 0.042 0.044 2785 2351 1231

14036 1.26 403.9 565.3 11.8 677 14040 0.00 2.65 0.00 0.000 4 0.000 0.064 2785 933 1232

14120 1.26 403.9 554.2 14.1 681 14124 0.00 2.55 0.00 0.000 6 0.000 0.042 2785 2360 1232

14445 1.26 403.9 509.7 12.7 697 14449 0.00 2.67 0.00 0.000 4 0.000 0.063 2785 932 1233

14550 1.26 403.9 497.8 10.8 702 14554 0.00 2.50 0.00 0.000 6 0.000 0.041 2785 2352 1234

14881 1.26 403.9 468.1 9.2 718 14886 0.00 2.62 0.00 0.000 4 0.000 0.062 2785 936 1234

14981 1.26 403.9 458.8 9.4 722 14988 0.00 2.53 0.00 0.000 6 0.000 0.039 2785 2350 1234

15296 1.26 403.9 422.6 13.8 738 15300 0.00 2.62 0.00 0.000 4 0.000 0.063 2785 930 1235

15407 1.26 403.9 405.4 15.7 743 15411 0.00 2.53 0.00 0.000 6 0.000 0.039 2785 2349 1235

15733 1.26 403.9 348.1 16.5 759 15738 0.00 2.62 0.00 0.000 4 0.000 0.061 2785 931 1236

15845 1.26 403.9 330.9 13.3 764 15850 0.00 2.53 0.00 0.000 6 0.000 0.039 2785 2355 1236

16165 1.26 403.9 281.5 16.3 780 16170 0.00 2.62 0.00 0.000 4 0.000 0.060 2785 933 1237

16295 1.26 403.9 260.5 15.5 786 16299 0.00 2.50 0.00 0.000 6 0.000 0.039 2785 2354 1237

16620 1.26 403.9 219.3 12.8 802 16624 0.00 2.62 0.00 0.000 4 0.000 0.059 2785 930 1237

16736 1.26 403.9 202.4 13.5 807 16740 0.00 2.53 0.00 0.000 6 0.000 0.038 2785 2350 1237

17056 1.26 403.9 166.4 10.6 823 17061 0.00 2.60 0.00 0.000 4 0.000 0.060 2785 936 1238

17173 1.26 403.9 152.5 12.6 828 17177 0.00 2.50 0.00 0.000 6 0.000 0.038 2785 2351 1237

17496 1.26 403.9 114.5 12.0 844 17500 0.00 2.62 0.00 0.000 4 0.000 0.058 2785 930 1238

17606 1.26 403.9 100.7 11.6 849 17610 0.00 2.50 0.00 0.000 6 0.000 0.038 2785 2345 1238

17934 1.26 403.9 64.9 10.4 865 17938 0.00 2.60 0.00 0.000 4 0.000 0.058 2785 938 1239

18044 1.26 403.9 52.1 10.9 870 18049 0.00 2.50 0.00 0.000 6 0.000 0.038 2785 2350 1238

18373 1.26 403.9 15.2 12.0 886 18377 0.00 2.62 0.00 0.000 4 0.000 0.058 2786 931 1239

18481 end climb: SURFACE_DEPTH_REACHED

state 18481 begin surface coast

18488 end surface coast: CONTROL_FINISHED_OK

state 18488 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	89	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	2350	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	120	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	-77964.93	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	205510,6140.271,-904.744,26,1.6,26,-9.3	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,0.036
_SM_DEPTHo	2.25	KALMAN_X	85590.6,312.1,7995.3,-124550.9,22593.9
_SM_ANGLEo	-63.6	KALMAN_Y	163160.4,-689.1,-6822.0,-142354.6,-16402.6
GPS2	210044,6140.284,-904.805,12,1.9,30,-9.3	MHEAD_RNG_PITCHd_Wd	289.1,12496,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.5,1.027284	XPDR_PINGS	0
SM_CCo	18568,0.00,0.000,0,0,1238,402.29	ALTIM_BOTTOM_PING	725.5,96.6
SM_GC	2.41,11.82,0.00,0.00,0.030,0.000,0.000,28,1913,1238,-11.27,0.37,402.29	_24V_AH	23.3,25.210
IRIDIUM_FIX	6117.23,-902.37,271107,191940	_10V_AH	10.1,10.958
TT8_MAMPS	0.026845	DATA_FILE_SIZE	44240,891
HUMID	2065	CFSIZE	260165632,253415424
INTERNAL_PRESSURE	9.18981	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,27,0,0
TCM_TEMP	18.90	GPS	281107,021225,6142.183,-915.160,48,1.7,48,-9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	83.78	SBE_CT	656	24	367.00
Roll_motor	159	79	293.23	SBE_O2	601	19	266.31
VBD_pump_during_apogee	460	1379	14810.55	WL_BB2F	500	105	1224.86
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	37	103	90.84	nil	0	0	0.00
Iridium_during_connect	31	160	117.64	nil	0	0	0.00
Iridium_during_xfer	153	223	798.72
Transponder_ping	6	420	61.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.16
TT8	1685	19	337.15
LPSleep	14028	2	310.29
TT8_Active	602	19	120.44
TT8_Sampling	2219	39	892.02
TT8_CF8	363	45	168.09
TT8_Kalman	33	81	27.56
Analog_circuits	1694	12	205.35
GPS_charging	0	0	0.00
Compass	2153	8	173.97
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	83	0.00	0.00	-61.58	0.000	2	0.000	0.000	30	1871	2810
85	-0.95	-146.6	3.5	-3.3	3	128	11.88	2.60	-23.40	0.000	4	0.139	0.058	2283	3308	3476
353	-0.95	-146.6	25.0	-9.4	15	357	0.00	2.53	0.00	0.000	6	0.000	0.041	2283	1900	3476
678	-0.95	-146.6	48.0	-7.2	31	679	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3477
988	-0.95	-146.6	71.7	-7.9	46	989	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3477
1297	-0.95	-146.6	103.6	-9.8	61	1301	0.00	2.53	0.00	0.000	4	0.000	0.044	2283	3309	3476
1373	-0.95	-146.6	112.5	-11.9	64	1380	0.00	2.53	0.00	0.000	6	0.000	0.040	2283	1904	3477
1690	-0.95	-146.6	146.4	-10.9	80	1692	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1904	3477
1998	-0.95	-146.6	176.0	-8.8	95	2000	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1904	3477
2307	-0.95	-146.6	199.3	-7.6	110	2311	0.00	2.50	0.00	0.000	4	0.000	0.044	2284	3304	3477
2378	-0.95	-146.6	203.3	-5.7	113	2382	0.00	2.50	0.00	0.000	6	0.000	0.041	2283	1899	3476
2699	-0.95	-146.6	210.2	-0.2	129	2700	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1899	3477
3008	-0.95	-146.6	206.7	-0.0	144	3009	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1899	3477
3317	-0.95	-146.6	220.2	-6.9	159	3322	0.00	2.50	0.00	0.000	4	0.000	0.044	2283	3304	3477
3394	-0.95	-146.6	227.0	-9.4	162	3401	0.00	2.53	0.00	0.000	6	0.000	0.041	2283	1900	3477
3710	-0.95	-146.6	264.4	-13.4	178	3711	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3477
4019	-0.95	-146.6	306.0	-12.8	193	4023	0.00	2.53	0.00	0.000	4	0.000	0.046	2283	3311	3477
4102	-0.95	-146.6	315.9	-11.6	197	4106	0.00	2.53	0.00	0.000	6	0.000	0.041	2283	1894	3477
4430	-0.95	-146.6	350.2	-9.6	213	4432	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1894	3477
4737	-0.95	-146.6	378.3	-8.8	228	4738	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1894	3477
5046	-0.95	-146.6	412.2	-12.4	243	5050	0.00	2.53	0.00	0.000	4	0.000	0.048	2283	3302	3477
5108	-0.95	-146.6	420.2	-12.8	246	5112	0.00	2.50	0.00	0.000	6	0.000	0.044	2283	1901	3477
5433	-0.95	-146.6	449.0	-6.4	262	5434	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1901	3477
5742	-0.95	-146.6	459.5	-3.4	277	5743	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1901	3476
6054	-0.95	-146.6	475.5	-5.9	292	6058	0.00	2.53	0.00	0.000	4	0.000	0.048	2283	3305	3476
6119	-0.95	-146.6	479.9	-6.5	295	6124	0.00	2.55	0.00	0.000	6	0.000	0.044	2283	1903	3477
6447	-0.95	-146.6	499.8	-5.6	311	6448	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1903	3477
6756	-0.95	-146.6	521.5	-8.1	326	6760	0.00	2.53	0.00	0.000	4	0.000	0.049	2283	3304	3477
6828	-0.95	-146.6	527.8	-8.4	329	6832	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1896	3477
7142	-0.95	-146.6	556.1	-8.3	344	7147	0.00	2.55	0.00	0.000	4	0.000	0.051	2283	3302	3477
7197	-0.95	-146.6	560.8	-9.2	346	7204	0.00	2.55	0.00	0.000	6	0.000	0.046	2283	1902	3477
7512	-0.95	-146.6	587.3	-8.3	362	7516	0.00	2.53	0.00	0.000	4	0.000	0.051	2283	3303	3476
7566	-0.95	-146.6	591.9	-9.2	364	7573	0.00	2.55	0.00	0.000	6	0.000	0.046	2283	1900	3476
7883	-0.95	-146.6	611.6	-4.4	380	7887	0.00	2.55	0.00	0.000	4	0.000	0.053	2283	3310	3476
7960	-0.95	-146.6	614.2	-2.8	383	7966	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1900	3476
8275	-0.95	-146.6	611.9	3.0	399	8280	0.00	2.55	0.00	0.000	4	0.000	0.053	2283	3303	3476
8382	-0.95	-146.6	612.6	-2.7	404	8386	0.00	2.53	0.00	0.000	6	0.000	0.047	2283	1900	3476
8707	-0.95	-146.6	640.5	-13.8	420	8708	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
9016	-0.95	-146.6	686.4	-9.8	435	9018	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
9326	-0.95	-146.6	704.1	-6.0	450	9327	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3476
9635	-0.95	-146.6	712.5	-2.5	465	9636	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
9944	-0.95	-146.6	720.2	-6.2	480	9948	0.00	2.55	0.00	0.000	4	0.000	0.056	2283	3300	3476
10089	-0.95	-146.6	734.0	-8.9	486	10095	0.00	2.55	0.00	0.000	6	0.000	0.052	2283	1902	3476
10404	-0.95	-146.6	758.8	-8.3	502	10405	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1902	3476
10713	-0.95	-146.6	794.2	-10.9	517	10717	0.00	2.58	0.00	0.000	4	0.000	0.066	2283	3305	3475
10808	-0.95	-146.6	801.7	-5.8	521	10812	0.00	2.60	0.00	0.000	6	0.000	0.058	2283	1893	3475
10997	end dive: BOTTOM_OBSTACLE_DETECTED
state	10997	begin apogee
11002	-0.36	0.0	812.8	7.4	530	11130	0.62	0.00	124.93	1.371	6	0.087	0.000	2417	2350	2878
11131	end apogee: CONTROL_FINISHED_OK
state	11131	begin climb
11133	0.95	146.6	814.4	0.0	536	11263	1.27	2.72	123.47	1.333	4	0.058	0.077	2696	3748	2280
11285	1.04	220.7	810.4	3.8	544	11356	0.12	2.60	62.62	1.309	6	0.063	0.054	2732	2350	1978
11670	1.04	220.7	776.0	7.8	563	11675	0.00	2.65	0.00	0.000	4	0.000	0.071	2732	3749	1977
11776	1.04	220.7	765.9	7.0	568	11781	0.00	2.58	0.00	0.000	6	0.000	0.056	2731	2350	1976
12102	1.15	308.9	749.0	3.4	584	12184	0.00	2.80	72.82	1.379	4	0.000	0.079	2732	938	1618
12234	1.15	308.9	744.6	7.1	590	12238	0.00	2.62	0.00	0.000	6	0.000	0.055	2731	2340	1618
12561	1.15	308.9	707.7	12.7	606	12565	0.00	2.70	0.00	0.000	4	0.000	0.077	2732	941	1617
12699	1.15	308.9	694.3	7.2	612	12703	0.00	2.60	0.00	0.000	6	0.000	0.052	2732	2348	1617
13020	1.15	308.9	677.6	8.5	628	13024	0.00	2.67	0.00	0.000	4	0.000	0.071	2731	940	1615
13194	1.15	308.9	658.4	12.4	636	13198	0.00	2.55	0.00	0.000	6	0.000	0.048	2732	2354	1615
13519	1.15	308.9	614.8	11.9	652	13523	0.00	2.65	0.00	0.000	4	0.000	0.064	2732	938	1615
13630	1.26	403.9	607.1	3.2	657	13716	0.17	2.53	77.07	1.289	6	0.042	0.044	2785	2351	1231
14036	1.26	403.9	565.3	11.8	677	14040	0.00	2.65	0.00	0.000	4	0.000	0.064	2785	933	1232
14120	1.26	403.9	554.2	14.1	681	14124	0.00	2.55	0.00	0.000	6	0.000	0.042	2785	2360	1232
14445	1.26	403.9	509.7	12.7	697	14449	0.00	2.67	0.00	0.000	4	0.000	0.063	2785	932	1233
14550	1.26	403.9	497.8	10.8	702	14554	0.00	2.50	0.00	0.000	6	0.000	0.041	2785	2352	1234
14881	1.26	403.9	468.1	9.2	718	14886	0.00	2.62	0.00	0.000	4	0.000	0.062	2785	936	1234
14981	1.26	403.9	458.8	9.4	722	14988	0.00	2.53	0.00	0.000	6	0.000	0.039	2785	2350	1234
15296	1.26	403.9	422.6	13.8	738	15300	0.00	2.62	0.00	0.000	4	0.000	0.063	2785	930	1235
15407	1.26	403.9	405.4	15.7	743	15411	0.00	2.53	0.00	0.000	6	0.000	0.039	2785	2349	1235
15733	1.26	403.9	348.1	16.5	759	15738	0.00	2.62	0.00	0.000	4	0.000	0.061	2785	931	1236
15845	1.26	403.9	330.9	13.3	764	15850	0.00	2.53	0.00	0.000	6	0.000	0.039	2785	2355	1236
16165	1.26	403.9	281.5	16.3	780	16170	0.00	2.62	0.00	0.000	4	0.000	0.060	2785	933	1237
16295	1.26	403.9	260.5	15.5	786	16299	0.00	2.50	0.00	0.000	6	0.000	0.039	2785	2354	1237
16620	1.26	403.9	219.3	12.8	802	16624	0.00	2.62	0.00	0.000	4	0.000	0.059	2785	930	1237
16736	1.26	403.9	202.4	13.5	807	16740	0.00	2.53	0.00	0.000	6	0.000	0.038	2785	2350	1237
17056	1.26	403.9	166.4	10.6	823	17061	0.00	2.60	0.00	0.000	4	0.000	0.060	2785	936	1238
17173	1.26	403.9	152.5	12.6	828	17177	0.00	2.50	0.00	0.000	6	0.000	0.038	2785	2351	1237
17496	1.26	403.9	114.5	12.0	844	17500	0.00	2.62	0.00	0.000	4	0.000	0.058	2785	930	1238
17606	1.26	403.9	100.7	11.6	849	17610	0.00	2.50	0.00	0.000	6	0.000	0.038	2785	2345	1238
17934	1.26	403.9	64.9	10.4	865	17938	0.00	2.60	0.00	0.000	4	0.000	0.058	2785	938	1239
18044	1.26	403.9	52.1	10.9	870	18049	0.00	2.50	0.00	0.000	6	0.000	0.038	2785	2350	1238
18373	1.26	403.9	15.2	12.0	886	18377	0.00	2.62	0.00	0.000	4	0.000	0.058	2786	931	1239
18481	end climb: SURFACE_DEPTH_REACHED
state	18481	begin surface coast
18488	end surface coast: CONTROL_FINISHED_OK
state	18488	begin surface