Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 180 * 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 180 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -79536.758 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 -79536.758

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 33 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 180 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 073038,6242.615,-1203.161,37,1.0,37,-11.4 TGT_NAME GW

_CALLS 2 TGT_LATLONG 6240.000,-1220.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.209,0.001

_SM_DEPTHo 4.05 KALMAN_X 232090.0,-236.5,-1475.2,-418410.6,9681.7

_SM_ANGLEo -49.8 KALMAN_Y 78829.1,272.3,1508.6,48240.1,-5151.8

GPS2 074015,6242.722,-1203.228,13,1.8,14,-11.4 MHEAD_RNG_PITCHd_Wd 281.7,15127,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22367,0.00,0.000,0,0,605,557.57 ALTIM_BOTTOM_PING 675.4,60.0

SM_GC 4.29,12.15,0.00,0.00,0.031,0.000,0.000,28,1893,605,-11.27,-0.20,557.57 _24V_AH 23.3,41.491

IRIDIUM_FIX 6216.53,-1207.32,211207,111135 _10V_AH 10.1,19.736

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53629,1060

HUMID 2041 CFSIZE 260165632,247320576

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

TCM_TEMP 16.60 GPS 211207,135508,6241.656,-1216.057,37,1.3,37,-11.5

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 92 54.42 SBE_CT 780 24 436.61

Roll_motor 107 76 192.20 SBE_O2 715 19 316.81

VBD_pump_during_apogee 499 1306 15205.62 WL_BB2F 653 105 1598.07

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 75 103 180.66 nil 0 0 0.00

Iridium_during_connect 73 160 273.63 nil 0 0 0.00

Iridium_during_xfer 254 223 1321.15

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.14

TT8 1865 19 372.98

LPSleep 17550 2 388.19

TT8_Active 662 19 132.44

TT8_Sampling 2251 39 905.21

TT8_CF8 614 45 284.14

TT8_Kalman 33 81 27.56

Analog_circuits 1779 12 215.63

GPS_charging 0 0 0.00

Compass 2211 8 178.67

RAFOS 0 0 0.00

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 26 0.00 0.00 -4.03 0.000 2 0.000 0.000 27 1864 703

29 -0.95 -146.6 4.1 -0.0 0 213 10.85 2.55 -165.65 0.000 4 0.092 0.077 2290 509 3477

280 -0.95 -146.6 11.0 -5.3 12 287 0.00 2.45 0.00 0.000 6 0.000 0.041 2290 1891 3477

596 -0.95 -146.6 33.4 -6.8 28 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1891 3476

905 -0.95 -146.6 54.9 -7.2 43 906 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1891 3477

1215 -0.95 -146.6 75.1 -6.2 58 1216 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1891 3477

1524 -0.95 -146.6 97.3 -8.5 73 1528 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3297 3476

1595 -0.95 -146.6 103.8 -8.8 76 1599 0.00 2.53 0.00 0.000 6 0.000 0.043 2289 1890 3477

1916 -0.95 -146.6 128.3 -7.6 92 1917 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1890 3477

2226 -0.95 -146.6 151.1 -7.5 107 2230 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3295 3477

2311 -0.95 -146.6 157.3 -7.8 111 2315 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1900 3477

2637 -0.95 -146.6 179.7 -6.5 127 2638 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3477

2946 -0.95 -146.6 200.7 -6.9 142 2948 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3477

3255 -0.95 -146.6 221.9 -6.2 157 3259 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3297 3476

3354 -0.95 -146.6 228.3 -6.7 161 3361 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1902 3477

3669 -0.95 -146.6 249.5 -7.2 177 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3477

3979 -0.95 -146.6 271.3 -6.9 192 3980 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3476

4288 -0.95 -146.6 290.5 -6.4 207 4292 0.00 2.53 0.00 0.000 4 0.000 0.049 2289 3299 3477

4343 -0.95 -146.6 294.4 -7.2 209 4349 0.00 2.53 0.00 0.000 6 0.000 0.044 2290 1892 3476

4658 -0.95 -146.6 315.6 -6.8 225 4659 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1892 3476

4968 -0.95 -146.6 335.7 -6.1 240 4972 0.00 2.53 0.00 0.000 4 0.000 0.050 2289 3294 3476

5051 -0.95 -146.6 341.0 -6.1 244 5056 0.00 2.50 0.00 0.000 6 0.000 0.045 2289 1900 3476

5377 -0.95 -146.6 361.7 -6.8 260 5379 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3476

5686 -0.95 -146.6 383.7 -7.2 275 5691 0.00 2.53 0.00 0.000 4 0.000 0.050 2290 3297 3476

5758 -0.95 -146.6 389.1 -7.4 278 5762 0.00 2.53 0.00 0.000 6 0.000 0.046 2289 1898 3476

6079 -0.95 -146.6 410.3 -6.4 294 6080 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6388 -0.95 -146.6 430.2 -7.2 309 6389 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1898 3476

6699 -0.95 -146.6 450.8 -6.0 324 6703 0.00 2.53 0.00 0.000 4 0.000 0.052 2289 3299 3476

6782 -0.95 -146.6 456.1 -6.1 328 6787 0.00 2.53 0.00 0.000 6 0.000 0.047 2289 1902 3476

7109 -0.95 -146.6 475.7 -5.2 344 7110 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1902 3476

7418 -0.95 -146.6 493.5 -6.0 359 7422 0.00 2.53 0.00 0.000 4 0.000 0.051 2290 3293 3475

7479 -0.95 -146.6 497.5 -7.2 362 7483 0.00 2.50 0.00 0.000 6 0.000 0.046 2289 1899 3475

7804 -0.95 -146.6 519.4 -7.2 378 7805 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

8113 -0.95 -146.6 538.8 -5.4 393 8115 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3475

8423 -0.95 -146.6 555.9 -6.4 408 8427 0.00 2.55 0.00 0.000 4 0.000 0.054 2289 3295 3475

8533 -0.95 -146.6 563.0 -7.0 413 8537 0.00 2.53 0.00 0.000 6 0.000 0.048 2289 1895 3475

8860 -0.95 -146.6 583.9 -6.9 429 8861 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3475

9169 -0.95 -146.6 603.6 -5.4 444 9174 0.00 2.58 0.00 0.000 4 0.000 0.058 2289 3293 3475

9298 -0.95 -146.6 610.9 -5.1 450 9303 0.00 2.53 0.00 0.000 6 0.000 0.051 2289 1902 3475

9625 -0.95 -146.6 628.9 -6.3 466 9626 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

9934 -0.95 -146.6 647.9 -5.7 481 9935 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1902 3474

10243 -0.95 -146.6 667.0 -6.7 496 10248 0.00 2.55 0.00 0.000 4 0.000 0.061 2289 3291 3473

10389 -0.95 -146.6 677.3 -6.8 502 10395 0.00 2.55 0.00 0.000 6 0.000 0.055 2289 1894 3473

10704 -0.95 -146.6 696.0 -4.7 518 10705 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3473

11013 -0.95 -146.6 714.8 -6.5 533 11014 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1894 3472

11196 end dive: BOTTOM_OBSTACLE_DETECTED

state 11197 begin apogee

11202 -0.36 0.0 726.5 7.1 542 11328 0.60 0.00 123.47 1.307 6 0.071 0.000 2420 2086 2877

11329 end apogee: CONTROL_FINISHED_OK

state 11329 begin climb

11331 0.95 146.6 730.3 0.0 548 11458 1.25 0.00 122.75 1.269 6 0.053 0.000 2700 2086 2279

11762 0.96 154.1 710.4 5.8 569 11776 0.00 2.70 7.43 1.243 4 0.000 0.066 2701 3496 2249

12023 0.96 154.1 696.2 8.0 580 12030 0.00 2.60 0.00 0.000 6 0.000 0.058 2700 2108 2248

12339 0.98 171.6 678.0 5.5 596 12359 0.00 0.00 15.48 1.292 6 0.000 0.000 2700 2107 2178

12668 0.99 181.4 660.4 5.7 612 12682 0.00 2.67 9.23 1.283 4 0.000 0.065 2700 3506 2138

12794 0.99 181.4 651.6 6.8 617 12801 0.00 2.60 0.00 0.000 6 0.000 0.056 2701 2095 2138

13110 0.99 181.4 629.0 7.1 633 13111 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2095 2136

13419 1.02 205.6 610.3 5.3 648 13442 0.00 0.00 20.95 1.278 6 0.000 0.000 2700 2095 2039

13748 1.02 205.6 590.4 6.6 664 13752 0.00 2.60 0.00 0.000 4 0.000 0.061 2700 3500 2038

13887 1.02 205.6 580.3 7.2 670 13891 0.00 2.55 0.00 0.000 6 0.000 0.051 2700 2098 2038

14208 1.03 210.0 558.8 5.9 686 14215 0.00 0.00 4.80 1.206 6 0.000 0.000 2700 2098 2020

14518 1.03 215.5 540.3 5.8 701 14528 0.00 2.65 5.82 1.203 4 0.000 0.058 2700 3506 1999

14595 1.03 215.5 535.2 6.9 704 14601 0.00 2.55 0.00 0.000 6 0.000 0.048 2700 2101 1999

14910 1.04 220.8 515.6 5.8 720 14918 0.00 0.00 5.60 1.175 6 0.000 0.000 2700 2101 1977

15220 1.07 242.9 498.1 5.3 735 15241 0.12 0.00 19.15 1.173 6 0.051 0.000 2743 2101 1887

15549 1.07 242.9 472.3 7.8 751 15550 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2101 1887

15858 1.07 242.9 447.2 8.5 766 15860 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2101 1888

16168 1.07 242.9 422.3 7.3 781 16169 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2101 1889

16477 1.07 242.9 401.0 6.9 796 16478 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2101 1889

16786 1.07 242.9 378.5 7.6 811 16790 0.00 2.55 0.00 0.000 4 0.000 0.051 2742 3504 1890

16841 1.07 242.9 374.1 8.6 813 16848 0.00 2.53 0.00 0.000 6 0.000 0.044 2743 2090 1890

17156 1.07 242.9 350.8 7.4 829 17157 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2089 1890

17466 1.07 242.9 328.3 7.4 844 17467 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2090 1891

17775 1.07 242.9 303.3 8.1 859 17776 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2090 1890

18084 1.07 242.9 278.7 8.0 874 18085 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2090 1891

18393 1.07 242.9 255.2 7.7 889 18395 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2090 1892

18703 1.07 242.9 231.8 7.4 904 18704 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2089 1892

19012 1.07 242.9 209.6 7.1 919 19013 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2090 1892

19321 1.07 242.9 185.4 8.1 934 19322 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2089 1892

19631 1.07 242.9 160.1 8.6 949 19635 0.00 2.58 0.00 0.000 4 0.000 0.050 2742 3503 1893

19702 1.07 242.9 153.3 8.5 952 19706 0.00 2.47 0.00 0.000 6 0.000 0.041 2743 2098 1893

20023 1.07 242.9 123.8 9.1 968 20024 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2098 1893

20333 1.07 242.9 96.5 8.2 983 20337 0.00 2.58 0.00 0.000 4 0.000 0.061 2743 694 1893

20375 1.07 242.9 92.7 9.6 985 20380 0.00 2.50 0.00 0.000 6 0.000 0.038 2742 2122 1893

20703 1.07 242.9 69.5 6.7 1001 20704 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2125 1893

21012 1.07 242.9 48.0 6.6 1016 21013 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2126 1894

21321 1.07 242.9 21.5 8.9 1031 21325 0.00 2.47 0.00 0.000 4 0.000 0.049 2742 3499 1894

21370 1.07 242.9 16.1 10.4 1033 21374 0.00 2.50 0.00 0.000 6 0.000 0.040 2742 2081 1894

21692 1.31 441.8 3.5 0.1 1049 21805 0.17 2.62 105.47 0.765 4 0.069 0.046 2782 3498 1075

21811 1.56 641.0 3.3 0.1 1055 21877 0.22 2.55 59.17 0.736 6 0.051 0.045 2837 2098 602

21914 end climb: NO_VERTICAL_VELOCITY

state 21914 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	180	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-79536.758	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	073038,6242.615,-1203.161,37,1.0,37,-11.4	TGT_NAME	GW
_CALLS	2	TGT_LATLONG	6240.000,-1220.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.209,0.001
_SM_DEPTHo	4.05	KALMAN_X	232090.0,-236.5,-1475.2,-418410.6,9681.7
_SM_ANGLEo	-49.8	KALMAN_Y	78829.1,272.3,1508.6,48240.1,-5151.8
GPS2	074015,6242.722,-1203.228,13,1.8,14,-11.4	MHEAD_RNG_PITCHd_Wd	281.7,15127,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22367,0.00,0.000,0,0,605,557.57	ALTIM_BOTTOM_PING	675.4,60.0
SM_GC	4.29,12.15,0.00,0.00,0.031,0.000,0.000,28,1893,605,-11.27,-0.20,557.57	_24V_AH	23.3,41.491
IRIDIUM_FIX	6216.53,-1207.32,211207,111135	_10V_AH	10.1,19.736
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53629,1060
HUMID	2041	CFSIZE	260165632,247320576
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
TCM_TEMP	16.60	GPS	211207,135508,6241.656,-1216.057,37,1.3,37,-11.5
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	92	54.42	SBE_CT	780	24	436.61
Roll_motor	107	76	192.20	SBE_O2	715	19	316.81
VBD_pump_during_apogee	499	1306	15205.62	WL_BB2F	653	105	1598.07
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	75	103	180.66	nil	0	0	0.00
Iridium_during_connect	73	160	273.63	nil	0	0	0.00
Iridium_during_xfer	254	223	1321.15
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.14
TT8	1865	19	372.98
LPSleep	17550	2	388.19
TT8_Active	662	19	132.44
TT8_Sampling	2251	39	905.21
TT8_CF8	614	45	284.14
TT8_Kalman	33	81	27.56
Analog_circuits	1779	12	215.63
GPS_charging	0	0	0.00
Compass	2211	8	178.67
RAFOS	0	0	0.00

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	26	0.00	0.00	-4.03	0.000	2	0.000	0.000	27	1864	703
29	-0.95	-146.6	4.1	-0.0	0	213	10.85	2.55	-165.65	0.000	4	0.092	0.077	2290	509	3477
280	-0.95	-146.6	11.0	-5.3	12	287	0.00	2.45	0.00	0.000	6	0.000	0.041	2290	1891	3477
596	-0.95	-146.6	33.4	-6.8	28	597	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1891	3476
905	-0.95	-146.6	54.9	-7.2	43	906	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1891	3477
1215	-0.95	-146.6	75.1	-6.2	58	1216	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1891	3477
1524	-0.95	-146.6	97.3	-8.5	73	1528	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3297	3476
1595	-0.95	-146.6	103.8	-8.8	76	1599	0.00	2.53	0.00	0.000	6	0.000	0.043	2289	1890	3477
1916	-0.95	-146.6	128.3	-7.6	92	1917	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1890	3477
2226	-0.95	-146.6	151.1	-7.5	107	2230	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3295	3477
2311	-0.95	-146.6	157.3	-7.8	111	2315	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1900	3477
2637	-0.95	-146.6	179.7	-6.5	127	2638	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3477
2946	-0.95	-146.6	200.7	-6.9	142	2948	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3477
3255	-0.95	-146.6	221.9	-6.2	157	3259	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3297	3476
3354	-0.95	-146.6	228.3	-6.7	161	3361	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1902	3477
3669	-0.95	-146.6	249.5	-7.2	177	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3477
3979	-0.95	-146.6	271.3	-6.9	192	3980	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3476
4288	-0.95	-146.6	290.5	-6.4	207	4292	0.00	2.53	0.00	0.000	4	0.000	0.049	2289	3299	3477
4343	-0.95	-146.6	294.4	-7.2	209	4349	0.00	2.53	0.00	0.000	6	0.000	0.044	2290	1892	3476
4658	-0.95	-146.6	315.6	-6.8	225	4659	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1892	3476
4968	-0.95	-146.6	335.7	-6.1	240	4972	0.00	2.53	0.00	0.000	4	0.000	0.050	2289	3294	3476
5051	-0.95	-146.6	341.0	-6.1	244	5056	0.00	2.50	0.00	0.000	6	0.000	0.045	2289	1900	3476
5377	-0.95	-146.6	361.7	-6.8	260	5379	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3476
5686	-0.95	-146.6	383.7	-7.2	275	5691	0.00	2.53	0.00	0.000	4	0.000	0.050	2290	3297	3476
5758	-0.95	-146.6	389.1	-7.4	278	5762	0.00	2.53	0.00	0.000	6	0.000	0.046	2289	1898	3476
6079	-0.95	-146.6	410.3	-6.4	294	6080	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6388	-0.95	-146.6	430.2	-7.2	309	6389	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1898	3476
6699	-0.95	-146.6	450.8	-6.0	324	6703	0.00	2.53	0.00	0.000	4	0.000	0.052	2289	3299	3476
6782	-0.95	-146.6	456.1	-6.1	328	6787	0.00	2.53	0.00	0.000	6	0.000	0.047	2289	1902	3476
7109	-0.95	-146.6	475.7	-5.2	344	7110	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1902	3476
7418	-0.95	-146.6	493.5	-6.0	359	7422	0.00	2.53	0.00	0.000	4	0.000	0.051	2290	3293	3475
7479	-0.95	-146.6	497.5	-7.2	362	7483	0.00	2.50	0.00	0.000	6	0.000	0.046	2289	1899	3475
7804	-0.95	-146.6	519.4	-7.2	378	7805	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
8113	-0.95	-146.6	538.8	-5.4	393	8115	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3475
8423	-0.95	-146.6	555.9	-6.4	408	8427	0.00	2.55	0.00	0.000	4	0.000	0.054	2289	3295	3475
8533	-0.95	-146.6	563.0	-7.0	413	8537	0.00	2.53	0.00	0.000	6	0.000	0.048	2289	1895	3475
8860	-0.95	-146.6	583.9	-6.9	429	8861	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3475
9169	-0.95	-146.6	603.6	-5.4	444	9174	0.00	2.58	0.00	0.000	4	0.000	0.058	2289	3293	3475
9298	-0.95	-146.6	610.9	-5.1	450	9303	0.00	2.53	0.00	0.000	6	0.000	0.051	2289	1902	3475
9625	-0.95	-146.6	628.9	-6.3	466	9626	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
9934	-0.95	-146.6	647.9	-5.7	481	9935	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1902	3474
10243	-0.95	-146.6	667.0	-6.7	496	10248	0.00	2.55	0.00	0.000	4	0.000	0.061	2289	3291	3473
10389	-0.95	-146.6	677.3	-6.8	502	10395	0.00	2.55	0.00	0.000	6	0.000	0.055	2289	1894	3473
10704	-0.95	-146.6	696.0	-4.7	518	10705	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3473
11013	-0.95	-146.6	714.8	-6.5	533	11014	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1894	3472
11196	end dive: BOTTOM_OBSTACLE_DETECTED
state	11197	begin apogee
11202	-0.36	0.0	726.5	7.1	542	11328	0.60	0.00	123.47	1.307	6	0.071	0.000	2420	2086	2877
11329	end apogee: CONTROL_FINISHED_OK
state	11329	begin climb
11331	0.95	146.6	730.3	0.0	548	11458	1.25	0.00	122.75	1.269	6	0.053	0.000	2700	2086	2279
11762	0.96	154.1	710.4	5.8	569	11776	0.00	2.70	7.43	1.243	4	0.000	0.066	2701	3496	2249
12023	0.96	154.1	696.2	8.0	580	12030	0.00	2.60	0.00	0.000	6	0.000	0.058	2700	2108	2248
12339	0.98	171.6	678.0	5.5	596	12359	0.00	0.00	15.48	1.292	6	0.000	0.000	2700	2107	2178
12668	0.99	181.4	660.4	5.7	612	12682	0.00	2.67	9.23	1.283	4	0.000	0.065	2700	3506	2138
12794	0.99	181.4	651.6	6.8	617	12801	0.00	2.60	0.00	0.000	6	0.000	0.056	2701	2095	2138
13110	0.99	181.4	629.0	7.1	633	13111	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2095	2136
13419	1.02	205.6	610.3	5.3	648	13442	0.00	0.00	20.95	1.278	6	0.000	0.000	2700	2095	2039
13748	1.02	205.6	590.4	6.6	664	13752	0.00	2.60	0.00	0.000	4	0.000	0.061	2700	3500	2038
13887	1.02	205.6	580.3	7.2	670	13891	0.00	2.55	0.00	0.000	6	0.000	0.051	2700	2098	2038
14208	1.03	210.0	558.8	5.9	686	14215	0.00	0.00	4.80	1.206	6	0.000	0.000	2700	2098	2020
14518	1.03	215.5	540.3	5.8	701	14528	0.00	2.65	5.82	1.203	4	0.000	0.058	2700	3506	1999
14595	1.03	215.5	535.2	6.9	704	14601	0.00	2.55	0.00	0.000	6	0.000	0.048	2700	2101	1999
14910	1.04	220.8	515.6	5.8	720	14918	0.00	0.00	5.60	1.175	6	0.000	0.000	2700	2101	1977
15220	1.07	242.9	498.1	5.3	735	15241	0.12	0.00	19.15	1.173	6	0.051	0.000	2743	2101	1887
15549	1.07	242.9	472.3	7.8	751	15550	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2101	1887
15858	1.07	242.9	447.2	8.5	766	15860	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2101	1888
16168	1.07	242.9	422.3	7.3	781	16169	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2101	1889
16477	1.07	242.9	401.0	6.9	796	16478	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2101	1889
16786	1.07	242.9	378.5	7.6	811	16790	0.00	2.55	0.00	0.000	4	0.000	0.051	2742	3504	1890
16841	1.07	242.9	374.1	8.6	813	16848	0.00	2.53	0.00	0.000	6	0.000	0.044	2743	2090	1890
17156	1.07	242.9	350.8	7.4	829	17157	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2089	1890
17466	1.07	242.9	328.3	7.4	844	17467	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2090	1891
17775	1.07	242.9	303.3	8.1	859	17776	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2090	1890
18084	1.07	242.9	278.7	8.0	874	18085	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2090	1891
18393	1.07	242.9	255.2	7.7	889	18395	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2090	1892
18703	1.07	242.9	231.8	7.4	904	18704	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2089	1892
19012	1.07	242.9	209.6	7.1	919	19013	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2090	1892
19321	1.07	242.9	185.4	8.1	934	19322	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2089	1892
19631	1.07	242.9	160.1	8.6	949	19635	0.00	2.58	0.00	0.000	4	0.000	0.050	2742	3503	1893
19702	1.07	242.9	153.3	8.5	952	19706	0.00	2.47	0.00	0.000	6	0.000	0.041	2743	2098	1893
20023	1.07	242.9	123.8	9.1	968	20024	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2098	1893
20333	1.07	242.9	96.5	8.2	983	20337	0.00	2.58	0.00	0.000	4	0.000	0.061	2743	694	1893
20375	1.07	242.9	92.7	9.6	985	20380	0.00	2.50	0.00	0.000	6	0.000	0.038	2742	2122	1893
20703	1.07	242.9	69.5	6.7	1001	20704	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2125	1893
21012	1.07	242.9	48.0	6.6	1016	21013	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2126	1894
21321	1.07	242.9	21.5	8.9	1031	21325	0.00	2.47	0.00	0.000	4	0.000	0.049	2742	3499	1894
21370	1.07	242.9	16.1	10.4	1033	21374	0.00	2.50	0.00	0.000	6	0.000	0.040	2742	2081	1894
21692	1.31	441.8	3.5	0.1	1049	21805	0.17	2.62	105.47	0.765	4	0.069	0.046	2782	3498	1075
21811	1.56	641.0	3.3	0.1	1055	21877	0.22	2.55	59.17	0.736	6	0.051	0.045	2837	2098	602
21914	end climb: NO_VERTICAL_VELOCITY
state	21914	begin surface