Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 165 * 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 165 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -79266.922 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 -79266.922

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 19 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 165 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 070855,6232.013,-1139.980,40,1.7,40,-11.1 TGT_NAME GW

_CALLS 1 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.143,0.152

_SM_DEPTHo 4.41 KALMAN_X 205948.8,738.8,-993.6,-373214.4,9773.4

_SM_ANGLEo -49.7 KALMAN_Y 95237.8,518.2,750.2,12474.4,-7127.7

GPS2 071523,6232.021,-1139.922,10,2.4,29,-11.1 MHEAD_RNG_PITCHd_Wd 327.7,37147,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23232,94.85,0.751,0,0,603,558.06 ALTIM_BOTTOM_PING 700.3,59.7

SM_GC 4.50,11.98,0.00,0.00,0.030,0.000,0.000,30,1883,604,-11.27,-0.48,557.81 _24V_AH 23.3,38.840

IRIDIUM_FIX 6202.67,-1235.26,171207,040419 _10V_AH 10.1,18.253

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56849,1125

HUMID 2039 CFSIZE 260165632,248332288

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.80 GPS 171207,135308,6234.076,-1138.411,31,1.1,31,-11.1

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 97 57.02 SBE_CT 844 24 472.06

Roll_motor 117 75 206.40 SBE_O2 760 19 336.48

VBD_pump_during_apogee 404 1325 12479.89 WL_BB2F 696 105 1703.13

VBD_pump_during_surface 94 750 1659.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.76 nil 0 0 0.00

Iridium_during_connect 40 160 149.75 nil 0 0 0.00

Iridium_during_xfer 182 223 949.37

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.99

TT8 1972 19 394.45

LPSleep 18672 2 413.01

TT8_Active 709 19 141.89

TT8_Sampling 2298 39 924.04

TT8_CF8 478 45 221.31

TT8_Kalman 33 81 27.57

Analog_circuits 1829 12 221.69

GPS_charging 0 0 0.00

Compass 2256 8 182.36

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.95 -146.6 0.0 0.0 0 30 0.00 0.00 -7.00 0.000 2 0.000 0.000 34 1893 778

33 -0.95 -146.6 4.6 -0.0 1 204 10.95 2.60 -151.38 0.000 4 0.097 0.071 2287 490 3475

411 -0.95 -146.6 20.9 -5.1 18 418 0.00 2.50 0.00 0.000 6 0.000 0.039 2287 1899 3475

726 -0.95 -146.6 46.6 -10.1 34 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

1035 -0.95 -146.6 67.2 -7.3 49 1037 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

1345 -0.95 -146.6 93.8 -7.6 64 1349 0.00 2.50 0.00 0.000 4 0.000 0.047 2287 3292 3475

1399 -0.95 -146.6 98.0 -8.2 66 1406 0.00 2.53 0.00 0.000 6 0.000 0.043 2287 1898 3475

1715 -0.95 -146.6 120.4 -6.5 82 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

2025 -0.95 -146.6 141.2 -6.8 97 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3475

2333 -0.95 -146.6 164.5 -7.4 112 2337 0.00 2.53 0.00 0.000 4 0.000 0.045 2287 3302 3475

2417 -0.95 -146.6 170.7 -8.0 116 2421 0.00 2.53 0.00 0.000 6 0.000 0.042 2288 1893 3475

2742 -0.95 -146.6 193.7 -7.0 132 2743 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1893 3475

3051 -0.95 -146.6 216.0 -7.2 147 3056 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3295 3475

3136 -0.95 -146.6 222.1 -7.5 151 3140 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1899 3475

3461 -0.95 -146.6 246.1 -7.1 167 3462 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

3771 -0.95 -146.6 269.1 -7.6 182 3775 0.00 2.53 0.00 0.000 4 0.000 0.047 2287 3300 3475

3847 -0.95 -146.6 275.6 -8.6 185 3854 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1905 3475

4163 -0.95 -146.6 299.6 -7.5 201 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

4473 -0.95 -146.6 321.8 -7.2 216 4474 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1905 3475

4782 -0.95 -146.6 342.3 -6.9 231 4786 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3294 3475

4858 -0.95 -146.6 348.4 -7.9 234 4865 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1902 3475

5174 -0.95 -146.6 370.5 -6.6 250 5175 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3474

5483 -0.95 -146.6 393.0 -7.5 265 5487 0.00 2.53 0.00 0.000 4 0.000 0.049 2287 3300 3474

5560 -0.95 -146.6 399.1 -7.6 268 5566 0.00 2.53 0.00 0.000 6 0.000 0.045 2287 1907 3474

5875 -0.95 -146.6 422.6 -7.3 284 5876 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3475

6184 -0.95 -146.6 445.1 -7.3 299 6185 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3474

6494 -0.95 -146.6 465.8 -6.4 314 6495 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3474

6803 -0.95 -146.6 487.0 -7.0 329 6807 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3297 3474

6879 -0.95 -146.6 492.5 -7.3 332 6886 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1902 3474

7195 -0.95 -146.6 514.3 -7.0 348 7196 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

7504 -0.95 -146.6 536.5 -7.0 363 7505 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

7813 -0.95 -146.6 557.1 -6.8 378 7818 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3293 3474

7881 -0.95 -146.6 561.4 -6.6 381 7885 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1898 3474

8200 -0.95 -146.6 582.0 -7.0 397 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

8510 -0.95 -146.6 604.8 -7.6 412 8511 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

8819 -0.95 -146.6 627.1 -7.2 427 8824 0.00 2.55 0.00 0.000 4 0.000 0.056 2287 3293 3474

8930 -0.95 -146.6 635.7 -8.5 432 8935 0.00 2.53 0.00 0.000 6 0.000 0.047 2287 1907 3474

9257 -0.95 -146.6 658.0 -6.7 448 9258 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3474

9566 -0.95 -146.6 678.0 -6.3 463 9567 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3474

9875 -0.95 -146.6 696.8 -6.1 478 9880 0.00 2.62 0.00 0.000 4 0.000 0.073 2287 496 3474

9907 -0.95 -146.6 698.8 -6.5 479 9914 0.00 2.50 0.00 0.000 6 0.000 0.049 2287 1889 3473

10223 -0.95 -146.6 715.7 -5.1 495 10228 0.00 2.60 0.00 0.000 4 0.000 0.063 2287 3300 3473

10290 -0.95 -146.6 719.8 -5.9 498 10294 0.00 2.55 0.00 0.000 6 0.000 0.056 2287 1897 3473

10616 -0.95 -146.6 738.9 -6.1 514 10617 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3472

10821 end dive: BOTTOM_OBSTACLE_DETECTED

state 10821 begin apogee

10826 -0.36 0.0 751.2 5.8 524 10952 0.60 0.00 123.68 1.325 6 0.074 0.000 2417 2102 2878

10953 end apogee: CONTROL_FINISHED_OK

state 10953 begin climb

10955 0.95 146.6 755.0 0.0 530 11084 1.30 0.00 123.35 1.286 6 0.056 0.000 2702 2102 2280

11393 0.99 180.2 737.4 5.0 552 11423 0.00 0.00 28.95 1.292 6 0.000 0.000 2702 2103 2143

11721 0.99 180.2 716.2 6.5 568 11726 0.00 2.60 0.00 0.000 4 0.000 0.067 2702 3497 2142

11799 0.99 180.2 711.0 6.3 571 11805 0.00 2.58 0.00 0.000 6 0.000 0.057 2702 2102 2142

12114 1.00 188.2 692.1 5.8 587 12124 0.00 0.00 7.78 1.294 6 0.000 0.000 2702 2102 2110

12423 1.00 188.2 672.5 6.4 602 12424 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2102 2109

12733 1.01 196.4 653.6 5.8 617 12747 0.00 2.72 7.43 1.297 4 0.000 0.075 2702 695 2077

12791 1.01 196.4 649.7 6.3 619 12798 0.00 2.55 0.00 0.000 6 0.000 0.049 2702 2107 2077

13107 1.01 196.4 629.6 6.3 635 13108 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 2076

13416 1.01 196.4 609.7 6.6 650 13417 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2109 2076

13725 1.02 204.1 590.5 5.8 665 13740 0.00 2.60 7.47 1.260 4 0.000 0.057 2702 3498 2045

13824 1.02 204.1 584.2 6.7 669 13828 0.00 2.53 0.00 0.000 6 0.000 0.047 2702 2095 2045

14145 1.02 204.1 564.9 6.3 685 14146 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 2045

14454 1.02 204.1 545.9 6.2 700 14455 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 2045

14763 1.02 204.1 527.4 6.0 715 14765 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 2046

15073 1.02 204.1 508.9 6.1 730 15074 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2095 2047

15382 1.03 211.9 490.3 5.8 745 15392 0.00 0.00 7.85 1.170 6 0.000 0.000 2702 2095 2014

15691 1.03 211.9 471.7 6.0 760 15695 0.00 2.62 0.00 0.000 4 0.000 0.069 2702 690 2014

15757 1.03 211.9 467.5 6.2 763 15761 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2113 2014

16083 1.03 211.9 447.4 6.1 779 16084 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2113 2014

16393 1.03 211.9 428.7 6.3 794 16394 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2114 2015

16702 1.03 211.9 409.4 6.3 809 16706 0.00 2.62 0.00 0.000 4 0.000 0.063 2702 690 2015

16772 1.03 211.9 404.7 6.4 812 16777 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2101 2015

17094 1.03 211.9 384.9 6.3 828 17095 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2102 2015

17403 1.03 211.9 364.4 6.7 843 17404 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 2016

17712 1.03 211.9 344.1 6.5 858 17716 0.00 2.60 0.00 0.000 4 0.000 0.063 2702 691 2016

17789 1.03 211.9 338.9 6.7 861 17795 0.00 2.50 0.00 0.000 6 0.000 0.040 2702 2106 2016

18104 1.03 211.9 319.3 6.3 877 18105 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2111 2016

18413 1.03 211.9 299.1 7.0 892 18418 0.00 2.60 0.00 0.000 4 0.000 0.061 2702 691 2016

18475 1.03 211.9 294.6 7.2 895 18479 0.00 2.47 0.00 0.000 6 0.000 0.041 2702 2100 2016

18800 1.03 211.9 272.3 6.6 911 18802 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2017

19110 1.03 211.9 252.6 6.4 926 19111 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2017

19419 1.03 211.9 232.4 6.6 941 19424 0.00 2.58 0.00 0.000 4 0.000 0.061 2702 690 2017

19485 1.03 211.9 227.7 7.6 944 19490 0.00 2.50 0.00 0.000 6 0.000 0.039 2702 2100 2017

19812 1.03 211.9 206.2 6.6 960 19813 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 2017

20121 1.03 211.9 187.3 6.4 975 20126 0.00 2.58 0.00 0.000 4 0.000 0.060 2702 690 2017

20176 1.03 211.9 183.4 6.8 977 20183 0.00 2.50 0.00 0.000 6 0.000 0.039 2702 2100 2017

20491 1.03 211.9 162.1 6.8 993 20492 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2017

20801 1.03 211.9 141.2 6.6 1008 20802 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2104 2017

21112 1.03 211.9 120.3 7.1 1023 21116 0.00 2.60 0.00 0.000 4 0.000 0.060 2702 688 2017

21183 1.03 211.9 114.9 6.9 1026 21187 0.00 2.50 0.00 0.000 6 0.000 0.039 2702 2098 2017

21505 1.04 223.8 95.4 5.6 1042 21518 0.00 0.00 11.40 0.923 6 0.000 0.000 2702 2103 1965

21815 1.04 223.8 76.4 7.2 1057 21819 0.00 2.60 0.00 0.000 4 0.000 0.059 2702 691 1964

21886 1.04 223.8 70.1 9.3 1060 21890 0.00 2.47 0.00 0.000 6 0.000 0.038 2702 2094 1964

22208 1.04 223.8 50.6 6.5 1076 22209 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2097 1964

22518 1.04 223.8 28.6 8.1 1091 22519 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2097 1964

22827 1.11 279.3 4.6 4.3 1106 22868 0.15 0.00 38.30 0.825 6 0.048 0.000 2758 2099 1739

23177 1.36 483.1 3.9 -0.1 1123 23228 0.15 0.00 47.92 0.821 2 0.058 0.000 2802 2100 1354

23229 end climb: NO_VERTICAL_VELOCITY

state 23229 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	165	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-79266.922	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	070855,6232.013,-1139.980,40,1.7,40,-11.1	TGT_NAME	GW
_CALLS	1	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.143,0.152
_SM_DEPTHo	4.41	KALMAN_X	205948.8,738.8,-993.6,-373214.4,9773.4
_SM_ANGLEo	-49.7	KALMAN_Y	95237.8,518.2,750.2,12474.4,-7127.7
GPS2	071523,6232.021,-1139.922,10,2.4,29,-11.1	MHEAD_RNG_PITCHd_Wd	327.7,37147,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23232,94.85,0.751,0,0,603,558.06	ALTIM_BOTTOM_PING	700.3,59.7
SM_GC	4.50,11.98,0.00,0.00,0.030,0.000,0.000,30,1883,604,-11.27,-0.48,557.81	_24V_AH	23.3,38.840
IRIDIUM_FIX	6202.67,-1235.26,171207,040419	_10V_AH	10.1,18.253
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56849,1125
HUMID	2039	CFSIZE	260165632,248332288
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.80	GPS	171207,135308,6234.076,-1138.411,31,1.1,31,-11.1
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	97	57.02	SBE_CT	844	24	472.06
Roll_motor	117	75	206.40	SBE_O2	760	19	336.48
VBD_pump_during_apogee	404	1325	12479.89	WL_BB2F	696	105	1703.13
VBD_pump_during_surface	94	750	1659.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.76	nil	0	0	0.00
Iridium_during_connect	40	160	149.75	nil	0	0	0.00
Iridium_during_xfer	182	223	949.37
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.99
TT8	1972	19	394.45
LPSleep	18672	2	413.01
TT8_Active	709	19	141.89
TT8_Sampling	2298	39	924.04
TT8_CF8	478	45	221.31
TT8_Kalman	33	81	27.57
Analog_circuits	1829	12	221.69
GPS_charging	0	0	0.00
Compass	2256	8	182.36
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.95	-146.6	0.0	0.0	0	30	0.00	0.00	-7.00	0.000	2	0.000	0.000	34	1893	778
33	-0.95	-146.6	4.6	-0.0	1	204	10.95	2.60	-151.38	0.000	4	0.097	0.071	2287	490	3475
411	-0.95	-146.6	20.9	-5.1	18	418	0.00	2.50	0.00	0.000	6	0.000	0.039	2287	1899	3475
726	-0.95	-146.6	46.6	-10.1	34	728	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
1035	-0.95	-146.6	67.2	-7.3	49	1037	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
1345	-0.95	-146.6	93.8	-7.6	64	1349	0.00	2.50	0.00	0.000	4	0.000	0.047	2287	3292	3475
1399	-0.95	-146.6	98.0	-8.2	66	1406	0.00	2.53	0.00	0.000	6	0.000	0.043	2287	1898	3475
1715	-0.95	-146.6	120.4	-6.5	82	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
2025	-0.95	-146.6	141.2	-6.8	97	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3475
2333	-0.95	-146.6	164.5	-7.4	112	2337	0.00	2.53	0.00	0.000	4	0.000	0.045	2287	3302	3475
2417	-0.95	-146.6	170.7	-8.0	116	2421	0.00	2.53	0.00	0.000	6	0.000	0.042	2288	1893	3475
2742	-0.95	-146.6	193.7	-7.0	132	2743	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1893	3475
3051	-0.95	-146.6	216.0	-7.2	147	3056	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3295	3475
3136	-0.95	-146.6	222.1	-7.5	151	3140	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1899	3475
3461	-0.95	-146.6	246.1	-7.1	167	3462	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
3771	-0.95	-146.6	269.1	-7.6	182	3775	0.00	2.53	0.00	0.000	4	0.000	0.047	2287	3300	3475
3847	-0.95	-146.6	275.6	-8.6	185	3854	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1905	3475
4163	-0.95	-146.6	299.6	-7.5	201	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
4473	-0.95	-146.6	321.8	-7.2	216	4474	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1905	3475
4782	-0.95	-146.6	342.3	-6.9	231	4786	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3294	3475
4858	-0.95	-146.6	348.4	-7.9	234	4865	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1902	3475
5174	-0.95	-146.6	370.5	-6.6	250	5175	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3474
5483	-0.95	-146.6	393.0	-7.5	265	5487	0.00	2.53	0.00	0.000	4	0.000	0.049	2287	3300	3474
5560	-0.95	-146.6	399.1	-7.6	268	5566	0.00	2.53	0.00	0.000	6	0.000	0.045	2287	1907	3474
5875	-0.95	-146.6	422.6	-7.3	284	5876	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3475
6184	-0.95	-146.6	445.1	-7.3	299	6185	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3474
6494	-0.95	-146.6	465.8	-6.4	314	6495	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3474
6803	-0.95	-146.6	487.0	-7.0	329	6807	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3297	3474
6879	-0.95	-146.6	492.5	-7.3	332	6886	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1902	3474
7195	-0.95	-146.6	514.3	-7.0	348	7196	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
7504	-0.95	-146.6	536.5	-7.0	363	7505	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
7813	-0.95	-146.6	557.1	-6.8	378	7818	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3293	3474
7881	-0.95	-146.6	561.4	-6.6	381	7885	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1898	3474
8200	-0.95	-146.6	582.0	-7.0	397	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
8510	-0.95	-146.6	604.8	-7.6	412	8511	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
8819	-0.95	-146.6	627.1	-7.2	427	8824	0.00	2.55	0.00	0.000	4	0.000	0.056	2287	3293	3474
8930	-0.95	-146.6	635.7	-8.5	432	8935	0.00	2.53	0.00	0.000	6	0.000	0.047	2287	1907	3474
9257	-0.95	-146.6	658.0	-6.7	448	9258	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3474
9566	-0.95	-146.6	678.0	-6.3	463	9567	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3474
9875	-0.95	-146.6	696.8	-6.1	478	9880	0.00	2.62	0.00	0.000	4	0.000	0.073	2287	496	3474
9907	-0.95	-146.6	698.8	-6.5	479	9914	0.00	2.50	0.00	0.000	6	0.000	0.049	2287	1889	3473
10223	-0.95	-146.6	715.7	-5.1	495	10228	0.00	2.60	0.00	0.000	4	0.000	0.063	2287	3300	3473
10290	-0.95	-146.6	719.8	-5.9	498	10294	0.00	2.55	0.00	0.000	6	0.000	0.056	2287	1897	3473
10616	-0.95	-146.6	738.9	-6.1	514	10617	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3472
10821	end dive: BOTTOM_OBSTACLE_DETECTED
state	10821	begin apogee
10826	-0.36	0.0	751.2	5.8	524	10952	0.60	0.00	123.68	1.325	6	0.074	0.000	2417	2102	2878
10953	end apogee: CONTROL_FINISHED_OK
state	10953	begin climb
10955	0.95	146.6	755.0	0.0	530	11084	1.30	0.00	123.35	1.286	6	0.056	0.000	2702	2102	2280
11393	0.99	180.2	737.4	5.0	552	11423	0.00	0.00	28.95	1.292	6	0.000	0.000	2702	2103	2143
11721	0.99	180.2	716.2	6.5	568	11726	0.00	2.60	0.00	0.000	4	0.000	0.067	2702	3497	2142
11799	0.99	180.2	711.0	6.3	571	11805	0.00	2.58	0.00	0.000	6	0.000	0.057	2702	2102	2142
12114	1.00	188.2	692.1	5.8	587	12124	0.00	0.00	7.78	1.294	6	0.000	0.000	2702	2102	2110
12423	1.00	188.2	672.5	6.4	602	12424	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2102	2109
12733	1.01	196.4	653.6	5.8	617	12747	0.00	2.72	7.43	1.297	4	0.000	0.075	2702	695	2077
12791	1.01	196.4	649.7	6.3	619	12798	0.00	2.55	0.00	0.000	6	0.000	0.049	2702	2107	2077
13107	1.01	196.4	629.6	6.3	635	13108	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	2076
13416	1.01	196.4	609.7	6.6	650	13417	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2109	2076
13725	1.02	204.1	590.5	5.8	665	13740	0.00	2.60	7.47	1.260	4	0.000	0.057	2702	3498	2045
13824	1.02	204.1	584.2	6.7	669	13828	0.00	2.53	0.00	0.000	6	0.000	0.047	2702	2095	2045
14145	1.02	204.1	564.9	6.3	685	14146	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	2045
14454	1.02	204.1	545.9	6.2	700	14455	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	2045
14763	1.02	204.1	527.4	6.0	715	14765	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	2046
15073	1.02	204.1	508.9	6.1	730	15074	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2095	2047
15382	1.03	211.9	490.3	5.8	745	15392	0.00	0.00	7.85	1.170	6	0.000	0.000	2702	2095	2014
15691	1.03	211.9	471.7	6.0	760	15695	0.00	2.62	0.00	0.000	4	0.000	0.069	2702	690	2014
15757	1.03	211.9	467.5	6.2	763	15761	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2113	2014
16083	1.03	211.9	447.4	6.1	779	16084	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2113	2014
16393	1.03	211.9	428.7	6.3	794	16394	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2114	2015
16702	1.03	211.9	409.4	6.3	809	16706	0.00	2.62	0.00	0.000	4	0.000	0.063	2702	690	2015
16772	1.03	211.9	404.7	6.4	812	16777	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2101	2015
17094	1.03	211.9	384.9	6.3	828	17095	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2102	2015
17403	1.03	211.9	364.4	6.7	843	17404	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	2016
17712	1.03	211.9	344.1	6.5	858	17716	0.00	2.60	0.00	0.000	4	0.000	0.063	2702	691	2016
17789	1.03	211.9	338.9	6.7	861	17795	0.00	2.50	0.00	0.000	6	0.000	0.040	2702	2106	2016
18104	1.03	211.9	319.3	6.3	877	18105	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2111	2016
18413	1.03	211.9	299.1	7.0	892	18418	0.00	2.60	0.00	0.000	4	0.000	0.061	2702	691	2016
18475	1.03	211.9	294.6	7.2	895	18479	0.00	2.47	0.00	0.000	6	0.000	0.041	2702	2100	2016
18800	1.03	211.9	272.3	6.6	911	18802	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2017
19110	1.03	211.9	252.6	6.4	926	19111	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2017
19419	1.03	211.9	232.4	6.6	941	19424	0.00	2.58	0.00	0.000	4	0.000	0.061	2702	690	2017
19485	1.03	211.9	227.7	7.6	944	19490	0.00	2.50	0.00	0.000	6	0.000	0.039	2702	2100	2017
19812	1.03	211.9	206.2	6.6	960	19813	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	2017
20121	1.03	211.9	187.3	6.4	975	20126	0.00	2.58	0.00	0.000	4	0.000	0.060	2702	690	2017
20176	1.03	211.9	183.4	6.8	977	20183	0.00	2.50	0.00	0.000	6	0.000	0.039	2702	2100	2017
20491	1.03	211.9	162.1	6.8	993	20492	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2017
20801	1.03	211.9	141.2	6.6	1008	20802	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2104	2017
21112	1.03	211.9	120.3	7.1	1023	21116	0.00	2.60	0.00	0.000	4	0.000	0.060	2702	688	2017
21183	1.03	211.9	114.9	6.9	1026	21187	0.00	2.50	0.00	0.000	6	0.000	0.039	2702	2098	2017
21505	1.04	223.8	95.4	5.6	1042	21518	0.00	0.00	11.40	0.923	6	0.000	0.000	2702	2103	1965
21815	1.04	223.8	76.4	7.2	1057	21819	0.00	2.60	0.00	0.000	4	0.000	0.059	2702	691	1964
21886	1.04	223.8	70.1	9.3	1060	21890	0.00	2.47	0.00	0.000	6	0.000	0.038	2702	2094	1964
22208	1.04	223.8	50.6	6.5	1076	22209	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2097	1964
22518	1.04	223.8	28.6	8.1	1091	22519	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2097	1964
22827	1.11	279.3	4.6	4.3	1106	22868	0.15	0.00	38.30	0.825	6	0.048	0.000	2758	2099	1739
23177	1.36	483.1	3.9	-0.1	1123	23228	0.15	0.00	47.92	0.821	2	0.058	0.000	2802	2100	1354
23229	end climb: NO_VERTICAL_VELOCITY
state	23229	begin surface