Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 106 * 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 106 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 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 35 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -78260.289 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 -78260.289

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 35 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 106 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 051208,6150.669,-951.961,27,1.2,27,-9.8 TGT_NAME CW

_CALLS 2 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.054,0.202

_SM_DEPTHo 2.86 KALMAN_X 30546.1,1826.2,2813.4,-107368.2,-9493.8

_SM_ANGLEo -53.9 KALMAN_Y 105259.3,1525.7,2236.9,-76670.5,-15217.4

GPS2 052156,6150.636,-951.762,10,1.2,15,-9.8 MHEAD_RNG_PITCHd_Wd 24.7,26646,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21455,92.85,0.743,0,0,603,558.06 ALTIM_BOTTOM_PING 725.3,102.0

SM_GC 2.76,12.02,0.00,0.00,0.029,0.000,0.000,27,1886,604,-11.27,-0.37,557.81 _24V_AH 23.3,28.306

IRIDIUM_FIX 6126.23,-945.71,021207,090901 _10V_AH 10.1,12.626

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53660,1038

HUMID 2059 CFSIZE 260165632,252157952

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 18.80 GPS 021207,113009,6157.370,-942.041,38,1.1,38,-9.8

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 135 82.64 SBE_CT 760 24 425.12

Roll_motor 154 79 286.60 SBE_O2 702 19 311.17

VBD_pump_during_apogee 438 1356 13857.26 WL_BB2F 618 105 1514.19

VBD_pump_during_surface 92 743 1607.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 180.35 nil 0 0 0.00

Iridium_during_connect 73 160 272.76 nil 0 0 0.00

Iridium_during_xfer 266 223 1384.54

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.87

TT8 1881 19 376.23

LPSleep 17093 2 378.10

TT8_Active 698 19 139.77

TT8_Sampling 2284 39 918.42

TT8_CF8 590 45 272.96

TT8_Kalman 33 81 27.56

Analog_circuits 1842 12 223.33

GPS_charging 0 0 0.00

Compass 2237 8 180.78

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 0 104 0.00 0.00 -82.20 0.000 2 0.000 0.000 26 1873 2241

107 -0.95 -146.6 3.2 -0.6 4 185 11.85 2.55 -60.15 0.000 4 0.136 0.073 2286 501 3476

217 -0.95 -146.6 9.8 -10.6 8 222 0.00 2.50 0.00 0.000 6 0.000 0.039 2286 1902 3476

538 -0.95 -146.6 35.9 -7.9 24 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

848 -0.95 -146.6 61.8 -10.0 39 849 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1157 -0.95 -146.6 86.7 -9.2 54 1158 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1467 -0.95 -146.6 106.3 -5.9 69 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1775 -0.95 -146.6 123.2 -6.2 84 1780 0.00 2.60 0.00 0.000 4 0.000 0.065 2286 505 3476

1818 -0.95 -146.6 126.1 -7.1 86 1823 0.00 2.47 0.00 0.000 6 0.000 0.040 2286 1900 3476

2145 -0.95 -146.6 149.5 -7.3 102 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

2454 -0.95 -146.6 172.8 -7.6 117 2455 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

2763 -0.95 -146.6 197.1 -7.8 132 2764 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

3073 -0.95 -146.6 221.3 -7.7 147 3074 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

3382 -0.95 -146.6 245.6 -7.6 162 3383 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

3691 -0.95 -146.6 268.4 -7.5 177 3695 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3294 3476

3735 -0.95 -146.6 271.7 -8.0 179 3740 0.00 2.47 0.00 0.000 6 0.000 0.044 2286 1907 3475

4061 -0.95 -146.6 294.5 -6.7 195 4062 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

4370 -0.95 -146.6 314.7 -6.4 210 4371 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

4680 -0.95 -146.6 333.6 -5.8 225 4684 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3301 3476

4745 -0.95 -146.6 337.4 -6.1 228 4750 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1905 3475

5072 -0.95 -146.6 355.1 -5.4 244 5073 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

5382 -0.95 -146.6 371.9 -5.5 259 5386 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3299 3475

5420 -0.95 -146.6 374.1 -5.8 261 5425 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1900 3475

5746 -0.95 -146.6 392.2 -5.5 277 5747 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

6056 -0.95 -146.6 408.3 -4.9 292 6057 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

6365 -0.95 -146.6 423.8 -5.3 307 6366 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

6674 -0.95 -146.6 441.6 -6.0 322 6678 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3295 3475

6713 -0.95 -146.6 444.2 -6.9 324 6717 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1899 3475

7038 -0.95 -146.6 465.1 -6.8 340 7039 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3475

7347 -0.95 -146.6 488.2 -7.7 355 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3475

7657 -0.95 -146.6 514.6 -9.0 370 7661 0.00 2.53 0.00 0.000 4 0.000 0.050 2286 3298 3475

7699 -0.95 -146.6 518.7 -9.1 372 7704 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1906 3475

8026 -0.95 -146.6 547.9 -8.4 388 8027 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3475

8335 -0.95 -146.6 570.7 -6.6 403 8339 0.00 2.50 0.00 0.000 4 0.000 0.051 2286 3294 3474

8374 -0.95 -146.6 573.3 -6.7 405 8378 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1900 3474

8701 -0.95 -146.6 591.1 -4.8 421 8702 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

9010 -0.95 -146.6 604.9 -4.5 436 9014 0.00 2.53 0.00 0.000 4 0.000 0.053 2286 3294 3474

9053 -0.95 -146.6 606.8 -4.2 438 9057 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1900 3474

9380 -0.95 -146.6 621.0 -4.5 454 9384 0.00 2.55 0.00 0.000 4 0.000 0.055 2286 3301 3474

9440 -0.95 -146.6 624.3 -6.6 457 9444 0.00 2.53 0.00 0.000 6 0.000 0.048 2286 1901 3474

9766 -0.95 -146.6 642.1 -6.4 473 9767 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

10075 -0.95 -146.6 663.1 -6.5 488 10076 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

10385 -0.95 -146.6 678.4 -5.0 503 10386 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

10693 -0.95 -146.6 703.5 -9.0 518 10695 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3473

11003 -0.95 -146.6 731.4 -10.0 533 11007 0.00 2.62 0.00 0.000 4 0.000 0.068 2286 488 3473

11090 -0.95 -146.6 740.5 -10.5 537 11095 0.00 2.50 0.00 0.000 6 0.000 0.048 2286 1892 3473

11417 -0.95 -146.6 754.3 -0.1 553 11422 0.00 2.60 0.00 0.000 4 0.000 0.070 2286 494 3473

11641 -0.95 -146.6 755.1 -2.9 563 11645 0.00 2.47 0.00 0.000 6 0.000 0.050 2286 1896 3473

11967 -0.95 -146.6 777.6 -11.1 579 11972 0.00 2.58 0.00 0.000 4 0.000 0.062 2286 3302 3473

11993 -0.95 -146.6 779.3 -6.4 580 11998 0.00 2.60 0.00 0.000 6 0.000 0.057 2286 1905 3472

12315 -0.95 -146.6 804.3 -5.4 596 12320 0.00 2.58 0.00 0.000 4 0.000 0.066 2286 3302 3472

12494 -0.95 -146.6 814.7 -10.5 604 12499 0.00 2.58 0.00 0.000 6 0.000 0.058 2286 1892 3471

12545 end dive: BOTTOM_OBSTACLE_DETECTED

state 12545 begin apogee

12549 -0.36 0.0 818.3 6.4 607 12677 0.62 0.00 124.25 1.356 6 0.091 0.000 2416 2095 2878

12677 end apogee: CONTROL_FINISHED_OK

state 12677 begin climb

12679 0.95 146.6 817.5 0.0 613 12811 1.25 2.72 123.18 1.310 4 0.044 0.064 2702 3504 2280

13064 0.97 165.4 784.8 5.4 630 13086 0.00 2.60 16.73 1.311 6 0.000 0.056 2702 2096 2203

13395 0.97 165.4 766.5 6.8 646 13399 0.00 2.65 0.00 0.000 4 0.000 0.064 2702 3509 2201

13466 0.99 179.4 762.1 5.6 649 13486 0.00 2.60 12.68 1.328 6 0.000 0.054 2702 2098 2146

13808 1.17 326.1 742.0 1.6 666 13938 0.20 2.80 122.57 1.311 4 0.043 0.080 2762 694 1548

14017 1.17 326.1 727.3 9.6 676 14022 0.00 2.58 0.00 0.000 6 0.000 0.053 2762 2107 1548

14343 1.17 326.1 697.0 8.9 692 14347 0.00 2.70 0.00 0.000 4 0.000 0.074 2762 692 1546

14414 1.17 326.1 689.8 10.5 695 14418 0.00 2.55 0.00 0.000 6 0.000 0.049 2762 2095 1546

14735 1.17 326.1 650.2 12.5 711 14740 0.00 2.58 0.00 0.000 4 0.000 0.054 2762 3505 1546

14796 1.17 326.1 641.9 12.6 714 14801 0.00 2.55 0.00 0.000 6 0.000 0.049 2762 2094 1546

15122 1.17 326.1 599.4 13.4 730 15123 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2094 1546

15431 1.17 326.1 559.2 12.7 745 15436 0.00 2.62 0.00 0.000 4 0.000 0.072 2762 693 1546

15503 1.17 326.1 549.4 13.4 748 15507 0.00 2.50 0.00 0.000 6 0.000 0.043 2762 2111 1546

15824 1.17 326.1 512.0 10.7 764 15828 0.00 2.65 0.00 0.000 4 0.000 0.067 2762 692 1546

15866 1.17 326.1 507.0 11.4 766 15871 0.00 2.53 0.00 0.000 6 0.000 0.042 2762 2103 1546

16193 1.18 339.9 482.0 5.6 782 16207 0.00 0.00 12.07 1.164 6 0.000 0.000 2762 2106 1491

16502 1.18 339.9 461.2 7.3 797 16506 0.00 2.65 0.00 0.000 4 0.000 0.067 2762 691 1492

16567 1.18 339.9 456.0 9.0 800 16572 0.00 2.50 0.00 0.000 6 0.000 0.041 2762 2098 1493

16894 1.18 339.9 429.4 8.4 816 16895 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2102 1493

17204 1.18 339.9 401.3 9.3 831 17208 0.00 2.62 0.00 0.000 4 0.000 0.065 2762 692 1494

17274 1.18 339.9 394.2 9.3 834 17279 0.00 2.50 0.00 0.000 6 0.000 0.041 2762 2103 1494

17595 1.18 339.9 361.0 10.7 850 17600 0.00 2.65 0.00 0.000 4 0.000 0.065 2762 686 1494

17639 1.18 339.9 356.1 13.0 852 17643 0.00 2.50 0.00 0.000 6 0.000 0.041 2762 2096 1494

17965 1.18 339.9 317.3 12.6 868 17970 0.00 2.60 0.00 0.000 4 0.000 0.064 2762 692 1495

18004 1.18 339.9 311.7 15.5 870 18008 0.00 2.50 0.00 0.000 6 0.000 0.041 2762 2110 1495

18329 1.18 339.9 269.3 11.9 886 18334 0.00 2.65 0.00 0.000 4 0.000 0.063 2763 687 1495

18368 1.18 339.9 264.5 11.9 888 18372 0.00 2.50 0.00 0.000 6 0.000 0.040 2763 2105 1495

18694 1.18 339.9 231.1 10.0 904 18698 0.00 2.62 0.00 0.000 4 0.000 0.064 2763 692 1496

18736 1.18 339.9 226.8 9.3 906 18741 0.00 2.50 0.00 0.000 6 0.000 0.039 2762 2099 1496

19063 1.18 339.9 198.4 7.9 922 19064 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2103 1496

19372 1.18 339.9 171.5 8.8 937 19377 0.00 2.60 0.00 0.000 4 0.000 0.062 2763 692 1496

19457 1.18 339.9 163.8 8.8 941 19461 0.00 2.47 0.00 0.000 6 0.000 0.039 2762 2102 1496

19782 1.18 339.9 134.2 9.2 957 19783 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2105 1497

20091 1.18 339.9 104.6 9.5 972 20092 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2105 1497

20401 1.18 339.9 74.0 10.1 987 20405 0.00 2.62 0.00 0.000 4 0.000 0.062 2762 685 1497

20462 1.18 339.9 67.6 11.8 990 20466 0.00 2.47 0.00 0.000 6 0.000 0.038 2763 2100 1497

20787 1.18 339.9 33.0 11.0 1006 20789 0.00 0.00 0.00 0.000 6 0.000 0.000 2762 2104 1497

21097 1.18 339.9 3.3 9.7 1021 21101 0.00 2.58 0.00 0.000 4 0.000 0.061 2763 692 1497

21106 1.18 339.9 2.2 10.3 1021 21113 0.00 2.50 0.00 0.000 6 0.000 0.040 2762 2099 1497

21422 1.44 544.3 2.2 -0.1 1037 21452 0.17 0.00 27.10 0.810 2 0.047 0.000 2820 2103 1352

21452 end climb: NO_VERTICAL_VELOCITY

state 21452 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	106	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	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	35	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-78260.289	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	051208,6150.669,-951.961,27,1.2,27,-9.8	TGT_NAME	CW
_CALLS	2	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.054,0.202
_SM_DEPTHo	2.86	KALMAN_X	30546.1,1826.2,2813.4,-107368.2,-9493.8
_SM_ANGLEo	-53.9	KALMAN_Y	105259.3,1525.7,2236.9,-76670.5,-15217.4
GPS2	052156,6150.636,-951.762,10,1.2,15,-9.8	MHEAD_RNG_PITCHd_Wd	24.7,26646,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21455,92.85,0.743,0,0,603,558.06	ALTIM_BOTTOM_PING	725.3,102.0
SM_GC	2.76,12.02,0.00,0.00,0.029,0.000,0.000,27,1886,604,-11.27,-0.37,557.81	_24V_AH	23.3,28.306
IRIDIUM_FIX	6126.23,-945.71,021207,090901	_10V_AH	10.1,12.626
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53660,1038
HUMID	2059	CFSIZE	260165632,252157952
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	18.80	GPS	021207,113009,6157.370,-942.041,38,1.1,38,-9.8
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	135	82.64	SBE_CT	760	24	425.12
Roll_motor	154	79	286.60	SBE_O2	702	19	311.17
VBD_pump_during_apogee	438	1356	13857.26	WL_BB2F	618	105	1514.19
VBD_pump_during_surface	92	743	1607.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	180.35	nil	0	0	0.00
Iridium_during_connect	73	160	272.76	nil	0	0	0.00
Iridium_during_xfer	266	223	1384.54
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.87
TT8	1881	19	376.23
LPSleep	17093	2	378.10
TT8_Active	698	19	139.77
TT8_Sampling	2284	39	918.42
TT8_CF8	590	45	272.96
TT8_Kalman	33	81	27.56
Analog_circuits	1842	12	223.33
GPS_charging	0	0	0.00
Compass	2237	8	180.78
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	104	0.00	0.00	-82.20	0.000	2	0.000	0.000	26	1873	2241
107	-0.95	-146.6	3.2	-0.6	4	185	11.85	2.55	-60.15	0.000	4	0.136	0.073	2286	501	3476
217	-0.95	-146.6	9.8	-10.6	8	222	0.00	2.50	0.00	0.000	6	0.000	0.039	2286	1902	3476
538	-0.95	-146.6	35.9	-7.9	24	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
848	-0.95	-146.6	61.8	-10.0	39	849	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1157	-0.95	-146.6	86.7	-9.2	54	1158	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1467	-0.95	-146.6	106.3	-5.9	69	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1775	-0.95	-146.6	123.2	-6.2	84	1780	0.00	2.60	0.00	0.000	4	0.000	0.065	2286	505	3476
1818	-0.95	-146.6	126.1	-7.1	86	1823	0.00	2.47	0.00	0.000	6	0.000	0.040	2286	1900	3476
2145	-0.95	-146.6	149.5	-7.3	102	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
2454	-0.95	-146.6	172.8	-7.6	117	2455	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
2763	-0.95	-146.6	197.1	-7.8	132	2764	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
3073	-0.95	-146.6	221.3	-7.7	147	3074	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
3382	-0.95	-146.6	245.6	-7.6	162	3383	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
3691	-0.95	-146.6	268.4	-7.5	177	3695	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3294	3476
3735	-0.95	-146.6	271.7	-8.0	179	3740	0.00	2.47	0.00	0.000	6	0.000	0.044	2286	1907	3475
4061	-0.95	-146.6	294.5	-6.7	195	4062	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
4370	-0.95	-146.6	314.7	-6.4	210	4371	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
4680	-0.95	-146.6	333.6	-5.8	225	4684	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3301	3476
4745	-0.95	-146.6	337.4	-6.1	228	4750	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1905	3475
5072	-0.95	-146.6	355.1	-5.4	244	5073	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
5382	-0.95	-146.6	371.9	-5.5	259	5386	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3299	3475
5420	-0.95	-146.6	374.1	-5.8	261	5425	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1900	3475
5746	-0.95	-146.6	392.2	-5.5	277	5747	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
6056	-0.95	-146.6	408.3	-4.9	292	6057	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
6365	-0.95	-146.6	423.8	-5.3	307	6366	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
6674	-0.95	-146.6	441.6	-6.0	322	6678	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3295	3475
6713	-0.95	-146.6	444.2	-6.9	324	6717	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1899	3475
7038	-0.95	-146.6	465.1	-6.8	340	7039	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3475
7347	-0.95	-146.6	488.2	-7.7	355	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3475
7657	-0.95	-146.6	514.6	-9.0	370	7661	0.00	2.53	0.00	0.000	4	0.000	0.050	2286	3298	3475
7699	-0.95	-146.6	518.7	-9.1	372	7704	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1906	3475
8026	-0.95	-146.6	547.9	-8.4	388	8027	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3475
8335	-0.95	-146.6	570.7	-6.6	403	8339	0.00	2.50	0.00	0.000	4	0.000	0.051	2286	3294	3474
8374	-0.95	-146.6	573.3	-6.7	405	8378	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1900	3474
8701	-0.95	-146.6	591.1	-4.8	421	8702	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
9010	-0.95	-146.6	604.9	-4.5	436	9014	0.00	2.53	0.00	0.000	4	0.000	0.053	2286	3294	3474
9053	-0.95	-146.6	606.8	-4.2	438	9057	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1900	3474
9380	-0.95	-146.6	621.0	-4.5	454	9384	0.00	2.55	0.00	0.000	4	0.000	0.055	2286	3301	3474
9440	-0.95	-146.6	624.3	-6.6	457	9444	0.00	2.53	0.00	0.000	6	0.000	0.048	2286	1901	3474
9766	-0.95	-146.6	642.1	-6.4	473	9767	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
10075	-0.95	-146.6	663.1	-6.5	488	10076	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
10385	-0.95	-146.6	678.4	-5.0	503	10386	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
10693	-0.95	-146.6	703.5	-9.0	518	10695	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3473
11003	-0.95	-146.6	731.4	-10.0	533	11007	0.00	2.62	0.00	0.000	4	0.000	0.068	2286	488	3473
11090	-0.95	-146.6	740.5	-10.5	537	11095	0.00	2.50	0.00	0.000	6	0.000	0.048	2286	1892	3473
11417	-0.95	-146.6	754.3	-0.1	553	11422	0.00	2.60	0.00	0.000	4	0.000	0.070	2286	494	3473
11641	-0.95	-146.6	755.1	-2.9	563	11645	0.00	2.47	0.00	0.000	6	0.000	0.050	2286	1896	3473
11967	-0.95	-146.6	777.6	-11.1	579	11972	0.00	2.58	0.00	0.000	4	0.000	0.062	2286	3302	3473
11993	-0.95	-146.6	779.3	-6.4	580	11998	0.00	2.60	0.00	0.000	6	0.000	0.057	2286	1905	3472
12315	-0.95	-146.6	804.3	-5.4	596	12320	0.00	2.58	0.00	0.000	4	0.000	0.066	2286	3302	3472
12494	-0.95	-146.6	814.7	-10.5	604	12499	0.00	2.58	0.00	0.000	6	0.000	0.058	2286	1892	3471
12545	end dive: BOTTOM_OBSTACLE_DETECTED
state	12545	begin apogee
12549	-0.36	0.0	818.3	6.4	607	12677	0.62	0.00	124.25	1.356	6	0.091	0.000	2416	2095	2878
12677	end apogee: CONTROL_FINISHED_OK
state	12677	begin climb
12679	0.95	146.6	817.5	0.0	613	12811	1.25	2.72	123.18	1.310	4	0.044	0.064	2702	3504	2280
13064	0.97	165.4	784.8	5.4	630	13086	0.00	2.60	16.73	1.311	6	0.000	0.056	2702	2096	2203
13395	0.97	165.4	766.5	6.8	646	13399	0.00	2.65	0.00	0.000	4	0.000	0.064	2702	3509	2201
13466	0.99	179.4	762.1	5.6	649	13486	0.00	2.60	12.68	1.328	6	0.000	0.054	2702	2098	2146
13808	1.17	326.1	742.0	1.6	666	13938	0.20	2.80	122.57	1.311	4	0.043	0.080	2762	694	1548
14017	1.17	326.1	727.3	9.6	676	14022	0.00	2.58	0.00	0.000	6	0.000	0.053	2762	2107	1548
14343	1.17	326.1	697.0	8.9	692	14347	0.00	2.70	0.00	0.000	4	0.000	0.074	2762	692	1546
14414	1.17	326.1	689.8	10.5	695	14418	0.00	2.55	0.00	0.000	6	0.000	0.049	2762	2095	1546
14735	1.17	326.1	650.2	12.5	711	14740	0.00	2.58	0.00	0.000	4	0.000	0.054	2762	3505	1546
14796	1.17	326.1	641.9	12.6	714	14801	0.00	2.55	0.00	0.000	6	0.000	0.049	2762	2094	1546
15122	1.17	326.1	599.4	13.4	730	15123	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2094	1546
15431	1.17	326.1	559.2	12.7	745	15436	0.00	2.62	0.00	0.000	4	0.000	0.072	2762	693	1546
15503	1.17	326.1	549.4	13.4	748	15507	0.00	2.50	0.00	0.000	6	0.000	0.043	2762	2111	1546
15824	1.17	326.1	512.0	10.7	764	15828	0.00	2.65	0.00	0.000	4	0.000	0.067	2762	692	1546
15866	1.17	326.1	507.0	11.4	766	15871	0.00	2.53	0.00	0.000	6	0.000	0.042	2762	2103	1546
16193	1.18	339.9	482.0	5.6	782	16207	0.00	0.00	12.07	1.164	6	0.000	0.000	2762	2106	1491
16502	1.18	339.9	461.2	7.3	797	16506	0.00	2.65	0.00	0.000	4	0.000	0.067	2762	691	1492
16567	1.18	339.9	456.0	9.0	800	16572	0.00	2.50	0.00	0.000	6	0.000	0.041	2762	2098	1493
16894	1.18	339.9	429.4	8.4	816	16895	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2102	1493
17204	1.18	339.9	401.3	9.3	831	17208	0.00	2.62	0.00	0.000	4	0.000	0.065	2762	692	1494
17274	1.18	339.9	394.2	9.3	834	17279	0.00	2.50	0.00	0.000	6	0.000	0.041	2762	2103	1494
17595	1.18	339.9	361.0	10.7	850	17600	0.00	2.65	0.00	0.000	4	0.000	0.065	2762	686	1494
17639	1.18	339.9	356.1	13.0	852	17643	0.00	2.50	0.00	0.000	6	0.000	0.041	2762	2096	1494
17965	1.18	339.9	317.3	12.6	868	17970	0.00	2.60	0.00	0.000	4	0.000	0.064	2762	692	1495
18004	1.18	339.9	311.7	15.5	870	18008	0.00	2.50	0.00	0.000	6	0.000	0.041	2762	2110	1495
18329	1.18	339.9	269.3	11.9	886	18334	0.00	2.65	0.00	0.000	4	0.000	0.063	2763	687	1495
18368	1.18	339.9	264.5	11.9	888	18372	0.00	2.50	0.00	0.000	6	0.000	0.040	2763	2105	1495
18694	1.18	339.9	231.1	10.0	904	18698	0.00	2.62	0.00	0.000	4	0.000	0.064	2763	692	1496
18736	1.18	339.9	226.8	9.3	906	18741	0.00	2.50	0.00	0.000	6	0.000	0.039	2762	2099	1496
19063	1.18	339.9	198.4	7.9	922	19064	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2103	1496
19372	1.18	339.9	171.5	8.8	937	19377	0.00	2.60	0.00	0.000	4	0.000	0.062	2763	692	1496
19457	1.18	339.9	163.8	8.8	941	19461	0.00	2.47	0.00	0.000	6	0.000	0.039	2762	2102	1496
19782	1.18	339.9	134.2	9.2	957	19783	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2105	1497
20091	1.18	339.9	104.6	9.5	972	20092	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2105	1497
20401	1.18	339.9	74.0	10.1	987	20405	0.00	2.62	0.00	0.000	4	0.000	0.062	2762	685	1497
20462	1.18	339.9	67.6	11.8	990	20466	0.00	2.47	0.00	0.000	6	0.000	0.038	2763	2100	1497
20787	1.18	339.9	33.0	11.0	1006	20789	0.00	0.00	0.00	0.000	6	0.000	0.000	2762	2104	1497
21097	1.18	339.9	3.3	9.7	1021	21101	0.00	2.58	0.00	0.000	4	0.000	0.061	2763	692	1497
21106	1.18	339.9	2.2	10.3	1021	21113	0.00	2.50	0.00	0.000	6	0.000	0.040	2762	2099	1497
21422	1.44	544.3	2.2	-0.1	1037	21452	0.17	0.00	27.10	0.810	2	0.047	0.000	2820	2103	1352
21452	end climb: NO_VERTICAL_VELOCITY
state	21452	begin surface