Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 185 * 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 185 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 558.0575 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -79633.812 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 558.0575

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 -79633.812

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 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 185 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 170808,6242.979,-1231.211,36,0.9,36,-11.6 TGT_NAME HW

_CALLS 1 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.141,0.154

_SM_DEPTHo 4.02 KALMAN_X 227036.4,-93.5,988.1,-440592.8,-3424.8

_SM_ANGLEo -55.5 KALMAN_Y 56866.3,-238.0,1775.9,70887.2,-15813.0

GPS2 171409,6242.948,-1231.092,11,0.9,11,-11.6 MHEAD_RNG_PITCHd_Wd 329.1,31507,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22807,48.28,0.744,0,0,602,558.06 ALTIM_BOTTOM_PING 675.1,108.3

SM_GC 4.20,11.98,0.00,0.00,0.031,0.000,0.000,32,1883,601,-11.27,-0.48,558.30 _24V_AH 23.3,42.402

IRIDIUM_FIX 6216.53,-1226.64,221207,141423 _10V_AH 10.1,20.253

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56769,1104

HUMID 2054 CFSIZE 260165632,246976512

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 16.60 GPS 221207,234408,6245.089,-1232.230,34,0.9,34,-11.6

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.33 SBE_CT 817 24 456.97

Roll_motor 92 80 174.46 SBE_O2 746 19 330.27

VBD_pump_during_apogee 457 1330 14175.33 WL_BB2F 663 105 1623.27

VBD_pump_during_surface 48 743 836.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.24 nil 0 0 0.00

Iridium_during_connect 39 160 145.79 nil 0 0 0.00

Iridium_during_xfer 174 223 904.39

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.73

TT8 1925 19 385.04

LPSleep 18344 2 405.76

TT8_Active 670 19 134.06

TT8_Sampling 2231 39 897.14

TT8_CF8 464 45 214.84

TT8_Kalman 33 81 27.56

Analog_circuits 1766 12 214.15

GPS_charging 0 0 0.00

Compass 2203 8 178.07

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 45 0.00 0.00 -22.20 0.000 2 0.000 0.000 33 1887 1119

48 -0.95 -146.6 4.1 -0.0 1 213 11.12 2.60 -146.62 0.000 4 0.106 0.076 2283 498 3476

327 -0.95 -146.6 15.4 -9.0 14 332 0.00 2.47 0.00 0.000 6 0.000 0.041 2283 1898 3476

654 -0.95 -146.6 43.8 -9.3 30 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1901 3475

963 -0.95 -146.6 68.3 -7.4 45 964 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

1272 -0.95 -146.6 90.9 -6.8 60 1273 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

1581 -0.95 -146.6 113.5 -7.4 75 1583 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3476

1891 -0.95 -146.6 137.4 -8.0 90 1895 0.00 2.53 0.00 0.000 4 0.000 0.048 2283 3298 3476

1975 -0.95 -146.6 143.8 -7.5 94 1979 0.00 2.50 0.00 0.000 6 0.000 0.043 2283 1905 3476

2300 -0.95 -146.6 166.6 -6.8 110 2301 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1905 3476

2610 -0.95 -146.6 185.8 -6.0 125 2614 0.00 2.53 0.00 0.000 4 0.000 0.048 2283 3302 3476

2671 -0.95 -146.6 189.7 -6.3 128 2675 0.00 2.53 0.00 0.000 6 0.000 0.042 2283 1894 3476

2997 -0.95 -146.6 208.3 -5.9 144 2998 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1893 3476

3308 -0.95 -146.6 225.2 -5.3 159 3313 0.00 2.55 0.00 0.000 4 0.000 0.048 2283 3304 3476

3408 -0.95 -146.6 230.8 -5.3 163 3415 0.00 2.53 0.00 0.000 6 0.000 0.044 2283 1896 3476

3724 -0.95 -146.6 247.1 -5.4 179 3725 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1895 3476

4033 -0.95 -146.6 263.8 -5.5 194 4037 0.00 2.55 0.00 0.000 4 0.000 0.049 2283 3305 3476

4087 -0.95 -146.6 267.2 -6.1 196 4094 0.00 2.53 0.00 0.000 6 0.000 0.044 2283 1897 3476

4403 -0.95 -146.6 286.1 -6.0 212 4404 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1897 3476

4712 -0.95 -146.6 305.5 -6.4 227 4716 0.00 2.55 0.00 0.000 4 0.000 0.049 2283 3303 3476

4800 -0.95 -146.6 311.4 -6.3 231 4804 0.00 2.53 0.00 0.000 6 0.000 0.044 2283 1894 3476

5127 -0.95 -146.6 333.7 -7.0 247 5128 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1894 3476

5436 -0.95 -146.6 356.1 -7.3 262 5440 0.00 2.53 0.00 0.000 4 0.000 0.051 2283 3297 3476

5535 -0.95 -146.6 363.5 -7.4 266 5541 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1895 3476

5851 -0.95 -146.6 385.7 -7.0 282 5852 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1896 3476

6160 -0.95 -146.6 407.0 -6.8 297 6164 0.00 2.55 0.00 0.000 4 0.000 0.051 2283 3301 3476

6226 -0.95 -146.6 411.8 -7.0 300 6230 0.00 2.53 0.00 0.000 6 0.000 0.046 2283 1899 3476

6553 -0.95 -146.6 433.5 -6.5 316 6554 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1899 3476

6862 -0.95 -146.6 453.0 -6.4 331 6866 0.00 2.55 0.00 0.000 4 0.000 0.051 2283 3304 3475

6939 -0.95 -146.6 458.0 -6.0 334 6945 0.00 2.53 0.00 0.000 6 0.000 0.046 2283 1899 3475

7254 -0.95 -146.6 477.0 -5.9 350 7255 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1898 3475

7564 -0.95 -146.6 495.1 -5.6 365 7565 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1898 3475

7873 -0.95 -146.6 512.2 -5.3 380 7877 0.00 2.53 0.00 0.000 4 0.000 0.051 2283 3300 3474

7927 -0.95 -146.6 515.4 -6.1 382 7934 0.00 2.53 0.00 0.000 6 0.000 0.045 2283 1893 3474

8242 -0.95 -146.6 534.5 -6.4 398 8247 0.00 2.55 0.00 0.000 4 0.000 0.053 2283 3304 3474

8305 -0.95 -146.6 538.8 -7.7 401 8309 0.00 2.53 0.00 0.000 6 0.000 0.047 2283 1900 3474

8630 -0.95 -146.6 562.0 -7.3 417 8634 0.00 2.55 0.00 0.000 4 0.000 0.054 2284 3298 3474

8691 -0.95 -146.6 566.7 -7.8 420 8695 0.00 2.53 0.00 0.000 6 0.000 0.048 2283 1900 3474

9017 -0.95 -146.6 591.7 -8.0 436 9018 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3474

9326 -0.95 -146.6 616.4 -7.4 451 9327 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3474

9635 -0.95 -146.6 639.7 -7.6 466 9636 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3474

9945 -0.95 -146.6 661.0 -6.3 481 9946 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3474

10254 -0.95 -146.6 680.3 -6.4 496 10255 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3474

10563 -0.95 -146.6 699.4 -6.2 511 10564 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3473

10873 -0.95 -146.6 718.5 -6.0 526 10877 0.00 2.55 0.00 0.000 4 0.000 0.061 2283 3294 3473

10934 -0.95 -146.6 722.4 -6.7 529 10938 0.00 2.55 0.00 0.000 6 0.000 0.054 2283 1901 3473

11259 -0.95 -146.6 741.9 -6.0 545 11261 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1901 3473

11568 -0.95 -146.6 761.2 -6.6 560 11569 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1901 3472

11794 end dive: BOTTOM_OBSTACLE_DETECTED

state 11794 begin apogee

11800 -0.36 0.0 774.2 6.2 571 11927 0.62 0.00 124.28 1.331 6 0.074 0.000 2417 2093 2878

11928 end apogee: CONTROL_FINISHED_OK

state 11928 begin climb

11930 0.95 146.6 776.8 0.0 577 12062 1.25 2.72 123.65 1.284 4 0.051 0.071 2701 3501 2280

12317 0.97 164.3 768.6 5.5 595 12340 0.00 2.60 15.88 1.298 6 0.000 0.058 2701 2102 2208

12648 0.98 171.8 750.4 5.8 611 12662 0.00 2.70 7.38 1.275 4 0.000 0.066 2701 3497 2177

12720 0.98 171.8 745.6 6.4 614 12724 0.00 2.60 0.00 0.000 6 0.000 0.056 2701 2099 2176

13039 0.98 171.8 725.7 6.6 630 13044 0.00 2.70 0.00 0.000 4 0.000 0.081 2701 687 2176

13128 0.98 175.5 719.8 5.9 634 13138 0.00 2.55 4.30 1.232 6 0.000 0.054 2701 2096 2162

13454 0.98 175.5 694.5 8.3 650 13458 0.00 2.65 0.00 0.000 4 0.000 0.066 2702 3509 2161

13525 0.98 175.5 688.1 9.0 653 13529 0.00 2.60 0.00 0.000 6 0.000 0.056 2701 2096 2160

13846 0.98 175.5 661.5 8.3 669 13850 0.00 2.67 0.00 0.000 4 0.000 0.079 2701 691 2160

13952 0.98 175.5 652.5 7.9 674 13956 0.00 2.55 0.00 0.000 6 0.000 0.051 2701 2104 2159

14277 0.98 175.5 628.9 6.8 690 14278 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2105 2159

14587 1.00 189.0 609.3 5.6 705 14601 0.00 0.00 11.90 1.282 6 0.000 0.000 2701 2106 2107

14895 1.08 251.3 595.4 4.1 720 14950 0.12 0.00 52.47 1.235 6 0.048 0.000 2748 2106 1853

15245 1.08 251.3 569.4 8.3 737 15246 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2107 1853

15554 1.08 251.3 540.7 9.2 752 15555 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1853

15863 1.08 251.3 512.7 9.0 767 15864 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1854

16172 1.08 251.3 486.5 8.3 782 16174 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1855

16482 1.08 251.3 461.6 7.9 797 16483 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1855

16791 1.08 251.3 438.1 7.4 812 16792 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1855

17100 1.08 251.3 415.7 7.1 827 17101 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1856

17410 1.08 251.3 393.5 7.1 842 17411 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1857

17719 1.08 251.3 371.5 7.1 857 17720 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1857

18028 1.08 251.3 348.9 7.3 872 18029 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1858

18338 1.08 251.3 325.6 8.1 887 18339 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1858

18647 1.08 251.3 301.0 8.0 902 18648 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1858

18956 1.08 251.3 275.9 8.2 917 18957 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1858

19265 1.08 251.3 250.1 8.4 932 19266 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1859

19574 1.08 251.3 226.0 7.5 947 19575 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1859

19884 1.08 251.3 202.5 7.7 962 19885 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1859

20193 1.08 251.3 178.7 7.4 977 20194 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1859

20502 1.08 251.3 154.8 8.4 992 20503 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1859

20812 1.08 251.3 130.4 8.0 1007 20813 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1859

21121 1.08 251.3 107.1 7.8 1022 21122 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1860

21431 1.08 251.3 79.0 10.8 1037 21432 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2109 1860

21740 1.08 251.3 55.1 6.5 1052 21741 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1860

22051 1.09 259.8 34.1 5.7 1067 22062 0.00 0.00 9.27 0.869 6 0.000 0.000 2748 2108 1819

22360 1.09 259.8 8.2 6.6 1082 22361 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2108 1819

22668 1.34 466.1 3.4 -0.2 1097 22779 0.17 0.00 108.05 0.765 6 0.051 0.000 2794 2111 977

22804 end climb: NO_VERTICAL_VELOCITY

state 22804 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	185	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	558.0575	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-79633.812	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	170808,6242.979,-1231.211,36,0.9,36,-11.6	TGT_NAME	HW
_CALLS	1	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.141,0.154
_SM_DEPTHo	4.02	KALMAN_X	227036.4,-93.5,988.1,-440592.8,-3424.8
_SM_ANGLEo	-55.5	KALMAN_Y	56866.3,-238.0,1775.9,70887.2,-15813.0
GPS2	171409,6242.948,-1231.092,11,0.9,11,-11.6	MHEAD_RNG_PITCHd_Wd	329.1,31507,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22807,48.28,0.744,0,0,602,558.06	ALTIM_BOTTOM_PING	675.1,108.3
SM_GC	4.20,11.98,0.00,0.00,0.031,0.000,0.000,32,1883,601,-11.27,-0.48,558.30	_24V_AH	23.3,42.402
IRIDIUM_FIX	6216.53,-1226.64,221207,141423	_10V_AH	10.1,20.253
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56769,1104
HUMID	2054	CFSIZE	260165632,246976512
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.60	GPS	221207,234408,6245.089,-1232.230,34,0.9,34,-11.6
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.33	SBE_CT	817	24	456.97
Roll_motor	92	80	174.46	SBE_O2	746	19	330.27
VBD_pump_during_apogee	457	1330	14175.33	WL_BB2F	663	105	1623.27
VBD_pump_during_surface	48	743	836.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.24	nil	0	0	0.00
Iridium_during_connect	39	160	145.79	nil	0	0	0.00
Iridium_during_xfer	174	223	904.39
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.73
TT8	1925	19	385.04
LPSleep	18344	2	405.76
TT8_Active	670	19	134.06
TT8_Sampling	2231	39	897.14
TT8_CF8	464	45	214.84
TT8_Kalman	33	81	27.56
Analog_circuits	1766	12	214.15
GPS_charging	0	0	0.00
Compass	2203	8	178.07
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	45	0.00	0.00	-22.20	0.000	2	0.000	0.000	33	1887	1119
48	-0.95	-146.6	4.1	-0.0	1	213	11.12	2.60	-146.62	0.000	4	0.106	0.076	2283	498	3476
327	-0.95	-146.6	15.4	-9.0	14	332	0.00	2.47	0.00	0.000	6	0.000	0.041	2283	1898	3476
654	-0.95	-146.6	43.8	-9.3	30	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1901	3475
963	-0.95	-146.6	68.3	-7.4	45	964	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
1272	-0.95	-146.6	90.9	-6.8	60	1273	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
1581	-0.95	-146.6	113.5	-7.4	75	1583	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3476
1891	-0.95	-146.6	137.4	-8.0	90	1895	0.00	2.53	0.00	0.000	4	0.000	0.048	2283	3298	3476
1975	-0.95	-146.6	143.8	-7.5	94	1979	0.00	2.50	0.00	0.000	6	0.000	0.043	2283	1905	3476
2300	-0.95	-146.6	166.6	-6.8	110	2301	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1905	3476
2610	-0.95	-146.6	185.8	-6.0	125	2614	0.00	2.53	0.00	0.000	4	0.000	0.048	2283	3302	3476
2671	-0.95	-146.6	189.7	-6.3	128	2675	0.00	2.53	0.00	0.000	6	0.000	0.042	2283	1894	3476
2997	-0.95	-146.6	208.3	-5.9	144	2998	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1893	3476
3308	-0.95	-146.6	225.2	-5.3	159	3313	0.00	2.55	0.00	0.000	4	0.000	0.048	2283	3304	3476
3408	-0.95	-146.6	230.8	-5.3	163	3415	0.00	2.53	0.00	0.000	6	0.000	0.044	2283	1896	3476
3724	-0.95	-146.6	247.1	-5.4	179	3725	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1895	3476
4033	-0.95	-146.6	263.8	-5.5	194	4037	0.00	2.55	0.00	0.000	4	0.000	0.049	2283	3305	3476
4087	-0.95	-146.6	267.2	-6.1	196	4094	0.00	2.53	0.00	0.000	6	0.000	0.044	2283	1897	3476
4403	-0.95	-146.6	286.1	-6.0	212	4404	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1897	3476
4712	-0.95	-146.6	305.5	-6.4	227	4716	0.00	2.55	0.00	0.000	4	0.000	0.049	2283	3303	3476
4800	-0.95	-146.6	311.4	-6.3	231	4804	0.00	2.53	0.00	0.000	6	0.000	0.044	2283	1894	3476
5127	-0.95	-146.6	333.7	-7.0	247	5128	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1894	3476
5436	-0.95	-146.6	356.1	-7.3	262	5440	0.00	2.53	0.00	0.000	4	0.000	0.051	2283	3297	3476
5535	-0.95	-146.6	363.5	-7.4	266	5541	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1895	3476
5851	-0.95	-146.6	385.7	-7.0	282	5852	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1896	3476
6160	-0.95	-146.6	407.0	-6.8	297	6164	0.00	2.55	0.00	0.000	4	0.000	0.051	2283	3301	3476
6226	-0.95	-146.6	411.8	-7.0	300	6230	0.00	2.53	0.00	0.000	6	0.000	0.046	2283	1899	3476
6553	-0.95	-146.6	433.5	-6.5	316	6554	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1899	3476
6862	-0.95	-146.6	453.0	-6.4	331	6866	0.00	2.55	0.00	0.000	4	0.000	0.051	2283	3304	3475
6939	-0.95	-146.6	458.0	-6.0	334	6945	0.00	2.53	0.00	0.000	6	0.000	0.046	2283	1899	3475
7254	-0.95	-146.6	477.0	-5.9	350	7255	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1898	3475
7564	-0.95	-146.6	495.1	-5.6	365	7565	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1898	3475
7873	-0.95	-146.6	512.2	-5.3	380	7877	0.00	2.53	0.00	0.000	4	0.000	0.051	2283	3300	3474
7927	-0.95	-146.6	515.4	-6.1	382	7934	0.00	2.53	0.00	0.000	6	0.000	0.045	2283	1893	3474
8242	-0.95	-146.6	534.5	-6.4	398	8247	0.00	2.55	0.00	0.000	4	0.000	0.053	2283	3304	3474
8305	-0.95	-146.6	538.8	-7.7	401	8309	0.00	2.53	0.00	0.000	6	0.000	0.047	2283	1900	3474
8630	-0.95	-146.6	562.0	-7.3	417	8634	0.00	2.55	0.00	0.000	4	0.000	0.054	2284	3298	3474
8691	-0.95	-146.6	566.7	-7.8	420	8695	0.00	2.53	0.00	0.000	6	0.000	0.048	2283	1900	3474
9017	-0.95	-146.6	591.7	-8.0	436	9018	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3474
9326	-0.95	-146.6	616.4	-7.4	451	9327	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3474
9635	-0.95	-146.6	639.7	-7.6	466	9636	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3474
9945	-0.95	-146.6	661.0	-6.3	481	9946	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3474
10254	-0.95	-146.6	680.3	-6.4	496	10255	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3474
10563	-0.95	-146.6	699.4	-6.2	511	10564	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3473
10873	-0.95	-146.6	718.5	-6.0	526	10877	0.00	2.55	0.00	0.000	4	0.000	0.061	2283	3294	3473
10934	-0.95	-146.6	722.4	-6.7	529	10938	0.00	2.55	0.00	0.000	6	0.000	0.054	2283	1901	3473
11259	-0.95	-146.6	741.9	-6.0	545	11261	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1901	3473
11568	-0.95	-146.6	761.2	-6.6	560	11569	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1901	3472
11794	end dive: BOTTOM_OBSTACLE_DETECTED
state	11794	begin apogee
11800	-0.36	0.0	774.2	6.2	571	11927	0.62	0.00	124.28	1.331	6	0.074	0.000	2417	2093	2878
11928	end apogee: CONTROL_FINISHED_OK
state	11928	begin climb
11930	0.95	146.6	776.8	0.0	577	12062	1.25	2.72	123.65	1.284	4	0.051	0.071	2701	3501	2280
12317	0.97	164.3	768.6	5.5	595	12340	0.00	2.60	15.88	1.298	6	0.000	0.058	2701	2102	2208
12648	0.98	171.8	750.4	5.8	611	12662	0.00	2.70	7.38	1.275	4	0.000	0.066	2701	3497	2177
12720	0.98	171.8	745.6	6.4	614	12724	0.00	2.60	0.00	0.000	6	0.000	0.056	2701	2099	2176
13039	0.98	171.8	725.7	6.6	630	13044	0.00	2.70	0.00	0.000	4	0.000	0.081	2701	687	2176
13128	0.98	175.5	719.8	5.9	634	13138	0.00	2.55	4.30	1.232	6	0.000	0.054	2701	2096	2162
13454	0.98	175.5	694.5	8.3	650	13458	0.00	2.65	0.00	0.000	4	0.000	0.066	2702	3509	2161
13525	0.98	175.5	688.1	9.0	653	13529	0.00	2.60	0.00	0.000	6	0.000	0.056	2701	2096	2160
13846	0.98	175.5	661.5	8.3	669	13850	0.00	2.67	0.00	0.000	4	0.000	0.079	2701	691	2160
13952	0.98	175.5	652.5	7.9	674	13956	0.00	2.55	0.00	0.000	6	0.000	0.051	2701	2104	2159
14277	0.98	175.5	628.9	6.8	690	14278	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2105	2159
14587	1.00	189.0	609.3	5.6	705	14601	0.00	0.00	11.90	1.282	6	0.000	0.000	2701	2106	2107
14895	1.08	251.3	595.4	4.1	720	14950	0.12	0.00	52.47	1.235	6	0.048	0.000	2748	2106	1853
15245	1.08	251.3	569.4	8.3	737	15246	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2107	1853
15554	1.08	251.3	540.7	9.2	752	15555	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1853
15863	1.08	251.3	512.7	9.0	767	15864	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1854
16172	1.08	251.3	486.5	8.3	782	16174	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1855
16482	1.08	251.3	461.6	7.9	797	16483	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1855
16791	1.08	251.3	438.1	7.4	812	16792	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1855
17100	1.08	251.3	415.7	7.1	827	17101	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1856
17410	1.08	251.3	393.5	7.1	842	17411	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1857
17719	1.08	251.3	371.5	7.1	857	17720	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1857
18028	1.08	251.3	348.9	7.3	872	18029	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1858
18338	1.08	251.3	325.6	8.1	887	18339	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1858
18647	1.08	251.3	301.0	8.0	902	18648	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1858
18956	1.08	251.3	275.9	8.2	917	18957	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1858
19265	1.08	251.3	250.1	8.4	932	19266	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1859
19574	1.08	251.3	226.0	7.5	947	19575	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1859
19884	1.08	251.3	202.5	7.7	962	19885	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1859
20193	1.08	251.3	178.7	7.4	977	20194	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1859
20502	1.08	251.3	154.8	8.4	992	20503	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1859
20812	1.08	251.3	130.4	8.0	1007	20813	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1859
21121	1.08	251.3	107.1	7.8	1022	21122	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1860
21431	1.08	251.3	79.0	10.8	1037	21432	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2109	1860
21740	1.08	251.3	55.1	6.5	1052	21741	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1860
22051	1.09	259.8	34.1	5.7	1067	22062	0.00	0.00	9.27	0.869	6	0.000	0.000	2748	2108	1819
22360	1.09	259.8	8.2	6.6	1082	22361	0.00	0.00	0.00	0.000	6	0.000	0.000	2748	2108	1819
22668	1.34	466.1	3.4	-0.2	1097	22779	0.17	0.00	108.05	0.765	6	0.051	0.000	2794	2111	977
22804	end climb: NO_VERTICAL_VELOCITY
state	22804	begin surface