Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 90 * 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 90 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -77979.609 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 -77979.609

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 15 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 90 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 021225,6142.183,-915.160,48,1.7,48,-9.4 TGT_NAME BW

_CALLS 1 TGT_LATLONG 6145.000,-915.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.152,0.143

_SM_DEPTHo 2.14 KALMAN_X 101882.6,-33.5,-10735.3,-130940.7,7068.3

_SM_ANGLEo -60.1 KALMAN_Y 153531.9,143.4,4534.0,-141473.2,-1278.2

GPS2 021732,6142.188,-915.227,12,1.2,12,-9.4 MHEAD_RNG_PITCHd_Wd 322.7,5212,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.5,1.027053 XPDR_PINGS 0

SM_CCo 21338,0.00,0.000,0,0,1485,341.70 ALTIM_BOTTOM_PING 750.7,106.5

SM_GC 2.36,11.62,0.00,0.00,0.028,0.000,0.000,28,1883,1485,-11.26,-0.48,341.70 _24V_AH 23.3,25.382

IRIDIUM_FIX 6117.23,-906.13,281107,000056 _10V_AH 10.1,11.054

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50552,1024

HUMID 2044 CFSIZE 260165632,253321216

INTERNAL_PRESSURE 9.22887 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,32,0,0

TCM_TEMP 17.10 GPS 281107,081528,6144.352,-923.991,31,2.1,50,-9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 138 82.65 SBE_CT 751 24 420.51

Roll_motor 160 76 287.01 SBE_O2 692 19 306.59

VBD_pump_during_apogee 414 1422 13744.36 WL_BB2F 588 105 1438.72

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 31 103 76.21 nil 0 0 0.00

Iridium_during_connect 50 160 189.27 nil 0 0 0.00

Iridium_during_xfer 134 223 700.88

Transponder_ping 6 420 63.61

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.10

TT8 1896 19 379.32

LPSleep 16332 2 361.26

TT8_Active 561 19 112.29

TT8_Sampling 2489 39 1000.76

TT8_CF8 367 45 169.80

TT8_Kalman 33 81 27.56

Analog_circuits 1786 12 216.51

GPS_charging 0 0 0.00

Compass 2436 8 196.84

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.95 -146.6 0.0 0.0 0 92 0.00 0.00 -71.93 0.000 2 0.000 0.000 28 1915 2670

95 -0.95 -146.6 3.4 -1.6 4 145 11.88 2.67 -31.67 0.000 4 0.139 0.075 2286 489 3476

396 -0.95 -146.6 27.1 -8.9 17 404 0.00 2.50 0.00 0.000 6 0.000 0.038 2286 1911 3476

714 -0.95 -146.6 53.3 -7.1 33 715 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1912 3476

1022 -0.95 -146.6 79.8 -8.8 48 1023 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1912 3476

1331 -0.95 -146.6 106.2 -7.7 63 1332 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1912 3477

1640 -0.95 -146.6 128.9 -6.7 78 1642 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1912 3477

1950 -0.95 -146.6 149.7 -6.2 93 1951 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1912 3477

2259 -0.95 -146.6 166.8 -5.0 108 2263 0.00 2.47 0.00 0.000 4 0.000 0.045 2286 3298 3476

2320 -0.95 -146.6 170.2 -5.7 111 2324 0.00 2.53 0.00 0.000 6 0.000 0.042 2286 1884 3476

2645 -0.95 -146.6 190.4 -7.6 127 2646 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1884 3477

2954 -0.95 -146.6 213.7 -6.5 142 2958 0.00 2.53 0.00 0.000 4 0.000 0.045 2286 3297 3476

3008 -0.95 -146.6 218.0 -8.0 144 3013 0.00 2.53 0.00 0.000 6 0.000 0.042 2286 1902 3477

3329 -0.95 -146.6 242.8 -8.1 160 3330 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

3638 -0.95 -146.6 265.9 -6.6 175 3639 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

3947 -0.95 -146.6 294.3 -10.3 190 3949 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3476

4257 -0.95 -146.6 324.8 -9.3 205 4258 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3477

4566 -0.95 -146.6 344.2 -5.7 220 4571 0.00 2.50 0.00 0.000 4 0.000 0.047 2286 3295 3477

4628 -0.95 -146.6 347.8 -6.0 223 4632 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1898 3476

4953 -0.95 -146.6 367.9 -6.4 239 4954 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3476

5262 -0.95 -146.6 386.7 -5.9 254 5266 0.00 2.50 0.00 0.000 4 0.000 0.046 2286 3295 3477

5368 -0.95 -146.6 393.3 -6.3 259 5372 0.00 2.47 0.00 0.000 6 0.000 0.043 2286 1900 3477

5700 -0.95 -146.6 408.9 -4.2 275 5701 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

6009 -0.95 -146.6 418.3 -1.9 290 6010 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3477

6319 -0.95 -146.6 426.0 -4.2 305 6321 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

6627 -0.95 -146.6 444.4 -6.9 320 6628 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3477

6937 -0.95 -146.6 464.6 -6.8 335 6940 0.00 2.50 0.00 0.000 4 0.000 0.049 2286 3297 3477

6997 -0.95 -146.6 469.2 -7.1 337 7004 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1905 3477

7312 -0.95 -146.6 496.9 -10.4 353 7313 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

7621 -0.95 -146.6 533.5 -12.2 368 7626 0.00 2.50 0.00 0.000 4 0.000 0.051 2286 3301 3477

7683 -0.95 -146.6 541.0 -12.5 371 7687 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1901 3476

8009 -0.95 -146.6 572.3 -8.8 387 8010 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

8318 -0.95 -146.6 588.8 -2.9 402 8319 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

8628 -0.95 -146.6 601.7 -4.7 417 8629 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

8936 -0.95 -146.6 611.9 -6.2 432 8938 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

9246 -0.95 -146.6 645.9 -12.4 447 9247 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

9555 -0.95 -146.6 687.4 -12.8 462 9556 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

9864 -0.95 -146.6 717.7 -7.8 477 9865 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

10174 -0.95 -146.6 717.1 1.7 492 10175 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

10483 -0.95 -146.6 731.4 -7.7 507 10487 0.00 2.53 0.00 0.000 4 0.000 0.057 2286 3292 3475

10567 -0.95 -146.6 736.4 -6.1 511 10571 0.00 2.53 0.00 0.000 6 0.000 0.051 2286 1898 3476

10892 -0.95 -146.6 767.9 -12.2 527 10896 0.00 2.62 0.00 0.000 4 0.000 0.074 2286 493 3475

10930 -0.95 -146.6 772.8 -12.9 529 10934 0.00 2.47 0.00 0.000 6 0.000 0.052 2286 1888 3475

11255 -0.95 -146.6 789.3 -4.3 545 11259 0.00 2.60 0.00 0.000 4 0.000 0.064 2286 3300 3475

11298 -0.95 -146.6 790.8 -4.4 547 11303 0.00 2.55 0.00 0.000 6 0.000 0.057 2286 1899 3475

11625 -0.95 -146.6 799.4 -2.0 563 11629 0.00 2.60 0.00 0.000 4 0.000 0.065 2286 3302 3474

11753 -0.95 -146.6 804.8 -4.9 569 11757 0.00 2.60 0.00 0.000 6 0.000 0.059 2286 1894 3473

12078 -0.95 -146.6 842.8 -8.0 585 12079 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3472

12138 end dive: BOTTOM_OBSTACLE_DETECTED

state 12139 begin apogee

12144 -0.36 0.0 848.7 10.9 588 12271 0.62 0.00 124.65 1.423 6 0.091 0.000 2417 2347 2878

12272 end apogee: CONTROL_FINISHED_OK

state 12272 begin climb

12274 0.95 146.6 846.8 0.0 594 12406 1.27 2.72 123.80 1.356 4 0.052 0.074 2701 3751 2280

12659 0.95 146.6 816.0 7.2 612 12663 0.00 2.55 0.00 0.000 6 0.000 0.051 2701 2348 2279

12990 1.10 267.7 789.5 2.4 628 13100 0.15 2.78 101.50 1.358 4 0.048 0.077 2753 936 1786

13106 1.10 267.7 782.9 7.9 633 13112 0.00 2.62 0.00 0.000 6 0.000 0.054 2753 2347 1785

13420 1.10 267.7 742.3 15.6 649 13425 0.00 2.62 0.00 0.000 4 0.000 0.067 2753 3755 1785

13677 1.10 267.7 701.3 12.5 660 13684 0.00 2.60 0.00 0.000 6 0.000 0.051 2753 2355 1784

13993 1.17 326.6 683.4 4.2 676 14048 0.00 2.67 48.92 1.322 4 0.000 0.061 2753 3759 1546

14204 1.17 326.6 658.7 15.1 685 14212 0.00 2.58 0.00 0.000 6 0.000 0.046 2753 2350 1547

14520 1.17 326.6 621.9 9.6 701 14525 0.00 2.65 0.00 0.000 4 0.000 0.067 2753 936 1546

14638 1.17 326.6 611.1 9.1 706 14643 0.00 2.55 0.00 0.000 6 0.000 0.044 2753 2356 1547

14953 1.17 326.6 584.9 8.8 721 14957 0.00 2.65 0.00 0.000 4 0.000 0.061 2753 937 1548

15051 1.17 326.6 575.9 9.2 725 15059 0.00 2.53 0.00 0.000 6 0.000 0.041 2753 2343 1548

15367 1.17 326.6 551.5 6.5 741 15372 0.00 2.62 0.00 0.000 4 0.000 0.061 2753 935 1548

15455 1.17 330.3 545.8 5.9 745 15466 0.00 2.53 4.88 1.164 6 0.000 0.041 2753 2343 1530

15782 1.17 330.3 521.6 8.4 761 15786 0.00 2.62 0.00 0.000 4 0.000 0.061 2753 940 1531

15888 1.17 330.3 511.5 8.9 766 15892 0.00 2.50 0.00 0.000 6 0.000 0.040 2753 2351 1531

16212 1.17 330.3 475.2 10.8 782 16217 0.00 2.60 0.00 0.000 4 0.000 0.061 2753 941 1531

16306 1.17 330.3 463.7 12.6 786 16311 0.00 2.53 0.00 0.000 6 0.000 0.040 2753 2352 1532

16627 1.17 330.3 426.3 11.5 802 16632 0.00 2.60 0.00 0.000 4 0.000 0.059 2753 938 1533

16727 1.17 330.3 414.6 12.2 806 16734 0.00 2.53 0.00 0.000 6 0.000 0.039 2753 2353 1533

17042 1.17 330.3 382.5 9.3 822 17047 0.00 2.60 0.00 0.000 4 0.000 0.060 2753 939 1534

17158 1.17 330.3 371.2 10.9 827 17163 0.00 2.50 0.00 0.000 6 0.000 0.039 2753 2345 1534

17480 1.17 330.3 346.6 8.1 843 17484 0.00 2.60 0.00 0.000 4 0.000 0.060 2753 931 1534

17573 1.17 330.3 339.2 8.0 847 17578 0.00 2.53 0.00 0.000 6 0.000 0.040 2753 2352 1534

17894 1.17 330.3 312.7 8.8 863 17898 0.00 2.60 0.00 0.000 4 0.000 0.060 2753 932 1534

17993 1.17 330.3 303.7 8.6 867 18000 0.00 2.55 0.00 0.000 6 0.000 0.040 2753 2352 1534

18308 1.17 330.3 270.4 10.7 883 18312 0.00 2.60 0.00 0.000 4 0.000 0.058 2753 933 1534

18430 1.17 330.3 258.5 10.1 888 18437 0.00 2.53 0.00 0.000 6 0.000 0.039 2753 2352 1534

18745 1.17 330.3 229.2 9.0 904 18750 0.00 2.60 0.00 0.000 4 0.000 0.058 2753 931 1535

18869 1.17 330.3 215.8 9.9 909 18875 0.00 2.50 0.00 0.000 6 0.000 0.038 2754 2352 1535

19183 1.17 330.3 185.2 9.6 925 19187 0.00 2.58 0.00 0.000 4 0.000 0.057 2753 939 1536

19288 1.17 330.3 175.5 9.2 930 19293 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2354 1536

19615 1.19 341.5 149.1 5.7 946 19631 0.00 2.65 10.85 0.934 4 0.000 0.055 2754 938 1485

19730 1.19 341.5 140.7 7.2 950 19735 0.00 2.50 0.00 0.000 6 0.000 0.038 2753 2347 1485

20053 1.19 341.5 110.6 8.6 966 20058 0.00 2.60 0.00 0.000 4 0.000 0.057 2753 931 1485

20164 1.19 341.5 99.2 9.7 971 20168 0.00 2.53 0.00 0.000 6 0.000 0.038 2753 2343 1485

20492 1.19 341.5 74.8 6.7 987 20497 0.00 2.60 0.00 0.000 4 0.000 0.058 2753 938 1485

20599 1.19 341.5 64.4 10.5 992 20603 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2351 1485

20924 1.19 341.5 32.6 9.3 1008 20929 0.00 2.60 0.00 0.000 4 0.000 0.058 2753 939 1485

21040 1.19 341.5 19.6 10.1 1013 21045 0.00 2.50 0.00 0.000 6 0.000 0.038 2753 2350 1485

21237 end climb: SURFACE_DEPTH_REACHED

state 21237 begin surface coast

21259 end surface coast: CONTROL_FINISHED_OK

state 21259 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	90	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-77979.609	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	021225,6142.183,-915.160,48,1.7,48,-9.4	TGT_NAME	BW
_CALLS	1	TGT_LATLONG	6145.000,-915.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.152,0.143
_SM_DEPTHo	2.14	KALMAN_X	101882.6,-33.5,-10735.3,-130940.7,7068.3
_SM_ANGLEo	-60.1	KALMAN_Y	153531.9,143.4,4534.0,-141473.2,-1278.2
GPS2	021732,6142.188,-915.227,12,1.2,12,-9.4	MHEAD_RNG_PITCHd_Wd	322.7,5212,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

FINISH	1.5,1.027053	XPDR_PINGS	0
SM_CCo	21338,0.00,0.000,0,0,1485,341.70	ALTIM_BOTTOM_PING	750.7,106.5
SM_GC	2.36,11.62,0.00,0.00,0.028,0.000,0.000,28,1883,1485,-11.26,-0.48,341.70	_24V_AH	23.3,25.382
IRIDIUM_FIX	6117.23,-906.13,281107,000056	_10V_AH	10.1,11.054
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50552,1024
HUMID	2044	CFSIZE	260165632,253321216
INTERNAL_PRESSURE	9.22887	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,32,0,0
TCM_TEMP	17.10	GPS	281107,081528,6144.352,-923.991,31,2.1,50,-9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	138	82.65	SBE_CT	751	24	420.51
Roll_motor	160	76	287.01	SBE_O2	692	19	306.59
VBD_pump_during_apogee	414	1422	13744.36	WL_BB2F	588	105	1438.72
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	31	103	76.21	nil	0	0	0.00
Iridium_during_connect	50	160	189.27	nil	0	0	0.00
Iridium_during_xfer	134	223	700.88
Transponder_ping	6	420	63.61
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.10
TT8	1896	19	379.32
LPSleep	16332	2	361.26
TT8_Active	561	19	112.29
TT8_Sampling	2489	39	1000.76
TT8_CF8	367	45	169.80
TT8_Kalman	33	81	27.56
Analog_circuits	1786	12	216.51
GPS_charging	0	0	0.00
Compass	2436	8	196.84
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.95	-146.6	0.0	0.0	0	92	0.00	0.00	-71.93	0.000	2	0.000	0.000	28	1915	2670
95	-0.95	-146.6	3.4	-1.6	4	145	11.88	2.67	-31.67	0.000	4	0.139	0.075	2286	489	3476
396	-0.95	-146.6	27.1	-8.9	17	404	0.00	2.50	0.00	0.000	6	0.000	0.038	2286	1911	3476
714	-0.95	-146.6	53.3	-7.1	33	715	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1912	3476
1022	-0.95	-146.6	79.8	-8.8	48	1023	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1912	3476
1331	-0.95	-146.6	106.2	-7.7	63	1332	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1912	3477
1640	-0.95	-146.6	128.9	-6.7	78	1642	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1912	3477
1950	-0.95	-146.6	149.7	-6.2	93	1951	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1912	3477
2259	-0.95	-146.6	166.8	-5.0	108	2263	0.00	2.47	0.00	0.000	4	0.000	0.045	2286	3298	3476
2320	-0.95	-146.6	170.2	-5.7	111	2324	0.00	2.53	0.00	0.000	6	0.000	0.042	2286	1884	3476
2645	-0.95	-146.6	190.4	-7.6	127	2646	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1884	3477
2954	-0.95	-146.6	213.7	-6.5	142	2958	0.00	2.53	0.00	0.000	4	0.000	0.045	2286	3297	3476
3008	-0.95	-146.6	218.0	-8.0	144	3013	0.00	2.53	0.00	0.000	6	0.000	0.042	2286	1902	3477
3329	-0.95	-146.6	242.8	-8.1	160	3330	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
3638	-0.95	-146.6	265.9	-6.6	175	3639	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
3947	-0.95	-146.6	294.3	-10.3	190	3949	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3476
4257	-0.95	-146.6	324.8	-9.3	205	4258	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3477
4566	-0.95	-146.6	344.2	-5.7	220	4571	0.00	2.50	0.00	0.000	4	0.000	0.047	2286	3295	3477
4628	-0.95	-146.6	347.8	-6.0	223	4632	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1898	3476
4953	-0.95	-146.6	367.9	-6.4	239	4954	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3476
5262	-0.95	-146.6	386.7	-5.9	254	5266	0.00	2.50	0.00	0.000	4	0.000	0.046	2286	3295	3477
5368	-0.95	-146.6	393.3	-6.3	259	5372	0.00	2.47	0.00	0.000	6	0.000	0.043	2286	1900	3477
5700	-0.95	-146.6	408.9	-4.2	275	5701	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
6009	-0.95	-146.6	418.3	-1.9	290	6010	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3477
6319	-0.95	-146.6	426.0	-4.2	305	6321	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
6627	-0.95	-146.6	444.4	-6.9	320	6628	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3477
6937	-0.95	-146.6	464.6	-6.8	335	6940	0.00	2.50	0.00	0.000	4	0.000	0.049	2286	3297	3477
6997	-0.95	-146.6	469.2	-7.1	337	7004	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1905	3477
7312	-0.95	-146.6	496.9	-10.4	353	7313	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
7621	-0.95	-146.6	533.5	-12.2	368	7626	0.00	2.50	0.00	0.000	4	0.000	0.051	2286	3301	3477
7683	-0.95	-146.6	541.0	-12.5	371	7687	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1901	3476
8009	-0.95	-146.6	572.3	-8.8	387	8010	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
8318	-0.95	-146.6	588.8	-2.9	402	8319	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
8628	-0.95	-146.6	601.7	-4.7	417	8629	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
8936	-0.95	-146.6	611.9	-6.2	432	8938	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
9246	-0.95	-146.6	645.9	-12.4	447	9247	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
9555	-0.95	-146.6	687.4	-12.8	462	9556	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
9864	-0.95	-146.6	717.7	-7.8	477	9865	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
10174	-0.95	-146.6	717.1	1.7	492	10175	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
10483	-0.95	-146.6	731.4	-7.7	507	10487	0.00	2.53	0.00	0.000	4	0.000	0.057	2286	3292	3475
10567	-0.95	-146.6	736.4	-6.1	511	10571	0.00	2.53	0.00	0.000	6	0.000	0.051	2286	1898	3476
10892	-0.95	-146.6	767.9	-12.2	527	10896	0.00	2.62	0.00	0.000	4	0.000	0.074	2286	493	3475
10930	-0.95	-146.6	772.8	-12.9	529	10934	0.00	2.47	0.00	0.000	6	0.000	0.052	2286	1888	3475
11255	-0.95	-146.6	789.3	-4.3	545	11259	0.00	2.60	0.00	0.000	4	0.000	0.064	2286	3300	3475
11298	-0.95	-146.6	790.8	-4.4	547	11303	0.00	2.55	0.00	0.000	6	0.000	0.057	2286	1899	3475
11625	-0.95	-146.6	799.4	-2.0	563	11629	0.00	2.60	0.00	0.000	4	0.000	0.065	2286	3302	3474
11753	-0.95	-146.6	804.8	-4.9	569	11757	0.00	2.60	0.00	0.000	6	0.000	0.059	2286	1894	3473
12078	-0.95	-146.6	842.8	-8.0	585	12079	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3472
12138	end dive: BOTTOM_OBSTACLE_DETECTED
state	12139	begin apogee
12144	-0.36	0.0	848.7	10.9	588	12271	0.62	0.00	124.65	1.423	6	0.091	0.000	2417	2347	2878
12272	end apogee: CONTROL_FINISHED_OK
state	12272	begin climb
12274	0.95	146.6	846.8	0.0	594	12406	1.27	2.72	123.80	1.356	4	0.052	0.074	2701	3751	2280
12659	0.95	146.6	816.0	7.2	612	12663	0.00	2.55	0.00	0.000	6	0.000	0.051	2701	2348	2279
12990	1.10	267.7	789.5	2.4	628	13100	0.15	2.78	101.50	1.358	4	0.048	0.077	2753	936	1786
13106	1.10	267.7	782.9	7.9	633	13112	0.00	2.62	0.00	0.000	6	0.000	0.054	2753	2347	1785
13420	1.10	267.7	742.3	15.6	649	13425	0.00	2.62	0.00	0.000	4	0.000	0.067	2753	3755	1785
13677	1.10	267.7	701.3	12.5	660	13684	0.00	2.60	0.00	0.000	6	0.000	0.051	2753	2355	1784
13993	1.17	326.6	683.4	4.2	676	14048	0.00	2.67	48.92	1.322	4	0.000	0.061	2753	3759	1546
14204	1.17	326.6	658.7	15.1	685	14212	0.00	2.58	0.00	0.000	6	0.000	0.046	2753	2350	1547
14520	1.17	326.6	621.9	9.6	701	14525	0.00	2.65	0.00	0.000	4	0.000	0.067	2753	936	1546
14638	1.17	326.6	611.1	9.1	706	14643	0.00	2.55	0.00	0.000	6	0.000	0.044	2753	2356	1547
14953	1.17	326.6	584.9	8.8	721	14957	0.00	2.65	0.00	0.000	4	0.000	0.061	2753	937	1548
15051	1.17	326.6	575.9	9.2	725	15059	0.00	2.53	0.00	0.000	6	0.000	0.041	2753	2343	1548
15367	1.17	326.6	551.5	6.5	741	15372	0.00	2.62	0.00	0.000	4	0.000	0.061	2753	935	1548
15455	1.17	330.3	545.8	5.9	745	15466	0.00	2.53	4.88	1.164	6	0.000	0.041	2753	2343	1530
15782	1.17	330.3	521.6	8.4	761	15786	0.00	2.62	0.00	0.000	4	0.000	0.061	2753	940	1531
15888	1.17	330.3	511.5	8.9	766	15892	0.00	2.50	0.00	0.000	6	0.000	0.040	2753	2351	1531
16212	1.17	330.3	475.2	10.8	782	16217	0.00	2.60	0.00	0.000	4	0.000	0.061	2753	941	1531
16306	1.17	330.3	463.7	12.6	786	16311	0.00	2.53	0.00	0.000	6	0.000	0.040	2753	2352	1532
16627	1.17	330.3	426.3	11.5	802	16632	0.00	2.60	0.00	0.000	4	0.000	0.059	2753	938	1533
16727	1.17	330.3	414.6	12.2	806	16734	0.00	2.53	0.00	0.000	6	0.000	0.039	2753	2353	1533
17042	1.17	330.3	382.5	9.3	822	17047	0.00	2.60	0.00	0.000	4	0.000	0.060	2753	939	1534
17158	1.17	330.3	371.2	10.9	827	17163	0.00	2.50	0.00	0.000	6	0.000	0.039	2753	2345	1534
17480	1.17	330.3	346.6	8.1	843	17484	0.00	2.60	0.00	0.000	4	0.000	0.060	2753	931	1534
17573	1.17	330.3	339.2	8.0	847	17578	0.00	2.53	0.00	0.000	6	0.000	0.040	2753	2352	1534
17894	1.17	330.3	312.7	8.8	863	17898	0.00	2.60	0.00	0.000	4	0.000	0.060	2753	932	1534
17993	1.17	330.3	303.7	8.6	867	18000	0.00	2.55	0.00	0.000	6	0.000	0.040	2753	2352	1534
18308	1.17	330.3	270.4	10.7	883	18312	0.00	2.60	0.00	0.000	4	0.000	0.058	2753	933	1534
18430	1.17	330.3	258.5	10.1	888	18437	0.00	2.53	0.00	0.000	6	0.000	0.039	2753	2352	1534
18745	1.17	330.3	229.2	9.0	904	18750	0.00	2.60	0.00	0.000	4	0.000	0.058	2753	931	1535
18869	1.17	330.3	215.8	9.9	909	18875	0.00	2.50	0.00	0.000	6	0.000	0.038	2754	2352	1535
19183	1.17	330.3	185.2	9.6	925	19187	0.00	2.58	0.00	0.000	4	0.000	0.057	2753	939	1536
19288	1.17	330.3	175.5	9.2	930	19293	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2354	1536
19615	1.19	341.5	149.1	5.7	946	19631	0.00	2.65	10.85	0.934	4	0.000	0.055	2754	938	1485
19730	1.19	341.5	140.7	7.2	950	19735	0.00	2.50	0.00	0.000	6	0.000	0.038	2753	2347	1485
20053	1.19	341.5	110.6	8.6	966	20058	0.00	2.60	0.00	0.000	4	0.000	0.057	2753	931	1485
20164	1.19	341.5	99.2	9.7	971	20168	0.00	2.53	0.00	0.000	6	0.000	0.038	2753	2343	1485
20492	1.19	341.5	74.8	6.7	987	20497	0.00	2.60	0.00	0.000	4	0.000	0.058	2753	938	1485
20599	1.19	341.5	64.4	10.5	992	20603	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2351	1485
20924	1.19	341.5	32.6	9.3	1008	20929	0.00	2.60	0.00	0.000	4	0.000	0.058	2753	939	1485
21040	1.19	341.5	19.6	10.1	1013	21045	0.00	2.50	0.00	0.000	6	0.000	0.038	2753	2350	1485
21237	end climb: SURFACE_DEPTH_REACHED
state	21237	begin surface coast
21259	end surface coast: CONTROL_FINISHED_OK
state	21259	begin surface