Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 164 * 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 164 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -79234.641 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 -79234.641

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 164 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 001056,6230.212,-1141.462,37,1.9,37,-11.1 TGT_NAME GW

_CALLS 4 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.156,0.138

_SM_DEPTHo 4.35 KALMAN_X 198838.1,-286.1,888.7,-367874.4,3131.4

_SM_ANGLEo -45.6 KALMAN_Y 94266.9,430.7,2265.7,8781.6,-15219.7

GPS2 002750,6230.250,-1140.997,13,1.3,13,-11.1 MHEAD_RNG_PITCHd_Wd 322.7,37763,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23938,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 700.3,76.8

SM_GC 4.54,12.07,0.00,0.00,0.031,0.000,0.000,35,1896,603,-11.26,-0.08,558.06 _24V_AH 23.3,38.670

IRIDIUM_FIX 6202.67,-1206.01,171207,040411 _10V_AH 10.1,18.151

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56862,1138

HUMID 2041 CFSIZE 260165632,248389632

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 171207,070855,6232.013,-1139.980,40,1.7,40,-11.1

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 92 54.04 SBE_CT 838 24 469.12

Roll_motor 133 76 238.13 SBE_O2 768 19 340.02

VBD_pump_during_apogee 545 1317 16751.31 WL_BB2F 677 105 1656.90

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 154 103 369.74 nil 0 0 0.00

Iridium_during_connect 137 160 511.63 nil 0 0 0.00

Iridium_during_xfer 415 223 2158.38

Transponder_ping 7 420 75.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.51

TT8 2015 19 402.98

LPSleep 18873 2 417.47

TT8_Active 703 19 140.61

TT8_Sampling 2423 39 974.33

TT8_CF8 934 45 432.34

TT8_Kalman 33 81 27.56

Analog_circuits 1913 12 231.95

GPS_charging 0 0 0.00

Compass 2381 8 192.45

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 -3.72 0.000 2 0.000 0.000 33 1887 698

28 -0.95 -146.6 4.5 -0.0 0 193 10.82 2.58 -146.57 0.000 4 0.092 0.074 2289 496 3476

434 -0.95 -146.6 28.7 -6.3 18 441 0.00 2.50 0.00 0.000 6 0.000 0.040 2289 1908 3476

751 -0.95 -146.6 51.9 -6.5 34 753 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1908 3477

1059 -0.95 -146.6 75.0 -6.2 49 1061 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1908 3476

1369 -0.95 -146.6 96.8 -6.9 64 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1908 3476

1678 -0.95 -146.6 120.6 -8.1 79 1679 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1908 3476

1987 -0.95 -146.6 140.1 -5.8 94 1989 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1908 3476

2296 -0.95 -146.6 162.9 -7.9 109 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1908 3476

2606 -0.95 -146.6 184.4 -7.0 124 2610 0.00 2.50 0.00 0.000 4 0.000 0.048 2290 3297 3476

2671 -0.95 -146.6 189.2 -6.8 127 2676 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1905 3477

2998 -0.95 -146.6 209.7 -6.0 143 2999 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1904 3477

3307 -0.95 -146.6 229.7 -6.6 158 3312 0.00 2.50 0.00 0.000 4 0.000 0.046 2290 3298 3476

3384 -0.95 -146.6 235.3 -7.1 161 3391 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1904 3476

3700 -0.95 -146.6 256.5 -6.7 177 3701 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1904 3476

4009 -0.95 -146.6 277.5 -6.9 192 4013 0.00 2.50 0.00 0.000 4 0.000 0.047 2289 3297 3476

4093 -0.95 -146.6 283.5 -7.4 196 4098 0.00 2.50 0.00 0.000 6 0.000 0.043 2290 1898 3476

4419 -0.95 -146.6 306.3 -6.8 212 4420 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

4729 -0.95 -146.6 326.1 -6.2 227 4733 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3297 3477

4839 -0.95 -146.6 333.2 -6.1 232 4844 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1905 3476

5167 -0.95 -146.6 352.8 -6.0 248 5168 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1905 3476

5476 -0.95 -146.6 370.9 -5.8 263 5480 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3303 3476

5530 -0.95 -146.6 374.4 -6.4 265 5537 0.00 2.55 0.00 0.000 6 0.000 0.045 2289 1898 3476

5846 -0.95 -146.6 393.2 -5.4 281 5847 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6155 -0.95 -146.6 412.8 -6.4 296 6156 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6464 -0.95 -146.6 433.3 -6.6 311 6469 0.00 2.53 0.00 0.000 4 0.000 0.051 2290 3300 3476

6553 -0.95 -146.6 439.7 -7.7 315 6557 0.00 2.55 0.00 0.000 6 0.000 0.046 2290 1901 3476

6880 -0.95 -146.6 461.0 -6.4 331 6881 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3475

7189 -0.95 -146.6 481.1 -6.7 346 7191 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

7498 -0.95 -146.6 503.6 -7.5 361 7503 0.00 2.50 0.00 0.000 4 0.000 0.050 2289 3295 3475

7564 -0.95 -146.6 508.9 -7.8 364 7569 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1902 3475

7891 -0.95 -146.6 532.8 -7.5 380 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3475

8200 -0.95 -146.6 553.7 -6.3 395 8204 0.00 2.53 0.00 0.000 4 0.000 0.052 2289 3300 3475

8284 -0.95 -146.6 558.9 -6.3 399 8288 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1899 3475

8610 -0.95 -146.6 577.9 -5.8 415 8611 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

8919 -0.95 -146.6 595.4 -5.5 430 8923 0.00 2.53 0.00 0.000 4 0.000 0.054 2289 3294 3475

8967 -0.95 -146.6 598.6 -6.4 432 8972 0.00 2.50 0.00 0.000 6 0.000 0.046 2289 1899 3475

9288 -0.95 -146.6 621.9 -8.4 448 9290 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3475

9598 -0.95 -146.6 645.8 -6.9 463 9602 0.00 2.55 0.00 0.000 4 0.000 0.056 2289 3300 3474

9652 -0.95 -146.6 649.6 -6.8 465 9659 0.00 2.55 0.00 0.000 6 0.000 0.050 2290 1903 3475

9968 -0.95 -146.6 666.2 -4.7 481 9969 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3474

10277 -0.95 -146.6 683.1 -6.0 496 10278 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3474

10588 -0.95 -146.6 703.1 -6.6 511 10592 0.00 2.58 0.00 0.000 4 0.000 0.058 2289 3300 3474

10698 -0.95 -146.6 710.8 -6.7 516 10703 0.00 2.58 0.00 0.000 6 0.000 0.052 2289 1889 3474

11025 -0.95 -146.6 730.9 -5.9 532 11030 0.00 2.62 0.00 0.000 4 0.000 0.077 2289 489 3474

11064 -0.95 -146.6 733.1 -6.3 534 11069 0.00 2.50 0.00 0.000 6 0.000 0.053 2289 1891 3474

11390 -0.95 -146.6 750.9 -5.9 550 11391 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1893 3473

11656 end dive: BOTTOM_OBSTACLE_DETECTED

state 11656 begin apogee

11661 -0.36 0.0 767.9 6.1 563 11788 0.60 0.00 123.55 1.318 6 0.073 0.000 2419 2105 2878

11788 end apogee: CONTROL_FINISHED_OK

state 11788 begin climb

11790 0.95 146.6 771.7 0.0 569 11921 1.30 2.70 123.03 1.273 4 0.054 0.070 2706 3504 2280

12050 0.96 154.4 760.7 5.8 581 12064 0.00 2.60 7.50 1.230 6 0.000 0.058 2706 2104 2248

12385 0.96 156.1 741.1 5.9 598 12387 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2104 2247

12695 0.97 167.0 722.7 5.7 613 12708 0.00 0.00 11.23 1.303 6 0.000 0.000 2706 2104 2197

13004 0.98 176.0 704.8 5.7 628 13014 0.00 0.00 8.65 1.302 6 0.000 0.000 2706 2104 2160

13313 0.98 176.0 685.4 6.5 643 13314 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2104 2159

13622 0.98 176.0 663.5 7.5 658 13627 0.00 2.58 0.00 0.000 4 0.000 0.060 2706 3501 2158

13773 0.98 176.0 652.3 6.7 665 13778 0.00 2.55 0.00 0.000 6 0.000 0.051 2706 2095 2158

14099 1.00 190.6 633.6 5.6 681 14118 0.00 0.00 12.85 1.286 6 0.000 0.000 2706 2095 2101

14426 1.00 190.6 610.5 6.9 697 14428 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2095 2101

14736 1.01 200.1 591.6 5.7 712 14747 0.00 0.00 9.30 1.242 6 0.000 0.000 2706 2095 2062

15046 1.06 238.4 576.4 4.9 727 15087 0.00 2.72 32.28 1.208 4 0.000 0.071 2706 698 1906

15133 1.06 239.0 571.4 6.0 731 15137 0.00 2.50 0.00 0.000 6 0.000 0.044 2706 2106 1906

15458 1.06 240.8 550.8 5.9 747 15464 0.00 0.00 3.53 1.111 6 0.000 0.000 2706 2107 1895

15767 1.06 240.8 531.1 7.0 762 15771 0.00 2.65 0.00 0.000 4 0.000 0.067 2706 691 1895

15816 1.06 240.8 527.6 7.1 764 15820 0.00 2.50 0.00 0.000 6 0.000 0.043 2706 2106 1896

16137 1.06 240.8 503.1 7.1 780 16138 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2107 1896

16446 1.06 240.8 480.9 7.5 795 16447 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2108 1896

16755 1.06 240.8 459.2 6.9 810 16759 0.00 2.65 0.00 0.000 4 0.000 0.064 2706 685 1898

16811 1.06 240.8 455.3 7.0 812 16817 0.00 2.50 0.00 0.000 6 0.000 0.042 2706 2101 1897

17125 1.07 244.4 435.2 5.9 828 17132 0.00 0.00 4.47 1.088 6 0.000 0.000 2706 2102 1881

17434 1.07 244.4 416.5 6.2 843 17435 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2102 1881

17744 1.07 244.4 394.9 7.2 858 17745 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2103 1881

18053 1.07 244.4 372.6 6.9 873 18057 0.00 2.62 0.00 0.000 4 0.000 0.063 2706 689 1882

18114 1.07 244.4 367.9 8.1 876 18118 0.00 2.50 0.00 0.000 6 0.000 0.041 2706 2106 1881

18439 1.07 244.4 348.3 6.0 892 18440 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2110 1882

18748 1.07 244.4 327.8 8.4 907 18753 0.00 2.60 0.00 0.000 4 0.000 0.061 2706 691 1882

18809 1.07 244.4 321.9 10.1 910 18814 0.00 2.47 0.00 0.000 6 0.000 0.040 2706 2103 1883

19135 1.07 244.4 299.4 6.2 926 19136 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2106 1883

19444 1.07 244.4 278.5 7.1 941 19449 0.00 2.60 0.00 0.000 4 0.000 0.062 2706 690 1883

19510 1.07 244.4 273.6 8.5 944 19515 0.00 2.50 0.00 0.000 6 0.000 0.040 2706 2094 1883

19837 1.07 244.4 250.1 7.3 960 19838 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2098 1883

20146 1.07 244.4 228.3 7.0 975 20150 0.00 2.58 0.00 0.000 4 0.000 0.061 2706 691 1884

20207 1.07 244.4 224.0 7.0 978 20211 0.00 2.47 0.00 0.000 6 0.000 0.040 2706 2100 1884

20532 1.07 244.4 203.9 6.0 994 20533 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2104 1884

20841 1.07 244.4 182.8 7.8 1009 20845 0.00 2.60 0.00 0.000 4 0.000 0.061 2706 685 1884

20902 1.07 244.4 177.6 8.5 1012 20906 0.00 2.47 0.00 0.000 6 0.000 0.040 2706 2103 1884

21227 1.07 244.4 151.0 8.3 1028 21228 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2105 1884

21537 1.07 244.4 126.1 8.7 1043 21538 0.00 0.00 0.00 0.000 6 0.000 0.000 2707 2105 1884

21847 1.07 244.4 104.0 6.7 1058 21852 0.00 2.60 0.00 0.000 4 0.000 0.061 2706 691 1884

21919 1.07 244.4 98.3 7.6 1061 21923 0.00 2.45 0.00 0.000 6 0.000 0.039 2706 2101 1884

22240 1.07 244.4 75.2 6.8 1077 22241 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2104 1884

22550 1.20 349.5 57.1 2.9 1092 22635 0.17 0.00 81.75 0.830 6 0.041 0.000 2769 2104 1452

22942 1.20 349.5 18.5 8.8 1111 22946 0.00 2.62 0.00 0.000 4 0.000 0.060 2769 688 1452

23030 1.25 389.1 12.2 4.8 1115 23068 0.00 2.50 30.80 0.800 6 0.000 0.039 2769 2106 1291

23378 1.49 589.7 3.9 0.0 1132 23482 0.22 2.58 96.68 0.765 4 0.048 0.043 2824 3496 603

23513 end climb: NO_VERTICAL_VELOCITY

state 23513 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	164	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-79234.641	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	001056,6230.212,-1141.462,37,1.9,37,-11.1	TGT_NAME	GW
_CALLS	4	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.156,0.138
_SM_DEPTHo	4.35	KALMAN_X	198838.1,-286.1,888.7,-367874.4,3131.4
_SM_ANGLEo	-45.6	KALMAN_Y	94266.9,430.7,2265.7,8781.6,-15219.7
GPS2	002750,6230.250,-1140.997,13,1.3,13,-11.1	MHEAD_RNG_PITCHd_Wd	322.7,37763,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23938,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	700.3,76.8
SM_GC	4.54,12.07,0.00,0.00,0.031,0.000,0.000,35,1896,603,-11.26,-0.08,558.06	_24V_AH	23.3,38.670
IRIDIUM_FIX	6202.67,-1206.01,171207,040411	_10V_AH	10.1,18.151
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56862,1138
HUMID	2041	CFSIZE	260165632,248389632
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	171207,070855,6232.013,-1139.980,40,1.7,40,-11.1
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	92	54.04	SBE_CT	838	24	469.12
Roll_motor	133	76	238.13	SBE_O2	768	19	340.02
VBD_pump_during_apogee	545	1317	16751.31	WL_BB2F	677	105	1656.90
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	154	103	369.74	nil	0	0	0.00
Iridium_during_connect	137	160	511.63	nil	0	0	0.00
Iridium_during_xfer	415	223	2158.38
Transponder_ping	7	420	75.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.51
TT8	2015	19	402.98
LPSleep	18873	2	417.47
TT8_Active	703	19	140.61
TT8_Sampling	2423	39	974.33
TT8_CF8	934	45	432.34
TT8_Kalman	33	81	27.56
Analog_circuits	1913	12	231.95
GPS_charging	0	0	0.00
Compass	2381	8	192.45
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	-3.72	0.000	2	0.000	0.000	33	1887	698
28	-0.95	-146.6	4.5	-0.0	0	193	10.82	2.58	-146.57	0.000	4	0.092	0.074	2289	496	3476
434	-0.95	-146.6	28.7	-6.3	18	441	0.00	2.50	0.00	0.000	6	0.000	0.040	2289	1908	3476
751	-0.95	-146.6	51.9	-6.5	34	753	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1908	3477
1059	-0.95	-146.6	75.0	-6.2	49	1061	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1908	3476
1369	-0.95	-146.6	96.8	-6.9	64	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1908	3476
1678	-0.95	-146.6	120.6	-8.1	79	1679	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1908	3476
1987	-0.95	-146.6	140.1	-5.8	94	1989	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1908	3476
2296	-0.95	-146.6	162.9	-7.9	109	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1908	3476
2606	-0.95	-146.6	184.4	-7.0	124	2610	0.00	2.50	0.00	0.000	4	0.000	0.048	2290	3297	3476
2671	-0.95	-146.6	189.2	-6.8	127	2676	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1905	3477
2998	-0.95	-146.6	209.7	-6.0	143	2999	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1904	3477
3307	-0.95	-146.6	229.7	-6.6	158	3312	0.00	2.50	0.00	0.000	4	0.000	0.046	2290	3298	3476
3384	-0.95	-146.6	235.3	-7.1	161	3391	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1904	3476
3700	-0.95	-146.6	256.5	-6.7	177	3701	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1904	3476
4009	-0.95	-146.6	277.5	-6.9	192	4013	0.00	2.50	0.00	0.000	4	0.000	0.047	2289	3297	3476
4093	-0.95	-146.6	283.5	-7.4	196	4098	0.00	2.50	0.00	0.000	6	0.000	0.043	2290	1898	3476
4419	-0.95	-146.6	306.3	-6.8	212	4420	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
4729	-0.95	-146.6	326.1	-6.2	227	4733	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3297	3477
4839	-0.95	-146.6	333.2	-6.1	232	4844	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1905	3476
5167	-0.95	-146.6	352.8	-6.0	248	5168	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1905	3476
5476	-0.95	-146.6	370.9	-5.8	263	5480	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3303	3476
5530	-0.95	-146.6	374.4	-6.4	265	5537	0.00	2.55	0.00	0.000	6	0.000	0.045	2289	1898	3476
5846	-0.95	-146.6	393.2	-5.4	281	5847	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6155	-0.95	-146.6	412.8	-6.4	296	6156	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6464	-0.95	-146.6	433.3	-6.6	311	6469	0.00	2.53	0.00	0.000	4	0.000	0.051	2290	3300	3476
6553	-0.95	-146.6	439.7	-7.7	315	6557	0.00	2.55	0.00	0.000	6	0.000	0.046	2290	1901	3476
6880	-0.95	-146.6	461.0	-6.4	331	6881	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3475
7189	-0.95	-146.6	481.1	-6.7	346	7191	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
7498	-0.95	-146.6	503.6	-7.5	361	7503	0.00	2.50	0.00	0.000	4	0.000	0.050	2289	3295	3475
7564	-0.95	-146.6	508.9	-7.8	364	7569	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1902	3475
7891	-0.95	-146.6	532.8	-7.5	380	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3475
8200	-0.95	-146.6	553.7	-6.3	395	8204	0.00	2.53	0.00	0.000	4	0.000	0.052	2289	3300	3475
8284	-0.95	-146.6	558.9	-6.3	399	8288	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1899	3475
8610	-0.95	-146.6	577.9	-5.8	415	8611	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
8919	-0.95	-146.6	595.4	-5.5	430	8923	0.00	2.53	0.00	0.000	4	0.000	0.054	2289	3294	3475
8967	-0.95	-146.6	598.6	-6.4	432	8972	0.00	2.50	0.00	0.000	6	0.000	0.046	2289	1899	3475
9288	-0.95	-146.6	621.9	-8.4	448	9290	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3475
9598	-0.95	-146.6	645.8	-6.9	463	9602	0.00	2.55	0.00	0.000	4	0.000	0.056	2289	3300	3474
9652	-0.95	-146.6	649.6	-6.8	465	9659	0.00	2.55	0.00	0.000	6	0.000	0.050	2290	1903	3475
9968	-0.95	-146.6	666.2	-4.7	481	9969	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3474
10277	-0.95	-146.6	683.1	-6.0	496	10278	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3474
10588	-0.95	-146.6	703.1	-6.6	511	10592	0.00	2.58	0.00	0.000	4	0.000	0.058	2289	3300	3474
10698	-0.95	-146.6	710.8	-6.7	516	10703	0.00	2.58	0.00	0.000	6	0.000	0.052	2289	1889	3474
11025	-0.95	-146.6	730.9	-5.9	532	11030	0.00	2.62	0.00	0.000	4	0.000	0.077	2289	489	3474
11064	-0.95	-146.6	733.1	-6.3	534	11069	0.00	2.50	0.00	0.000	6	0.000	0.053	2289	1891	3474
11390	-0.95	-146.6	750.9	-5.9	550	11391	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1893	3473
11656	end dive: BOTTOM_OBSTACLE_DETECTED
state	11656	begin apogee
11661	-0.36	0.0	767.9	6.1	563	11788	0.60	0.00	123.55	1.318	6	0.073	0.000	2419	2105	2878
11788	end apogee: CONTROL_FINISHED_OK
state	11788	begin climb
11790	0.95	146.6	771.7	0.0	569	11921	1.30	2.70	123.03	1.273	4	0.054	0.070	2706	3504	2280
12050	0.96	154.4	760.7	5.8	581	12064	0.00	2.60	7.50	1.230	6	0.000	0.058	2706	2104	2248
12385	0.96	156.1	741.1	5.9	598	12387	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2104	2247
12695	0.97	167.0	722.7	5.7	613	12708	0.00	0.00	11.23	1.303	6	0.000	0.000	2706	2104	2197
13004	0.98	176.0	704.8	5.7	628	13014	0.00	0.00	8.65	1.302	6	0.000	0.000	2706	2104	2160
13313	0.98	176.0	685.4	6.5	643	13314	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2104	2159
13622	0.98	176.0	663.5	7.5	658	13627	0.00	2.58	0.00	0.000	4	0.000	0.060	2706	3501	2158
13773	0.98	176.0	652.3	6.7	665	13778	0.00	2.55	0.00	0.000	6	0.000	0.051	2706	2095	2158
14099	1.00	190.6	633.6	5.6	681	14118	0.00	0.00	12.85	1.286	6	0.000	0.000	2706	2095	2101
14426	1.00	190.6	610.5	6.9	697	14428	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2095	2101
14736	1.01	200.1	591.6	5.7	712	14747	0.00	0.00	9.30	1.242	6	0.000	0.000	2706	2095	2062
15046	1.06	238.4	576.4	4.9	727	15087	0.00	2.72	32.28	1.208	4	0.000	0.071	2706	698	1906
15133	1.06	239.0	571.4	6.0	731	15137	0.00	2.50	0.00	0.000	6	0.000	0.044	2706	2106	1906
15458	1.06	240.8	550.8	5.9	747	15464	0.00	0.00	3.53	1.111	6	0.000	0.000	2706	2107	1895
15767	1.06	240.8	531.1	7.0	762	15771	0.00	2.65	0.00	0.000	4	0.000	0.067	2706	691	1895
15816	1.06	240.8	527.6	7.1	764	15820	0.00	2.50	0.00	0.000	6	0.000	0.043	2706	2106	1896
16137	1.06	240.8	503.1	7.1	780	16138	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2107	1896
16446	1.06	240.8	480.9	7.5	795	16447	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2108	1896
16755	1.06	240.8	459.2	6.9	810	16759	0.00	2.65	0.00	0.000	4	0.000	0.064	2706	685	1898
16811	1.06	240.8	455.3	7.0	812	16817	0.00	2.50	0.00	0.000	6	0.000	0.042	2706	2101	1897
17125	1.07	244.4	435.2	5.9	828	17132	0.00	0.00	4.47	1.088	6	0.000	0.000	2706	2102	1881
17434	1.07	244.4	416.5	6.2	843	17435	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2102	1881
17744	1.07	244.4	394.9	7.2	858	17745	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2103	1881
18053	1.07	244.4	372.6	6.9	873	18057	0.00	2.62	0.00	0.000	4	0.000	0.063	2706	689	1882
18114	1.07	244.4	367.9	8.1	876	18118	0.00	2.50	0.00	0.000	6	0.000	0.041	2706	2106	1881
18439	1.07	244.4	348.3	6.0	892	18440	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2110	1882
18748	1.07	244.4	327.8	8.4	907	18753	0.00	2.60	0.00	0.000	4	0.000	0.061	2706	691	1882
18809	1.07	244.4	321.9	10.1	910	18814	0.00	2.47	0.00	0.000	6	0.000	0.040	2706	2103	1883
19135	1.07	244.4	299.4	6.2	926	19136	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2106	1883
19444	1.07	244.4	278.5	7.1	941	19449	0.00	2.60	0.00	0.000	4	0.000	0.062	2706	690	1883
19510	1.07	244.4	273.6	8.5	944	19515	0.00	2.50	0.00	0.000	6	0.000	0.040	2706	2094	1883
19837	1.07	244.4	250.1	7.3	960	19838	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2098	1883
20146	1.07	244.4	228.3	7.0	975	20150	0.00	2.58	0.00	0.000	4	0.000	0.061	2706	691	1884
20207	1.07	244.4	224.0	7.0	978	20211	0.00	2.47	0.00	0.000	6	0.000	0.040	2706	2100	1884
20532	1.07	244.4	203.9	6.0	994	20533	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2104	1884
20841	1.07	244.4	182.8	7.8	1009	20845	0.00	2.60	0.00	0.000	4	0.000	0.061	2706	685	1884
20902	1.07	244.4	177.6	8.5	1012	20906	0.00	2.47	0.00	0.000	6	0.000	0.040	2706	2103	1884
21227	1.07	244.4	151.0	8.3	1028	21228	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2105	1884
21537	1.07	244.4	126.1	8.7	1043	21538	0.00	0.00	0.00	0.000	6	0.000	0.000	2707	2105	1884
21847	1.07	244.4	104.0	6.7	1058	21852	0.00	2.60	0.00	0.000	4	0.000	0.061	2706	691	1884
21919	1.07	244.4	98.3	7.6	1061	21923	0.00	2.45	0.00	0.000	6	0.000	0.039	2706	2101	1884
22240	1.07	244.4	75.2	6.8	1077	22241	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2104	1884
22550	1.20	349.5	57.1	2.9	1092	22635	0.17	0.00	81.75	0.830	6	0.041	0.000	2769	2104	1452
22942	1.20	349.5	18.5	8.8	1111	22946	0.00	2.62	0.00	0.000	4	0.000	0.060	2769	688	1452
23030	1.25	389.1	12.2	4.8	1115	23068	0.00	2.50	30.80	0.800	6	0.000	0.039	2769	2106	1291
23378	1.49	589.7	3.9	0.0	1132	23482	0.22	2.58	96.68	0.765	4	0.048	0.043	2824	3496	603
23513	end climb: NO_VERTICAL_VELOCITY
state	23513	begin surface