Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 159 * 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 159 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 30 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 -79145.828 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 -79145.828

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 30 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 159 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 130608,6224.065,-1144.117,35,1.4,35,-11.1 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 8 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.086,0.190

_SM_DEPTHo 4.37 KALMAN_X 190239.3,-703.1,-4863.7,-355824.9,14093.3

_SM_ANGLEo -51.5 KALMAN_Y 111892.8,-5.2,2925.7,-20457.5,-12337.6

GPS2 131715,6224.089,-1144.107,14,1.5,14,-11.1 MHEAD_RNG_PITCHd_Wd 346.8,11497,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 24484,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 800.6,49.3

SM_GC 4.44,12.18,0.00,0.00,0.031,0.000,0.000,30,1884,603,-11.27,-0.45,558.06 _24V_AH 23.3,37.745

IRIDIUM_FIX 6158.08,-1150.45,151207,171728 _10V_AH 10.1,17.618

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56843,1165

HUMID 2036 CFSIZE 260165632,248770560

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

TCM_TEMP 16.90 GPS 151207,200726,6226.047,-1146.327,40,1.5,40,-11.1

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 96 57.42 SBE_CT 869 24 486.20

Roll_motor 88 83 171.71 SBE_O2 786 19 348.27

VBD_pump_during_apogee 500 1367 15953.59 WL_BB2F 697 105 1706.98

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 76 103 184.78 nil 0 0 0.00

Iridium_during_connect 95 160 357.19 nil 0 0 0.00

Iridium_during_xfer 319 223 1658.18

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.18

TT8 2003 19 400.67

LPSleep 19473 2 430.73

TT8_Active 625 19 125.09

TT8_Sampling 2337 39 939.64

TT8_CF8 708 45 327.66

TT8_Kalman 33 81 27.56

Analog_circuits 1796 12 217.75

GPS_charging 0 0 0.00

Compass 2308 8 186.53

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.95 -146.6 0.0 0.0 0 25 0.00 0.00 -3.83 0.000 2 0.000 0.000 28 1876 699

28 -0.95 -146.6 4.5 -0.0 0 221 10.95 2.60 -168.48 0.000 4 0.097 0.074 2292 499 3476

411 -0.95 -146.6 18.8 -5.5 18 415 0.00 2.47 0.00 0.000 6 0.000 0.040 2292 1906 3476

733 -0.95 -146.6 42.7 -7.0 34 734 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1909 3476

1042 -0.95 -146.6 63.8 -6.9 49 1043 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1910 3476

1350 -0.95 -146.6 86.2 -7.4 64 1352 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1909 3476

1660 -0.95 -146.6 109.4 -7.7 79 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1909 3476

1969 -0.95 -146.6 133.8 -7.9 94 1970 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1910 3476

2278 -0.95 -146.6 158.4 -7.6 109 2279 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1909 3476

2587 -0.95 -146.6 180.8 -7.2 124 2591 0.00 2.50 0.00 0.000 4 0.000 0.048 2292 3300 3476

2635 -0.95 -146.6 184.3 -7.1 126 2640 0.00 2.50 0.00 0.000 6 0.000 0.043 2292 1900 3476

2956 -0.95 -146.6 204.9 -6.4 142 2958 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1900 3476

3267 -0.95 -146.6 226.1 -7.3 157 3271 0.00 2.53 0.00 0.000 4 0.000 0.046 2292 3306 3476

3355 -0.95 -146.6 233.2 -8.4 161 3359 0.00 2.53 0.00 0.000 6 0.000 0.043 2292 1893 3476

3681 -0.95 -146.6 259.5 -8.1 177 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1894 3476

3991 -0.95 -146.6 284.9 -8.1 192 3995 0.00 2.53 0.00 0.000 4 0.000 0.048 2292 3300 3476

4090 -0.95 -146.6 293.3 -8.8 196 4096 0.00 2.50 0.00 0.000 6 0.000 0.044 2292 1900 3475

4405 -0.95 -146.6 318.3 -8.1 212 4406 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1899 3476

4715 -0.95 -146.6 343.5 -8.1 227 4719 0.00 2.53 0.00 0.000 4 0.000 0.048 2292 3302 3475

4769 -0.95 -146.6 347.9 -8.1 229 4775 0.00 2.53 0.00 0.000 6 0.000 0.044 2292 1906 3476

5084 -0.95 -146.6 373.3 -8.0 245 5085 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1906 3476

5394 -0.95 -146.6 396.4 -7.4 260 5395 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1906 3475

5703 -0.95 -146.6 418.1 -6.5 275 5707 0.00 2.53 0.00 0.000 4 0.000 0.049 2292 3300 3475

5768 -0.95 -146.6 422.6 -6.6 278 5773 0.00 2.55 0.00 0.000 6 0.000 0.045 2291 1901 3475

6095 -0.95 -146.6 443.8 -6.4 294 6096 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1901 3475

6404 -0.95 -146.6 463.7 -6.5 309 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1901 3475

6713 -0.95 -146.6 483.3 -6.2 324 6717 0.00 2.53 0.00 0.000 4 0.000 0.051 2292 3304 3475

6775 -0.95 -146.6 487.3 -6.6 327 6779 0.00 2.53 0.00 0.000 6 0.000 0.046 2292 1900 3475

7100 -0.95 -146.6 507.4 -6.3 343 7101 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

7409 -0.95 -146.6 526.9 -6.3 358 7410 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3474

7719 -0.95 -146.6 547.1 -6.7 373 7720 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

8028 -0.95 -146.6 567.6 -6.5 388 8029 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

8337 -0.95 -146.6 587.7 -6.5 403 8341 0.00 2.53 0.00 0.000 4 0.000 0.052 2292 3299 3474

8398 -0.95 -146.6 591.9 -7.5 406 8403 0.00 2.53 0.00 0.000 6 0.000 0.047 2292 1897 3474

8724 -0.95 -146.6 616.7 -8.4 422 8725 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

9033 -0.95 -146.6 644.4 -9.2 437 9034 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

9343 -0.95 -146.6 670.9 -7.7 452 9344 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1897 3474

9652 -0.95 -146.6 693.9 -7.1 467 9656 0.00 2.55 0.00 0.000 4 0.000 0.056 2292 3297 3474

9767 -0.95 -146.6 703.5 -7.9 472 9772 0.00 2.55 0.00 0.000 6 0.000 0.050 2291 1903 3474

10089 -0.95 -146.6 726.3 -6.0 488 10090 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1903 3474

10398 -0.95 -146.6 745.2 -7.0 503 10399 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1903 3473

10707 -0.95 -146.6 767.4 -6.7 518 10712 0.00 2.58 0.00 0.000 4 0.000 0.059 2292 3299 3473

10751 -0.95 -146.6 770.3 -6.8 520 10755 0.00 2.55 0.00 0.000 6 0.000 0.052 2291 1904 3474

11078 -0.95 -146.6 787.7 -5.2 536 11079 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 1904 3474

11389 -0.95 -146.6 801.4 -4.1 551 11394 0.00 2.65 0.00 0.000 4 0.000 0.078 2292 494 3474

11451 -0.95 -146.6 804.9 -6.4 554 11455 0.00 2.53 0.00 0.000 6 0.000 0.054 2292 1900 3473

11776 -0.95 -146.6 821.1 -6.4 570 11780 0.00 2.60 0.00 0.000 4 0.000 0.068 2292 3301 3473

11830 -0.95 -146.6 825.1 -7.0 572 11837 0.00 2.58 0.00 0.000 6 0.000 0.061 2292 1898 3472

12103 end dive: BOTTOM_OBSTACLE_DETECTED

state 12103 begin apogee

12108 -0.36 0.0 840.9 5.9 586 12236 0.57 0.00 124.85 1.368 6 0.074 0.000 2416 2100 2878

12236 end apogee: CONTROL_FINISHED_OK

state 12237 begin climb

12238 0.95 146.6 844.5 0.0 592 12370 1.27 2.72 123.68 1.324 4 0.054 0.072 2700 3506 2280

12572 0.95 146.6 830.6 7.5 608 12577 0.00 2.62 0.00 0.000 6 0.000 0.061 2700 2104 2279

12900 0.99 178.5 813.0 5.0 624 12934 0.00 2.72 27.42 1.348 4 0.000 0.068 2700 3497 2150

13013 1.00 186.0 804.8 5.8 629 13030 0.00 2.62 7.55 1.303 6 0.000 0.059 2700 2090 2119

13339 1.04 218.0 785.6 5.0 645 13373 0.00 2.78 27.88 1.347 4 0.000 0.084 2700 696 1988

13458 1.04 218.0 778.4 6.4 650 13462 0.00 2.58 0.00 0.000 6 0.000 0.056 2700 2101 1988

13780 1.04 221.0 759.6 5.9 666 13785 0.00 0.00 3.62 1.239 6 0.000 0.000 2700 2101 1976

14089 1.04 221.0 739.8 6.3 681 14090 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2102 1975

14398 1.08 251.6 722.8 5.1 696 14426 0.12 0.00 25.92 1.331 6 0.049 0.000 2746 2103 1852

14727 1.08 251.6 698.2 8.3 712 14728 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2103 1852

15036 1.08 251.6 670.2 9.1 727 15040 0.00 2.58 0.00 0.000 4 0.000 0.057 2746 3504 1852

15101 1.08 251.6 664.1 9.5 730 15106 0.00 2.58 0.00 0.000 6 0.000 0.051 2746 2087 1852

15428 1.08 251.6 637.8 7.1 746 15430 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1852

15737 1.08 251.6 616.6 7.0 761 15738 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2087 1853

16047 1.08 251.6 594.3 7.6 776 16048 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1854

16356 1.08 251.6 568.7 8.4 791 16357 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1854

16665 1.08 251.6 541.6 8.7 806 16666 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1855

16974 1.08 251.6 514.3 8.6 821 16976 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1855

17284 1.08 251.6 487.6 8.4 836 17285 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1856

17593 1.08 251.6 461.6 8.2 851 17594 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1856

17902 1.08 251.6 437.0 7.9 866 17903 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1856

18212 1.08 251.6 413.2 7.5 881 18213 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1857

18521 1.08 251.6 390.5 7.2 896 18522 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2087 1857

18830 1.08 251.6 368.3 7.0 911 18831 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1857

19139 1.08 251.6 345.2 7.5 926 19140 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1858

19448 1.08 251.6 320.8 8.0 941 19450 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1858

19758 1.08 251.6 296.9 7.6 956 19759 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1858

20067 1.08 251.6 273.3 7.3 971 20068 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1858

20377 1.08 251.6 250.0 7.6 986 20378 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2087 1859

20686 1.08 251.6 227.3 7.4 1001 20687 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1859

20995 1.08 251.6 204.1 7.6 1016 20996 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1859

21304 1.08 251.6 179.4 8.3 1031 21305 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1859

21613 1.08 251.6 158.5 7.1 1046 21614 0.00 0.00 0.00 0.000 6 0.000 0.000 2745 2087 1859

21923 1.08 251.6 135.4 7.5 1061 21924 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1859

22232 1.08 251.6 111.0 7.8 1076 22233 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2087 1859

22541 1.08 251.6 88.9 6.7 1091 22542 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2086 1860

22851 1.08 251.6 67.5 6.9 1106 22852 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2086 1859

23160 1.08 251.6 44.6 7.7 1121 23161 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2086 1860

23469 1.08 251.6 20.2 8.3 1136 23470 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2086 1860

23778 1.33 455.9 3.8 -0.1 1151 23895 0.15 2.67 107.82 0.755 4 0.052 0.060 2794 685 1019

23912 1.61 688.9 3.9 -0.9 1157 23970 0.25 2.55 51.92 0.728 6 0.058 0.039 2848 2119 603

24062 end climb: NO_VERTICAL_VELOCITY

state 24062 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	159	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	30	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	-79145.828	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	130608,6224.065,-1144.117,35,1.4,35,-11.1	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	8	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.086,0.190
_SM_DEPTHo	4.37	KALMAN_X	190239.3,-703.1,-4863.7,-355824.9,14093.3
_SM_ANGLEo	-51.5	KALMAN_Y	111892.8,-5.2,2925.7,-20457.5,-12337.6
GPS2	131715,6224.089,-1144.107,14,1.5,14,-11.1	MHEAD_RNG_PITCHd_Wd	346.8,11497,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	24484,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	800.6,49.3
SM_GC	4.44,12.18,0.00,0.00,0.031,0.000,0.000,30,1884,603,-11.27,-0.45,558.06	_24V_AH	23.3,37.745
IRIDIUM_FIX	6158.08,-1150.45,151207,171728	_10V_AH	10.1,17.618
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56843,1165
HUMID	2036	CFSIZE	260165632,248770560
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	16.90	GPS	151207,200726,6226.047,-1146.327,40,1.5,40,-11.1
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	96	57.42	SBE_CT	869	24	486.20
Roll_motor	88	83	171.71	SBE_O2	786	19	348.27
VBD_pump_during_apogee	500	1367	15953.59	WL_BB2F	697	105	1706.98
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	76	103	184.78	nil	0	0	0.00
Iridium_during_connect	95	160	357.19	nil	0	0	0.00
Iridium_during_xfer	319	223	1658.18
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.18
TT8	2003	19	400.67
LPSleep	19473	2	430.73
TT8_Active	625	19	125.09
TT8_Sampling	2337	39	939.64
TT8_CF8	708	45	327.66
TT8_Kalman	33	81	27.56
Analog_circuits	1796	12	217.75
GPS_charging	0	0	0.00
Compass	2308	8	186.53
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.95	-146.6	0.0	0.0	0	25	0.00	0.00	-3.83	0.000	2	0.000	0.000	28	1876	699
28	-0.95	-146.6	4.5	-0.0	0	221	10.95	2.60	-168.48	0.000	4	0.097	0.074	2292	499	3476
411	-0.95	-146.6	18.8	-5.5	18	415	0.00	2.47	0.00	0.000	6	0.000	0.040	2292	1906	3476
733	-0.95	-146.6	42.7	-7.0	34	734	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1909	3476
1042	-0.95	-146.6	63.8	-6.9	49	1043	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1910	3476
1350	-0.95	-146.6	86.2	-7.4	64	1352	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1909	3476
1660	-0.95	-146.6	109.4	-7.7	79	1661	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1909	3476
1969	-0.95	-146.6	133.8	-7.9	94	1970	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1910	3476
2278	-0.95	-146.6	158.4	-7.6	109	2279	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1909	3476
2587	-0.95	-146.6	180.8	-7.2	124	2591	0.00	2.50	0.00	0.000	4	0.000	0.048	2292	3300	3476
2635	-0.95	-146.6	184.3	-7.1	126	2640	0.00	2.50	0.00	0.000	6	0.000	0.043	2292	1900	3476
2956	-0.95	-146.6	204.9	-6.4	142	2958	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1900	3476
3267	-0.95	-146.6	226.1	-7.3	157	3271	0.00	2.53	0.00	0.000	4	0.000	0.046	2292	3306	3476
3355	-0.95	-146.6	233.2	-8.4	161	3359	0.00	2.53	0.00	0.000	6	0.000	0.043	2292	1893	3476
3681	-0.95	-146.6	259.5	-8.1	177	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1894	3476
3991	-0.95	-146.6	284.9	-8.1	192	3995	0.00	2.53	0.00	0.000	4	0.000	0.048	2292	3300	3476
4090	-0.95	-146.6	293.3	-8.8	196	4096	0.00	2.50	0.00	0.000	6	0.000	0.044	2292	1900	3475
4405	-0.95	-146.6	318.3	-8.1	212	4406	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1899	3476
4715	-0.95	-146.6	343.5	-8.1	227	4719	0.00	2.53	0.00	0.000	4	0.000	0.048	2292	3302	3475
4769	-0.95	-146.6	347.9	-8.1	229	4775	0.00	2.53	0.00	0.000	6	0.000	0.044	2292	1906	3476
5084	-0.95	-146.6	373.3	-8.0	245	5085	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1906	3476
5394	-0.95	-146.6	396.4	-7.4	260	5395	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1906	3475
5703	-0.95	-146.6	418.1	-6.5	275	5707	0.00	2.53	0.00	0.000	4	0.000	0.049	2292	3300	3475
5768	-0.95	-146.6	422.6	-6.6	278	5773	0.00	2.55	0.00	0.000	6	0.000	0.045	2291	1901	3475
6095	-0.95	-146.6	443.8	-6.4	294	6096	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1901	3475
6404	-0.95	-146.6	463.7	-6.5	309	6405	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1901	3475
6713	-0.95	-146.6	483.3	-6.2	324	6717	0.00	2.53	0.00	0.000	4	0.000	0.051	2292	3304	3475
6775	-0.95	-146.6	487.3	-6.6	327	6779	0.00	2.53	0.00	0.000	6	0.000	0.046	2292	1900	3475
7100	-0.95	-146.6	507.4	-6.3	343	7101	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
7409	-0.95	-146.6	526.9	-6.3	358	7410	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3474
7719	-0.95	-146.6	547.1	-6.7	373	7720	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
8028	-0.95	-146.6	567.6	-6.5	388	8029	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
8337	-0.95	-146.6	587.7	-6.5	403	8341	0.00	2.53	0.00	0.000	4	0.000	0.052	2292	3299	3474
8398	-0.95	-146.6	591.9	-7.5	406	8403	0.00	2.53	0.00	0.000	6	0.000	0.047	2292	1897	3474
8724	-0.95	-146.6	616.7	-8.4	422	8725	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
9033	-0.95	-146.6	644.4	-9.2	437	9034	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
9343	-0.95	-146.6	670.9	-7.7	452	9344	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1897	3474
9652	-0.95	-146.6	693.9	-7.1	467	9656	0.00	2.55	0.00	0.000	4	0.000	0.056	2292	3297	3474
9767	-0.95	-146.6	703.5	-7.9	472	9772	0.00	2.55	0.00	0.000	6	0.000	0.050	2291	1903	3474
10089	-0.95	-146.6	726.3	-6.0	488	10090	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1903	3474
10398	-0.95	-146.6	745.2	-7.0	503	10399	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1903	3473
10707	-0.95	-146.6	767.4	-6.7	518	10712	0.00	2.58	0.00	0.000	4	0.000	0.059	2292	3299	3473
10751	-0.95	-146.6	770.3	-6.8	520	10755	0.00	2.55	0.00	0.000	6	0.000	0.052	2291	1904	3474
11078	-0.95	-146.6	787.7	-5.2	536	11079	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	1904	3474
11389	-0.95	-146.6	801.4	-4.1	551	11394	0.00	2.65	0.00	0.000	4	0.000	0.078	2292	494	3474
11451	-0.95	-146.6	804.9	-6.4	554	11455	0.00	2.53	0.00	0.000	6	0.000	0.054	2292	1900	3473
11776	-0.95	-146.6	821.1	-6.4	570	11780	0.00	2.60	0.00	0.000	4	0.000	0.068	2292	3301	3473
11830	-0.95	-146.6	825.1	-7.0	572	11837	0.00	2.58	0.00	0.000	6	0.000	0.061	2292	1898	3472
12103	end dive: BOTTOM_OBSTACLE_DETECTED
state	12103	begin apogee
12108	-0.36	0.0	840.9	5.9	586	12236	0.57	0.00	124.85	1.368	6	0.074	0.000	2416	2100	2878
12236	end apogee: CONTROL_FINISHED_OK
state	12237	begin climb
12238	0.95	146.6	844.5	0.0	592	12370	1.27	2.72	123.68	1.324	4	0.054	0.072	2700	3506	2280
12572	0.95	146.6	830.6	7.5	608	12577	0.00	2.62	0.00	0.000	6	0.000	0.061	2700	2104	2279
12900	0.99	178.5	813.0	5.0	624	12934	0.00	2.72	27.42	1.348	4	0.000	0.068	2700	3497	2150
13013	1.00	186.0	804.8	5.8	629	13030	0.00	2.62	7.55	1.303	6	0.000	0.059	2700	2090	2119
13339	1.04	218.0	785.6	5.0	645	13373	0.00	2.78	27.88	1.347	4	0.000	0.084	2700	696	1988
13458	1.04	218.0	778.4	6.4	650	13462	0.00	2.58	0.00	0.000	6	0.000	0.056	2700	2101	1988
13780	1.04	221.0	759.6	5.9	666	13785	0.00	0.00	3.62	1.239	6	0.000	0.000	2700	2101	1976
14089	1.04	221.0	739.8	6.3	681	14090	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2102	1975
14398	1.08	251.6	722.8	5.1	696	14426	0.12	0.00	25.92	1.331	6	0.049	0.000	2746	2103	1852
14727	1.08	251.6	698.2	8.3	712	14728	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2103	1852
15036	1.08	251.6	670.2	9.1	727	15040	0.00	2.58	0.00	0.000	4	0.000	0.057	2746	3504	1852
15101	1.08	251.6	664.1	9.5	730	15106	0.00	2.58	0.00	0.000	6	0.000	0.051	2746	2087	1852
15428	1.08	251.6	637.8	7.1	746	15430	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1852
15737	1.08	251.6	616.6	7.0	761	15738	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2087	1853
16047	1.08	251.6	594.3	7.6	776	16048	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1854
16356	1.08	251.6	568.7	8.4	791	16357	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1854
16665	1.08	251.6	541.6	8.7	806	16666	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1855
16974	1.08	251.6	514.3	8.6	821	16976	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1855
17284	1.08	251.6	487.6	8.4	836	17285	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1856
17593	1.08	251.6	461.6	8.2	851	17594	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1856
17902	1.08	251.6	437.0	7.9	866	17903	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1856
18212	1.08	251.6	413.2	7.5	881	18213	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1857
18521	1.08	251.6	390.5	7.2	896	18522	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2087	1857
18830	1.08	251.6	368.3	7.0	911	18831	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1857
19139	1.08	251.6	345.2	7.5	926	19140	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1858
19448	1.08	251.6	320.8	8.0	941	19450	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1858
19758	1.08	251.6	296.9	7.6	956	19759	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1858
20067	1.08	251.6	273.3	7.3	971	20068	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1858
20377	1.08	251.6	250.0	7.6	986	20378	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2087	1859
20686	1.08	251.6	227.3	7.4	1001	20687	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1859
20995	1.08	251.6	204.1	7.6	1016	20996	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1859
21304	1.08	251.6	179.4	8.3	1031	21305	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1859
21613	1.08	251.6	158.5	7.1	1046	21614	0.00	0.00	0.00	0.000	6	0.000	0.000	2745	2087	1859
21923	1.08	251.6	135.4	7.5	1061	21924	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1859
22232	1.08	251.6	111.0	7.8	1076	22233	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2087	1859
22541	1.08	251.6	88.9	6.7	1091	22542	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2086	1860
22851	1.08	251.6	67.5	6.9	1106	22852	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2086	1859
23160	1.08	251.6	44.6	7.7	1121	23161	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2086	1860
23469	1.08	251.6	20.2	8.3	1136	23470	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2086	1860
23778	1.33	455.9	3.8	-0.1	1151	23895	0.15	2.67	107.82	0.755	4	0.052	0.060	2794	685	1019
23912	1.61	688.9	3.9	-0.9	1157	23970	0.25	2.55	51.92	0.728	6	0.058	0.039	2848	2119	603
24062	end climb: NO_VERTICAL_VELOCITY
state	24062	begin surface