Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 176 * 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 176 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2878 DEVICE6 -1

T_NO_W 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 -79458.078 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 -79458.078

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 26 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.364641 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1788509 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011747589 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00021488362 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043130573 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062837353 VBD_MIN 603

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3180288e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 176 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 054607,6231.830,-1142.792,31,1.6,31,-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 -0.036,0.206

_SM_DEPTHo 4.29 KALMAN_X 239029.7,-915.9,-820.3,-407237.3,11123.5

_SM_ANGLEo -47.8 KALMAN_Y 78926.4,503.7,1997.8,27289.6,-11352.1

GPS2 055215,6231.844,-1142.679,15,1.5,16,-11.1 MHEAD_RNG_PITCHd_Wd 1.3,35148,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23680,0.00,0.000,0,0,604,557.81 ALTIM_BOTTOM_PING 700.6,57.8

SM_GC 4.43,12.07,0.00,0.00,0.026,0.000,0.000,30,1898,604,-11.26,-0.06,557.81 _24V_AH 23.3,40.789

IRIDIUM_FIX 6230.49,-440.69,201207,030332 _10V_AH 10.1,19.344

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56819,1124

HUMID 2040 CFSIZE 260165632,247590912

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 16.70 GPS 201207,122902,6233.708,-1141.991,39,1.4,39,-11.1

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 95 56.12 SBE_CT 830 24 464.33

Roll_motor 118 75 206.66 SBE_O2 758 19 336.00

VBD_pump_during_apogee 504 1332 15652.20 WL_BB2F 697 105 1707.05

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 36 103 88.64 nil 0 0 0.00

Iridium_during_connect 44 160 164.59 nil 0 0 0.00

Iridium_during_xfer 176 223 918.21

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.04

TT8 1962 19 392.38

LPSleep 18610 2 411.65

TT8_Active 651 19 130.32

TT8_Sampling 2358 39 947.98

TT8_CF8 465 45 215.48

TT8_Kalman 33 81 27.56

Analog_circuits 1830 12 221.91

GPS_charging 0 0 0.00

Compass 2316 8 187.15

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

21 -0.95 -146.6 0.0 0.0 0 25 0.00 0.00 -2.55 0.000 2 0.000 0.000 26 1881 668

28 -0.95 -146.6 4.3 -0.0 0 199 10.93 2.60 -152.50 0.000 4 0.095 0.075 2290 494 3475

441 -0.95 -146.6 30.6 -14.1 19 448 0.00 2.50 0.00 0.000 6 0.000 0.041 2290 1895 3475

758 -0.95 -146.6 54.1 -7.2 35 759 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3475

1066 -0.95 -146.6 77.0 -7.4 50 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3475

1375 -0.95 -146.6 100.8 -7.9 65 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1896 3475

1685 -0.95 -146.6 125.7 -8.3 80 1689 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3297 3475

1746 -0.95 -146.6 130.9 -8.5 83 1751 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1897 3475

2071 -0.95 -146.6 158.5 -8.2 99 2072 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1897 3475

2380 -0.95 -146.6 181.2 -7.2 114 2385 0.00 2.53 0.00 0.000 4 0.000 0.047 2290 3300 3475

2435 -0.95 -146.6 185.3 -8.0 116 2442 0.00 2.53 0.00 0.000 6 0.000 0.043 2290 1891 3475

2751 -0.95 -146.6 208.6 -7.3 132 2752 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1890 3475

3060 -0.95 -146.6 231.9 -7.4 147 3064 0.00 2.55 0.00 0.000 4 0.000 0.048 2290 3304 3475

3137 -0.95 -146.6 237.7 -7.5 150 3143 0.00 2.55 0.00 0.000 6 0.000 0.044 2289 1899 3475

3452 -0.95 -146.6 262.9 -7.9 166 3453 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3475

3762 -0.95 -146.6 287.6 -8.0 181 3766 0.00 2.53 0.00 0.000 4 0.000 0.048 2290 3299 3475

3816 -0.95 -146.6 292.1 -8.3 183 3823 0.00 2.50 0.00 0.000 6 0.000 0.044 2290 1901 3475

4131 -0.95 -146.6 315.6 -7.4 199 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

4441 -0.95 -146.6 338.7 -7.6 214 4445 0.00 2.53 0.00 0.000 4 0.000 0.048 2290 3299 3475

4495 -0.95 -146.6 342.9 -7.7 216 4501 0.00 2.50 0.00 0.000 6 0.000 0.045 2290 1901 3475

4810 -0.95 -146.6 365.8 -7.3 232 4811 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

5119 -0.95 -146.6 386.3 -6.2 247 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1901 3475

5429 -0.95 -146.6 403.6 -5.2 262 5434 0.00 2.53 0.00 0.000 4 0.000 0.049 2290 3298 3475

5484 -0.95 -146.6 406.9 -6.3 264 5491 0.00 2.55 0.00 0.000 6 0.000 0.046 2289 1885 3475

5802 -0.95 -146.6 425.6 -6.2 280 5803 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1885 3475

6109 -0.95 -146.6 447.3 -7.1 295 6113 0.00 2.58 0.00 0.000 4 0.000 0.051 2290 3300 3475

6152 -0.95 -146.6 450.5 -7.9 297 6156 0.00 2.55 0.00 0.000 6 0.000 0.048 2290 1891 3475

6480 -0.95 -146.6 475.2 -7.4 313 6481 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1887 3474

6788 -0.95 -146.6 497.0 -7.0 328 6792 0.00 2.58 0.00 0.000 4 0.000 0.052 2290 3302 3473

6859 -0.95 -146.6 502.4 -8.0 331 6863 0.00 2.55 0.00 0.000 6 0.000 0.048 2290 1893 3474

7180 -0.95 -146.6 523.1 -6.5 347 7184 0.00 2.55 0.00 0.000 4 0.000 0.053 2289 3297 3474

7229 -0.95 -146.6 526.4 -6.5 349 7233 0.00 2.55 0.00 0.000 6 0.000 0.048 2289 1904 3474

7550 -0.95 -146.6 546.2 -6.1 365 7551 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1904 3474

7859 -0.95 -146.6 564.2 -5.4 380 7861 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1905 3474

8168 -0.95 -146.6 582.6 -6.4 395 8172 0.00 2.55 0.00 0.000 4 0.000 0.056 2289 3299 3474

8261 -0.95 -146.6 588.6 -6.3 399 8266 0.00 2.55 0.00 0.000 6 0.000 0.049 2290 1905 3474

8583 -0.95 -146.6 609.6 -6.9 415 8584 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3473

8892 -0.95 -146.6 628.9 -5.7 430 8893 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1905 3474

9201 -0.95 -146.6 646.3 -5.9 445 9203 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3474

9511 -0.95 -146.6 664.7 -6.2 460 9512 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1905 3474

9820 -0.95 -146.6 683.8 -6.2 475 9821 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1904 3473

10129 -0.95 -146.6 704.8 -6.8 490 10133 0.00 2.60 0.00 0.000 4 0.000 0.064 2290 3300 3473

10172 -0.95 -146.6 707.9 -7.2 492 10176 0.00 2.55 0.00 0.000 6 0.000 0.058 2290 1903 3472

10499 -0.95 -146.6 727.7 -5.5 508 10500 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1903 3471

10808 -0.95 -146.6 746.9 -5.7 523 10812 0.00 2.60 0.00 0.000 4 0.000 0.068 2289 3293 3469

10833 end dive: BOTTOM_OBSTACLE_DETECTED

state 10833 begin apogee

10840 -0.36 0.0 748.6 6.3 524 10972 0.57 0.00 124.10 1.321 6 0.076 0.000 2415 2101 2878

10972 end apogee: CONTROL_FINISHED_OK

state 10972 begin climb

10974 0.95 146.6 752.7 0.0 531 11106 1.30 2.72 123.12 1.282 4 0.051 0.071 2706 3483 2280

11224 0.95 146.6 744.5 6.4 543 11229 0.00 2.60 0.00 0.000 6 0.000 0.061 2705 2095 2279

11549 0.95 146.6 726.3 6.7 559 11550 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2095 2278

11859 0.97 161.8 708.6 5.5 574 11880 0.00 2.72 13.25 1.315 4 0.000 0.068 2705 3494 2218

11953 0.97 161.8 702.7 6.2 578 11957 0.00 2.58 0.00 0.000 6 0.000 0.058 2705 2100 2218

12279 0.97 161.8 681.0 6.7 594 12280 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2099 2216

12589 0.98 171.6 662.5 5.7 609 12600 0.00 0.00 9.10 1.332 6 0.000 0.000 2705 2100 2178

12898 0.98 171.6 643.4 6.4 624 12899 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2099 2178

13207 1.00 190.9 625.0 5.4 639 13228 0.00 0.00 17.27 1.304 6 0.000 0.000 2706 2100 2099

13537 1.00 193.3 606.9 5.9 655 13542 0.00 0.00 3.25 1.195 6 0.000 0.000 2705 2099 2090

13846 1.00 193.3 586.3 7.1 670 13850 0.00 2.67 0.00 0.000 4 0.000 0.075 2706 685 2090

13900 1.00 193.3 581.9 8.2 672 13906 0.00 2.53 0.00 0.000 6 0.000 0.049 2705 2095 2090

14215 1.00 193.3 559.8 6.9 688 14217 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2095 2090

14524 1.00 193.3 537.5 7.3 703 14526 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2096 2089

14834 1.00 193.3 516.6 6.4 718 14835 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2098 2090

15143 1.00 193.3 497.5 6.0 733 15144 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2098 2089

15452 1.03 216.7 479.9 5.3 748 15475 0.00 0.00 20.55 1.164 6 0.000 0.000 2705 2099 1994

15781 1.03 216.7 459.9 6.3 764 15783 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2099 1995

16091 1.05 226.5 441.7 5.7 779 16106 0.00 2.67 9.35 1.132 4 0.000 0.065 2705 687 1954

16161 1.05 226.5 437.1 6.3 781 16166 0.00 2.53 0.00 0.000 6 0.000 0.043 2705 2105 1954

16482 1.05 226.5 418.5 6.1 797 16483 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2109 1954

16791 1.05 226.5 399.0 6.1 812 16796 0.00 2.65 0.00 0.000 4 0.000 0.064 2705 689 1955

16853 1.05 228.7 395.0 5.9 815 16862 0.00 2.50 3.47 1.042 6 0.000 0.043 2705 2100 1945

17184 1.05 228.7 374.6 6.0 831 17185 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2104 1945

17493 1.05 228.7 356.2 6.1 846 17497 0.00 2.62 0.00 0.000 4 0.000 0.064 2706 689 1945

17547 1.05 228.7 352.4 6.5 848 17554 0.00 2.53 0.00 0.000 6 0.000 0.042 2705 2103 1945

17863 1.05 228.7 332.1 6.5 864 17864 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2106 1945

18172 1.05 228.9 312.8 6.0 879 18176 0.00 2.62 0.00 0.000 4 0.000 0.064 2706 689 1945

18243 1.05 228.9 308.1 6.9 882 18247 0.00 2.50 0.00 0.000 6 0.000 0.042 2706 2099 1945

18564 1.06 237.0 289.0 5.8 898 18574 0.00 0.00 8.10 1.029 6 0.000 0.000 2706 2104 1911

18873 1.08 251.2 271.6 5.6 913 18888 0.10 0.00 12.02 1.012 6 0.052 0.000 2749 2104 1854

19182 1.08 251.2 248.9 7.7 928 19186 0.00 2.62 0.00 0.000 4 0.000 0.064 2749 687 1854

19231 1.08 251.2 244.7 8.1 930 19235 0.00 2.53 0.00 0.000 6 0.000 0.041 2749 2107 1854

19552 1.08 251.2 218.9 8.0 946 19553 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2111 1854

19861 1.08 251.2 194.1 7.7 961 19862 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2111 1855

20170 1.08 251.2 171.5 6.7 976 20172 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2111 1854

20480 1.08 251.2 151.2 6.7 991 20481 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2111 1855

20789 1.08 251.2 130.9 7.0 1006 20793 0.00 2.65 0.00 0.000 4 0.000 0.063 2749 684 1855

20860 1.08 251.2 125.2 8.5 1009 20864 0.00 2.47 0.00 0.000 6 0.000 0.040 2749 2103 1855

21181 1.08 251.2 98.5 8.7 1025 21182 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2105 1855

21491 1.08 251.2 73.7 7.4 1040 21492 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2105 1855

21800 1.08 251.2 52.5 6.1 1055 21801 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2106 1856

22109 1.08 251.2 26.8 9.8 1070 22110 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2106 1856

22418 1.08 251.2 3.6 6.0 1085 22420 0.00 0.00 0.00 0.000 6 0.000 0.000 2750 2107 1856

22728 1.33 457.7 3.7 -0.2 1100 22845 0.15 2.60 109.25 0.767 4 0.060 0.048 2795 3496 1011

23100 1.58 662.6 3.6 -0.1 1117 23158 0.20 2.53 51.38 0.756 6 0.054 0.045 2846 2087 603

23259 end climb: NO_VERTICAL_VELOCITY

state 23259 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	176	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2878	DEVICE6	-1
T_NO_W	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	-79458.078	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	054607,6231.830,-1142.792,31,1.6,31,-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	-0.036,0.206
_SM_DEPTHo	4.29	KALMAN_X	239029.7,-915.9,-820.3,-407237.3,11123.5
_SM_ANGLEo	-47.8	KALMAN_Y	78926.4,503.7,1997.8,27289.6,-11352.1
GPS2	055215,6231.844,-1142.679,15,1.5,16,-11.1	MHEAD_RNG_PITCHd_Wd	1.3,35148,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23680,0.00,0.000,0,0,604,557.81	ALTIM_BOTTOM_PING	700.6,57.8
SM_GC	4.43,12.07,0.00,0.00,0.026,0.000,0.000,30,1898,604,-11.26,-0.06,557.81	_24V_AH	23.3,40.789
IRIDIUM_FIX	6230.49,-440.69,201207,030332	_10V_AH	10.1,19.344
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56819,1124
HUMID	2040	CFSIZE	260165632,247590912
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	16.70	GPS	201207,122902,6233.708,-1141.991,39,1.4,39,-11.1
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	95	56.12	SBE_CT	830	24	464.33
Roll_motor	118	75	206.66	SBE_O2	758	19	336.00
VBD_pump_during_apogee	504	1332	15652.20	WL_BB2F	697	105	1707.05
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	36	103	88.64	nil	0	0	0.00
Iridium_during_connect	44	160	164.59	nil	0	0	0.00
Iridium_during_xfer	176	223	918.21
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.04
TT8	1962	19	392.38
LPSleep	18610	2	411.65
TT8_Active	651	19	130.32
TT8_Sampling	2358	39	947.98
TT8_CF8	465	45	215.48
TT8_Kalman	33	81	27.56
Analog_circuits	1830	12	221.91
GPS_charging	0	0	0.00
Compass	2316	8	187.15
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
21	-0.95	-146.6	0.0	0.0	0	25	0.00	0.00	-2.55	0.000	2	0.000	0.000	26	1881	668
28	-0.95	-146.6	4.3	-0.0	0	199	10.93	2.60	-152.50	0.000	4	0.095	0.075	2290	494	3475
441	-0.95	-146.6	30.6	-14.1	19	448	0.00	2.50	0.00	0.000	6	0.000	0.041	2290	1895	3475
758	-0.95	-146.6	54.1	-7.2	35	759	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3475
1066	-0.95	-146.6	77.0	-7.4	50	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3475
1375	-0.95	-146.6	100.8	-7.9	65	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1896	3475
1685	-0.95	-146.6	125.7	-8.3	80	1689	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3297	3475
1746	-0.95	-146.6	130.9	-8.5	83	1751	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1897	3475
2071	-0.95	-146.6	158.5	-8.2	99	2072	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1897	3475
2380	-0.95	-146.6	181.2	-7.2	114	2385	0.00	2.53	0.00	0.000	4	0.000	0.047	2290	3300	3475
2435	-0.95	-146.6	185.3	-8.0	116	2442	0.00	2.53	0.00	0.000	6	0.000	0.043	2290	1891	3475
2751	-0.95	-146.6	208.6	-7.3	132	2752	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1890	3475
3060	-0.95	-146.6	231.9	-7.4	147	3064	0.00	2.55	0.00	0.000	4	0.000	0.048	2290	3304	3475
3137	-0.95	-146.6	237.7	-7.5	150	3143	0.00	2.55	0.00	0.000	6	0.000	0.044	2289	1899	3475
3452	-0.95	-146.6	262.9	-7.9	166	3453	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3475
3762	-0.95	-146.6	287.6	-8.0	181	3766	0.00	2.53	0.00	0.000	4	0.000	0.048	2290	3299	3475
3816	-0.95	-146.6	292.1	-8.3	183	3823	0.00	2.50	0.00	0.000	6	0.000	0.044	2290	1901	3475
4131	-0.95	-146.6	315.6	-7.4	199	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
4441	-0.95	-146.6	338.7	-7.6	214	4445	0.00	2.53	0.00	0.000	4	0.000	0.048	2290	3299	3475
4495	-0.95	-146.6	342.9	-7.7	216	4501	0.00	2.50	0.00	0.000	6	0.000	0.045	2290	1901	3475
4810	-0.95	-146.6	365.8	-7.3	232	4811	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
5119	-0.95	-146.6	386.3	-6.2	247	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1901	3475
5429	-0.95	-146.6	403.6	-5.2	262	5434	0.00	2.53	0.00	0.000	4	0.000	0.049	2290	3298	3475
5484	-0.95	-146.6	406.9	-6.3	264	5491	0.00	2.55	0.00	0.000	6	0.000	0.046	2289	1885	3475
5802	-0.95	-146.6	425.6	-6.2	280	5803	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1885	3475
6109	-0.95	-146.6	447.3	-7.1	295	6113	0.00	2.58	0.00	0.000	4	0.000	0.051	2290	3300	3475
6152	-0.95	-146.6	450.5	-7.9	297	6156	0.00	2.55	0.00	0.000	6	0.000	0.048	2290	1891	3475
6480	-0.95	-146.6	475.2	-7.4	313	6481	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1887	3474
6788	-0.95	-146.6	497.0	-7.0	328	6792	0.00	2.58	0.00	0.000	4	0.000	0.052	2290	3302	3473
6859	-0.95	-146.6	502.4	-8.0	331	6863	0.00	2.55	0.00	0.000	6	0.000	0.048	2290	1893	3474
7180	-0.95	-146.6	523.1	-6.5	347	7184	0.00	2.55	0.00	0.000	4	0.000	0.053	2289	3297	3474
7229	-0.95	-146.6	526.4	-6.5	349	7233	0.00	2.55	0.00	0.000	6	0.000	0.048	2289	1904	3474
7550	-0.95	-146.6	546.2	-6.1	365	7551	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1904	3474
7859	-0.95	-146.6	564.2	-5.4	380	7861	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1905	3474
8168	-0.95	-146.6	582.6	-6.4	395	8172	0.00	2.55	0.00	0.000	4	0.000	0.056	2289	3299	3474
8261	-0.95	-146.6	588.6	-6.3	399	8266	0.00	2.55	0.00	0.000	6	0.000	0.049	2290	1905	3474
8583	-0.95	-146.6	609.6	-6.9	415	8584	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3473
8892	-0.95	-146.6	628.9	-5.7	430	8893	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1905	3474
9201	-0.95	-146.6	646.3	-5.9	445	9203	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3474
9511	-0.95	-146.6	664.7	-6.2	460	9512	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1905	3474
9820	-0.95	-146.6	683.8	-6.2	475	9821	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1904	3473
10129	-0.95	-146.6	704.8	-6.8	490	10133	0.00	2.60	0.00	0.000	4	0.000	0.064	2290	3300	3473
10172	-0.95	-146.6	707.9	-7.2	492	10176	0.00	2.55	0.00	0.000	6	0.000	0.058	2290	1903	3472
10499	-0.95	-146.6	727.7	-5.5	508	10500	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1903	3471
10808	-0.95	-146.6	746.9	-5.7	523	10812	0.00	2.60	0.00	0.000	4	0.000	0.068	2289	3293	3469
10833	end dive: BOTTOM_OBSTACLE_DETECTED
state	10833	begin apogee
10840	-0.36	0.0	748.6	6.3	524	10972	0.57	0.00	124.10	1.321	6	0.076	0.000	2415	2101	2878
10972	end apogee: CONTROL_FINISHED_OK
state	10972	begin climb
10974	0.95	146.6	752.7	0.0	531	11106	1.30	2.72	123.12	1.282	4	0.051	0.071	2706	3483	2280
11224	0.95	146.6	744.5	6.4	543	11229	0.00	2.60	0.00	0.000	6	0.000	0.061	2705	2095	2279
11549	0.95	146.6	726.3	6.7	559	11550	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2095	2278
11859	0.97	161.8	708.6	5.5	574	11880	0.00	2.72	13.25	1.315	4	0.000	0.068	2705	3494	2218
11953	0.97	161.8	702.7	6.2	578	11957	0.00	2.58	0.00	0.000	6	0.000	0.058	2705	2100	2218
12279	0.97	161.8	681.0	6.7	594	12280	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2099	2216
12589	0.98	171.6	662.5	5.7	609	12600	0.00	0.00	9.10	1.332	6	0.000	0.000	2705	2100	2178
12898	0.98	171.6	643.4	6.4	624	12899	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2099	2178
13207	1.00	190.9	625.0	5.4	639	13228	0.00	0.00	17.27	1.304	6	0.000	0.000	2706	2100	2099
13537	1.00	193.3	606.9	5.9	655	13542	0.00	0.00	3.25	1.195	6	0.000	0.000	2705	2099	2090
13846	1.00	193.3	586.3	7.1	670	13850	0.00	2.67	0.00	0.000	4	0.000	0.075	2706	685	2090
13900	1.00	193.3	581.9	8.2	672	13906	0.00	2.53	0.00	0.000	6	0.000	0.049	2705	2095	2090
14215	1.00	193.3	559.8	6.9	688	14217	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2095	2090
14524	1.00	193.3	537.5	7.3	703	14526	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2096	2089
14834	1.00	193.3	516.6	6.4	718	14835	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2098	2090
15143	1.00	193.3	497.5	6.0	733	15144	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2098	2089
15452	1.03	216.7	479.9	5.3	748	15475	0.00	0.00	20.55	1.164	6	0.000	0.000	2705	2099	1994
15781	1.03	216.7	459.9	6.3	764	15783	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2099	1995
16091	1.05	226.5	441.7	5.7	779	16106	0.00	2.67	9.35	1.132	4	0.000	0.065	2705	687	1954
16161	1.05	226.5	437.1	6.3	781	16166	0.00	2.53	0.00	0.000	6	0.000	0.043	2705	2105	1954
16482	1.05	226.5	418.5	6.1	797	16483	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2109	1954
16791	1.05	226.5	399.0	6.1	812	16796	0.00	2.65	0.00	0.000	4	0.000	0.064	2705	689	1955
16853	1.05	228.7	395.0	5.9	815	16862	0.00	2.50	3.47	1.042	6	0.000	0.043	2705	2100	1945
17184	1.05	228.7	374.6	6.0	831	17185	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2104	1945
17493	1.05	228.7	356.2	6.1	846	17497	0.00	2.62	0.00	0.000	4	0.000	0.064	2706	689	1945
17547	1.05	228.7	352.4	6.5	848	17554	0.00	2.53	0.00	0.000	6	0.000	0.042	2705	2103	1945
17863	1.05	228.7	332.1	6.5	864	17864	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2106	1945
18172	1.05	228.9	312.8	6.0	879	18176	0.00	2.62	0.00	0.000	4	0.000	0.064	2706	689	1945
18243	1.05	228.9	308.1	6.9	882	18247	0.00	2.50	0.00	0.000	6	0.000	0.042	2706	2099	1945
18564	1.06	237.0	289.0	5.8	898	18574	0.00	0.00	8.10	1.029	6	0.000	0.000	2706	2104	1911
18873	1.08	251.2	271.6	5.6	913	18888	0.10	0.00	12.02	1.012	6	0.052	0.000	2749	2104	1854
19182	1.08	251.2	248.9	7.7	928	19186	0.00	2.62	0.00	0.000	4	0.000	0.064	2749	687	1854
19231	1.08	251.2	244.7	8.1	930	19235	0.00	2.53	0.00	0.000	6	0.000	0.041	2749	2107	1854
19552	1.08	251.2	218.9	8.0	946	19553	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2111	1854
19861	1.08	251.2	194.1	7.7	961	19862	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2111	1855
20170	1.08	251.2	171.5	6.7	976	20172	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2111	1854
20480	1.08	251.2	151.2	6.7	991	20481	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2111	1855
20789	1.08	251.2	130.9	7.0	1006	20793	0.00	2.65	0.00	0.000	4	0.000	0.063	2749	684	1855
20860	1.08	251.2	125.2	8.5	1009	20864	0.00	2.47	0.00	0.000	6	0.000	0.040	2749	2103	1855
21181	1.08	251.2	98.5	8.7	1025	21182	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2105	1855
21491	1.08	251.2	73.7	7.4	1040	21492	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2105	1855
21800	1.08	251.2	52.5	6.1	1055	21801	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2106	1856
22109	1.08	251.2	26.8	9.8	1070	22110	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2106	1856
22418	1.08	251.2	3.6	6.0	1085	22420	0.00	0.00	0.00	0.000	6	0.000	0.000	2750	2107	1856
22728	1.33	457.7	3.7	-0.2	1100	22845	0.15	2.60	109.25	0.767	4	0.060	0.048	2795	3496	1011
23100	1.58	662.6	3.6	-0.1	1117	23158	0.20	2.53	51.38	0.756	6	0.054	0.045	2846	2087	603
23259	end climb: NO_VERTICAL_VELOCITY
state	23259	begin surface