Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 195 * 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 195 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 28 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 -79838.055 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 -79838.055

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 28 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 195 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 082807,6246.389,-1300.636,32,1.1,32,-11.9 TGT_NAME HW

_CALLS 2 TGT_LATLONG 6250.000,-1305.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.019,0.208

_SM_DEPTHo 3.76 KALMAN_X 241100.7,549.5,-316.0,-479942.5,-2317.0

_SM_ANGLEo -54.9 KALMAN_Y 52451.5,616.9,1642.5,81029.3,-11216.4

GPS2 083756,6246.432,-1300.530,10,1.2,15,-11.9 MHEAD_RNG_PITCHd_Wd 6.6,7613,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22599,0.12,1.822,0,0,603,558.06 ALTIM_BOTTOM_PING 726.1,53.9

SM_GC 3.64,0.00,0.00,0.12,0.000,0.000,1.822,28,1890,603,-11.35,-0.31,558.06 _24V_AH 23.3,44.264

IRIDIUM_FIX 6221.17,-1258.27,251207,121214 _10V_AH 10.1,21.246

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53639,1075

HUMID 2048 CFSIZE 260165632,246304768

INTERNAL_PRESSURE 9.14098 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 16.70 GPS 251207,145638,6247.353,-1259.014,33,1.3,33,-11.9

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 105 62.56 SBE_CT 789 24 441.65

Roll_motor 133 76 237.77 SBE_O2 726 19 321.79

VBD_pump_during_apogee 500 1310 15290.92 WL_BB2F 672 105 1644.08

VBD_pump_during_surface 0 1822 5.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 69 103 167.79 nil 0 0 0.00

Iridium_during_connect 83 160 312.37 nil 0 0 0.00

Iridium_during_xfer 254 223 1320.12

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.66

TT8 1915 19 383.02

LPSleep 17604 2 389.39

TT8_Active 665 19 133.00

TT8_Sampling 2360 39 948.78

TT8_CF8 642 45 297.14

TT8_Kalman 33 81 27.55

Analog_circuits 1842 12 223.36

GPS_charging 0 0 0.00

Compass 2320 8 187.46

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 44 0.00 0.00 -21.33 0.000 2 0.000 0.000 34 1881 1087

47 -0.95 -146.6 3.8 -0.0 1 223 11.12 2.58 -157.10 0.000 4 0.105 0.075 2288 500 3476

478 -0.95 -146.6 28.6 -7.6 21 482 0.00 2.47 0.00 0.000 6 0.000 0.041 2288 1902 3475

803 -0.95 -146.6 53.9 -8.5 37 808 0.00 2.62 0.00 0.000 4 0.000 0.066 2288 496 3476

870 -0.95 -146.6 59.7 -7.3 40 874 0.00 2.47 0.00 0.000 6 0.000 0.041 2288 1900 3476

1197 -0.95 -146.6 79.6 -5.4 56 1198 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1904 3476

1506 -0.95 -146.6 105.8 -8.8 71 1510 0.00 2.50 0.00 0.000 4 0.000 0.049 2288 3294 3476

1555 -0.95 -146.6 110.5 -9.5 73 1559 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1901 3476

1876 -0.95 -146.6 133.0 -7.1 89 1877 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1901 3476

2185 -0.95 -146.6 154.5 -6.3 104 2189 0.00 2.53 0.00 0.000 4 0.000 0.048 2288 3298 3476

2233 -0.95 -146.6 157.9 -7.1 106 2238 0.00 2.50 0.00 0.000 6 0.000 0.043 2288 1901 3476

2554 -0.95 -146.6 180.8 -7.4 122 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

2864 -0.95 -146.6 204.9 -8.1 137 2865 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

3173 -0.95 -146.6 228.4 -7.5 152 3174 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

3483 -0.95 -146.6 250.9 -7.5 167 3484 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

3791 -0.95 -146.6 274.4 -7.7 182 3796 0.00 2.50 0.00 0.000 4 0.000 0.048 2288 3297 3476

3841 -0.95 -146.6 278.3 -7.9 184 3845 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1901 3476

4161 -0.95 -146.6 303.4 -7.8 200 4163 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3475

4471 -0.95 -146.6 327.2 -7.5 215 4475 0.00 2.50 0.00 0.000 4 0.000 0.048 2288 3297 3475

4514 -0.95 -146.6 330.6 -8.0 217 4519 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1901 3476

4835 -0.95 -146.6 353.8 -7.3 233 4836 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1901 3476

5145 -0.95 -146.6 376.3 -7.2 248 5149 0.00 2.53 0.00 0.000 4 0.000 0.050 2288 3297 3476

5222 -0.95 -146.6 381.7 -6.8 251 5228 0.00 2.53 0.00 0.000 6 0.000 0.046 2288 1895 3476

5537 -0.95 -146.6 405.2 -7.6 267 5541 0.00 2.53 0.00 0.000 4 0.000 0.051 2288 3297 3476

5602 -0.95 -146.6 410.5 -8.0 270 5607 0.00 2.53 0.00 0.000 6 0.000 0.046 2288 1896 3476

5930 -0.95 -146.6 434.0 -6.9 286 5934 0.00 2.55 0.00 0.000 4 0.000 0.051 2288 3304 3476

6013 -0.95 -146.6 439.8 -6.7 290 6018 0.00 2.50 0.00 0.000 6 0.000 0.046 2288 1900 3476

6340 -0.95 -146.6 461.9 -6.7 306 6344 0.00 2.53 0.00 0.000 4 0.000 0.051 2288 3295 3475

6428 -0.95 -146.6 468.2 -7.0 310 6432 0.00 2.53 0.00 0.000 6 0.000 0.046 2288 1894 3475

6755 -0.95 -146.6 490.9 -7.1 326 6759 0.00 2.55 0.00 0.000 4 0.000 0.053 2288 3295 3475

6844 -0.95 -146.6 497.8 -7.8 330 6848 0.00 2.53 0.00 0.000 6 0.000 0.048 2287 1895 3475

7171 -0.95 -146.6 522.2 -7.6 346 7175 0.00 2.55 0.00 0.000 4 0.000 0.053 2288 3297 3474

7225 -0.95 -146.6 526.5 -8.2 348 7232 0.00 2.53 0.00 0.000 6 0.000 0.047 2288 1894 3474

7543 -0.95 -146.6 551.4 -7.3 364 7545 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1893 3474

7850 -0.95 -146.6 573.2 -6.3 379 7854 0.00 2.58 0.00 0.000 4 0.000 0.055 2288 3303 3474

7949 -0.95 -146.6 580.2 -7.8 383 7956 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1902 3474

8267 -0.95 -146.6 600.5 -6.4 399 8271 0.00 2.53 0.00 0.000 4 0.000 0.055 2288 3295 3474

8338 -0.95 -146.6 605.2 -6.3 402 8343 0.00 2.55 0.00 0.000 6 0.000 0.048 2288 1896 3474

8659 -0.95 -146.6 624.9 -6.4 418 8660 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1896 3474

8969 -0.95 -146.6 645.1 -6.8 433 8973 0.00 2.55 0.00 0.000 4 0.000 0.057 2288 3295 3474

9062 -0.95 -146.6 651.5 -6.9 437 9066 0.00 2.53 0.00 0.000 6 0.000 0.049 2288 1896 3474

9384 -0.95 -146.6 671.5 -6.4 453 9385 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1896 3474

9693 -0.95 -146.6 690.1 -5.8 468 9694 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3474

10002 -0.95 -146.6 708.5 -6.3 483 10006 0.00 2.62 0.00 0.000 4 0.000 0.074 2287 493 3473

10050 -0.95 -146.6 712.2 -7.3 485 10055 0.00 2.47 0.00 0.000 6 0.000 0.051 2288 1895 3473

10372 -0.95 -146.6 734.8 -7.0 501 10373 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3473

10682 -0.95 -146.6 752.8 -5.8 516 10683 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1895 3473

10968 end dive: BOTTOM_OBSTACLE_DETECTED

state 10968 begin apogee

10973 -0.36 0.0 770.8 6.2 530 11101 0.60 0.00 124.47 1.310 6 0.072 0.000 2418 2097 2878

11102 end apogee: CONTROL_FINISHED_OK

state 11102 begin climb

11104 0.95 146.6 774.5 0.0 536 11235 1.25 2.72 123.80 1.276 4 0.054 0.074 2699 689 2280

11296 0.95 146.6 768.9 7.9 545 11300 0.00 2.58 0.00 0.000 6 0.000 0.054 2699 2093 2280

11623 0.95 151.4 750.1 5.9 561 11633 0.00 2.67 5.03 1.224 4 0.000 0.067 2699 3506 2260

11684 0.95 151.4 746.1 6.4 564 11688 0.00 2.60 0.00 0.000 6 0.000 0.058 2699 2102 2260

12009 0.99 184.1 727.9 5.0 580 12040 0.00 0.00 28.27 1.305 6 0.000 0.000 2699 2102 2127

12339 1.00 187.9 710.2 5.9 596 12345 0.00 0.00 4.25 1.232 6 0.000 0.000 2699 2102 2112

12648 1.00 187.9 690.3 6.7 611 12653 0.00 2.67 0.00 0.000 4 0.000 0.077 2698 684 2112

12720 1.00 187.9 685.2 6.8 614 12724 0.00 2.58 0.00 0.000 6 0.000 0.051 2699 2110 2112

13041 1.00 187.9 664.5 6.4 630 13042 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2111 2111

13351 1.00 189.4 645.8 6.0 645 13352 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2111 2111

13659 1.00 189.4 626.6 6.5 660 13661 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2113 2110

13969 1.00 189.4 606.5 6.7 675 13970 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2113 2110

14278 1.00 189.4 586.3 6.4 690 14279 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2113 2110

14587 1.01 197.0 567.7 5.8 705 14598 0.00 0.00 8.55 1.230 6 0.000 0.000 2699 2114 2075

14897 1.05 229.3 551.2 5.0 720 14927 0.12 0.00 27.62 1.194 6 0.048 0.000 2742 2115 1943

15227 1.05 229.3 528.2 7.1 736 15231 0.00 2.67 0.00 0.000 4 0.000 0.066 2743 684 1943

15281 1.05 229.3 523.9 7.7 738 15287 0.00 2.53 0.00 0.000 6 0.000 0.044 2743 2105 1943

15596 1.05 229.3 499.9 7.5 754 15597 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2105 1943

15906 1.05 229.3 475.6 8.0 769 15907 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2106 1944

16215 1.05 229.3 450.6 8.2 784 16216 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2106 1944

16524 1.05 229.3 424.5 8.4 799 16528 0.00 2.55 0.00 0.000 4 0.000 0.054 2743 3504 1944

16612 1.05 229.3 416.7 8.0 803 16616 0.00 2.53 0.00 0.000 6 0.000 0.045 2743 2095 1944

16938 1.05 229.3 389.7 8.2 819 16940 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2095 1945

17248 1.05 229.3 363.8 8.5 834 17252 0.00 2.58 0.00 0.000 4 0.000 0.052 2743 3500 1945

17309 1.05 229.3 358.3 8.4 837 17313 0.00 2.50 0.00 0.000 6 0.000 0.044 2743 2100 1945

17634 1.05 229.3 331.3 8.1 853 17638 0.00 2.60 0.00 0.000 4 0.000 0.066 2743 691 1945

17683 1.05 229.3 327.1 8.7 855 17687 0.00 2.50 0.00 0.000 6 0.000 0.041 2743 2105 1945

18004 1.05 229.3 300.0 8.8 871 18008 0.00 2.50 0.00 0.000 4 0.000 0.052 2744 3497 1946

18071 1.05 229.3 293.7 9.9 874 18076 0.00 2.50 0.00 0.000 6 0.000 0.044 2743 2094 1945

18397 1.05 229.3 265.1 9.0 890 18398 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

18706 1.05 229.3 237.1 8.9 905 18707 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2094 1946

19015 1.05 229.3 210.9 8.1 920 19016 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

19324 1.05 229.3 183.4 8.9 935 19326 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

19634 1.05 229.3 156.1 8.7 950 19635 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

19943 1.05 229.3 128.8 8.8 965 19945 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

20253 1.05 229.3 100.5 9.8 980 20254 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

20562 1.05 229.3 73.6 7.0 995 20567 0.00 2.55 0.00 0.000 4 0.000 0.050 2743 3499 1948

20651 1.05 229.3 67.3 6.2 999 20655 0.00 2.47 0.00 0.000 6 0.000 0.040 2743 2093 1947

20979 1.05 229.3 38.0 9.2 1015 20980 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2093 1947

21288 1.09 259.2 11.6 5.1 1030 21315 0.00 0.00 24.83 0.838 6 0.000 0.000 2743 2092 1820

21620 1.33 461.4 3.1 -0.0 1046 21732 0.17 2.62 104.82 0.763 4 0.057 0.048 2790 3496 996

21984 1.57 652.9 3.0 0.3 1062 22041 0.15 2.53 49.30 0.756 6 0.054 0.045 2837 2111 601

22238 end climb: NO_VERTICAL_VELOCITY

state 22238 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	195	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	28	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	-79838.055	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	082807,6246.389,-1300.636,32,1.1,32,-11.9	TGT_NAME	HW
_CALLS	2	TGT_LATLONG	6250.000,-1305.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.019,0.208
_SM_DEPTHo	3.76	KALMAN_X	241100.7,549.5,-316.0,-479942.5,-2317.0
_SM_ANGLEo	-54.9	KALMAN_Y	52451.5,616.9,1642.5,81029.3,-11216.4
GPS2	083756,6246.432,-1300.530,10,1.2,15,-11.9	MHEAD_RNG_PITCHd_Wd	6.6,7613,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22599,0.12,1.822,0,0,603,558.06	ALTIM_BOTTOM_PING	726.1,53.9
SM_GC	3.64,0.00,0.00,0.12,0.000,0.000,1.822,28,1890,603,-11.35,-0.31,558.06	_24V_AH	23.3,44.264
IRIDIUM_FIX	6221.17,-1258.27,251207,121214	_10V_AH	10.1,21.246
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53639,1075
HUMID	2048	CFSIZE	260165632,246304768
INTERNAL_PRESSURE	9.14098	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	16.70	GPS	251207,145638,6247.353,-1259.014,33,1.3,33,-11.9
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	105	62.56	SBE_CT	789	24	441.65
Roll_motor	133	76	237.77	SBE_O2	726	19	321.79
VBD_pump_during_apogee	500	1310	15290.92	WL_BB2F	672	105	1644.08
VBD_pump_during_surface	0	1822	5.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	69	103	167.79	nil	0	0	0.00
Iridium_during_connect	83	160	312.37	nil	0	0	0.00
Iridium_during_xfer	254	223	1320.12
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.66
TT8	1915	19	383.02
LPSleep	17604	2	389.39
TT8_Active	665	19	133.00
TT8_Sampling	2360	39	948.78
TT8_CF8	642	45	297.14
TT8_Kalman	33	81	27.55
Analog_circuits	1842	12	223.36
GPS_charging	0	0	0.00
Compass	2320	8	187.46
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	44	0.00	0.00	-21.33	0.000	2	0.000	0.000	34	1881	1087
47	-0.95	-146.6	3.8	-0.0	1	223	11.12	2.58	-157.10	0.000	4	0.105	0.075	2288	500	3476
478	-0.95	-146.6	28.6	-7.6	21	482	0.00	2.47	0.00	0.000	6	0.000	0.041	2288	1902	3475
803	-0.95	-146.6	53.9	-8.5	37	808	0.00	2.62	0.00	0.000	4	0.000	0.066	2288	496	3476
870	-0.95	-146.6	59.7	-7.3	40	874	0.00	2.47	0.00	0.000	6	0.000	0.041	2288	1900	3476
1197	-0.95	-146.6	79.6	-5.4	56	1198	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1904	3476
1506	-0.95	-146.6	105.8	-8.8	71	1510	0.00	2.50	0.00	0.000	4	0.000	0.049	2288	3294	3476
1555	-0.95	-146.6	110.5	-9.5	73	1559	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1901	3476
1876	-0.95	-146.6	133.0	-7.1	89	1877	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1901	3476
2185	-0.95	-146.6	154.5	-6.3	104	2189	0.00	2.53	0.00	0.000	4	0.000	0.048	2288	3298	3476
2233	-0.95	-146.6	157.9	-7.1	106	2238	0.00	2.50	0.00	0.000	6	0.000	0.043	2288	1901	3476
2554	-0.95	-146.6	180.8	-7.4	122	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
2864	-0.95	-146.6	204.9	-8.1	137	2865	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
3173	-0.95	-146.6	228.4	-7.5	152	3174	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
3483	-0.95	-146.6	250.9	-7.5	167	3484	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
3791	-0.95	-146.6	274.4	-7.7	182	3796	0.00	2.50	0.00	0.000	4	0.000	0.048	2288	3297	3476
3841	-0.95	-146.6	278.3	-7.9	184	3845	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1901	3476
4161	-0.95	-146.6	303.4	-7.8	200	4163	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3475
4471	-0.95	-146.6	327.2	-7.5	215	4475	0.00	2.50	0.00	0.000	4	0.000	0.048	2288	3297	3475
4514	-0.95	-146.6	330.6	-8.0	217	4519	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1901	3476
4835	-0.95	-146.6	353.8	-7.3	233	4836	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1901	3476
5145	-0.95	-146.6	376.3	-7.2	248	5149	0.00	2.53	0.00	0.000	4	0.000	0.050	2288	3297	3476
5222	-0.95	-146.6	381.7	-6.8	251	5228	0.00	2.53	0.00	0.000	6	0.000	0.046	2288	1895	3476
5537	-0.95	-146.6	405.2	-7.6	267	5541	0.00	2.53	0.00	0.000	4	0.000	0.051	2288	3297	3476
5602	-0.95	-146.6	410.5	-8.0	270	5607	0.00	2.53	0.00	0.000	6	0.000	0.046	2288	1896	3476
5930	-0.95	-146.6	434.0	-6.9	286	5934	0.00	2.55	0.00	0.000	4	0.000	0.051	2288	3304	3476
6013	-0.95	-146.6	439.8	-6.7	290	6018	0.00	2.50	0.00	0.000	6	0.000	0.046	2288	1900	3476
6340	-0.95	-146.6	461.9	-6.7	306	6344	0.00	2.53	0.00	0.000	4	0.000	0.051	2288	3295	3475
6428	-0.95	-146.6	468.2	-7.0	310	6432	0.00	2.53	0.00	0.000	6	0.000	0.046	2288	1894	3475
6755	-0.95	-146.6	490.9	-7.1	326	6759	0.00	2.55	0.00	0.000	4	0.000	0.053	2288	3295	3475
6844	-0.95	-146.6	497.8	-7.8	330	6848	0.00	2.53	0.00	0.000	6	0.000	0.048	2287	1895	3475
7171	-0.95	-146.6	522.2	-7.6	346	7175	0.00	2.55	0.00	0.000	4	0.000	0.053	2288	3297	3474
7225	-0.95	-146.6	526.5	-8.2	348	7232	0.00	2.53	0.00	0.000	6	0.000	0.047	2288	1894	3474
7543	-0.95	-146.6	551.4	-7.3	364	7545	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1893	3474
7850	-0.95	-146.6	573.2	-6.3	379	7854	0.00	2.58	0.00	0.000	4	0.000	0.055	2288	3303	3474
7949	-0.95	-146.6	580.2	-7.8	383	7956	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1902	3474
8267	-0.95	-146.6	600.5	-6.4	399	8271	0.00	2.53	0.00	0.000	4	0.000	0.055	2288	3295	3474
8338	-0.95	-146.6	605.2	-6.3	402	8343	0.00	2.55	0.00	0.000	6	0.000	0.048	2288	1896	3474
8659	-0.95	-146.6	624.9	-6.4	418	8660	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1896	3474
8969	-0.95	-146.6	645.1	-6.8	433	8973	0.00	2.55	0.00	0.000	4	0.000	0.057	2288	3295	3474
9062	-0.95	-146.6	651.5	-6.9	437	9066	0.00	2.53	0.00	0.000	6	0.000	0.049	2288	1896	3474
9384	-0.95	-146.6	671.5	-6.4	453	9385	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1896	3474
9693	-0.95	-146.6	690.1	-5.8	468	9694	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3474
10002	-0.95	-146.6	708.5	-6.3	483	10006	0.00	2.62	0.00	0.000	4	0.000	0.074	2287	493	3473
10050	-0.95	-146.6	712.2	-7.3	485	10055	0.00	2.47	0.00	0.000	6	0.000	0.051	2288	1895	3473
10372	-0.95	-146.6	734.8	-7.0	501	10373	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3473
10682	-0.95	-146.6	752.8	-5.8	516	10683	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1895	3473
10968	end dive: BOTTOM_OBSTACLE_DETECTED
state	10968	begin apogee
10973	-0.36	0.0	770.8	6.2	530	11101	0.60	0.00	124.47	1.310	6	0.072	0.000	2418	2097	2878
11102	end apogee: CONTROL_FINISHED_OK
state	11102	begin climb
11104	0.95	146.6	774.5	0.0	536	11235	1.25	2.72	123.80	1.276	4	0.054	0.074	2699	689	2280
11296	0.95	146.6	768.9	7.9	545	11300	0.00	2.58	0.00	0.000	6	0.000	0.054	2699	2093	2280
11623	0.95	151.4	750.1	5.9	561	11633	0.00	2.67	5.03	1.224	4	0.000	0.067	2699	3506	2260
11684	0.95	151.4	746.1	6.4	564	11688	0.00	2.60	0.00	0.000	6	0.000	0.058	2699	2102	2260
12009	0.99	184.1	727.9	5.0	580	12040	0.00	0.00	28.27	1.305	6	0.000	0.000	2699	2102	2127
12339	1.00	187.9	710.2	5.9	596	12345	0.00	0.00	4.25	1.232	6	0.000	0.000	2699	2102	2112
12648	1.00	187.9	690.3	6.7	611	12653	0.00	2.67	0.00	0.000	4	0.000	0.077	2698	684	2112
12720	1.00	187.9	685.2	6.8	614	12724	0.00	2.58	0.00	0.000	6	0.000	0.051	2699	2110	2112
13041	1.00	187.9	664.5	6.4	630	13042	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2111	2111
13351	1.00	189.4	645.8	6.0	645	13352	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2111	2111
13659	1.00	189.4	626.6	6.5	660	13661	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2113	2110
13969	1.00	189.4	606.5	6.7	675	13970	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2113	2110
14278	1.00	189.4	586.3	6.4	690	14279	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2113	2110
14587	1.01	197.0	567.7	5.8	705	14598	0.00	0.00	8.55	1.230	6	0.000	0.000	2699	2114	2075
14897	1.05	229.3	551.2	5.0	720	14927	0.12	0.00	27.62	1.194	6	0.048	0.000	2742	2115	1943
15227	1.05	229.3	528.2	7.1	736	15231	0.00	2.67	0.00	0.000	4	0.000	0.066	2743	684	1943
15281	1.05	229.3	523.9	7.7	738	15287	0.00	2.53	0.00	0.000	6	0.000	0.044	2743	2105	1943
15596	1.05	229.3	499.9	7.5	754	15597	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2105	1943
15906	1.05	229.3	475.6	8.0	769	15907	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2106	1944
16215	1.05	229.3	450.6	8.2	784	16216	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2106	1944
16524	1.05	229.3	424.5	8.4	799	16528	0.00	2.55	0.00	0.000	4	0.000	0.054	2743	3504	1944
16612	1.05	229.3	416.7	8.0	803	16616	0.00	2.53	0.00	0.000	6	0.000	0.045	2743	2095	1944
16938	1.05	229.3	389.7	8.2	819	16940	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2095	1945
17248	1.05	229.3	363.8	8.5	834	17252	0.00	2.58	0.00	0.000	4	0.000	0.052	2743	3500	1945
17309	1.05	229.3	358.3	8.4	837	17313	0.00	2.50	0.00	0.000	6	0.000	0.044	2743	2100	1945
17634	1.05	229.3	331.3	8.1	853	17638	0.00	2.60	0.00	0.000	4	0.000	0.066	2743	691	1945
17683	1.05	229.3	327.1	8.7	855	17687	0.00	2.50	0.00	0.000	6	0.000	0.041	2743	2105	1945
18004	1.05	229.3	300.0	8.8	871	18008	0.00	2.50	0.00	0.000	4	0.000	0.052	2744	3497	1946
18071	1.05	229.3	293.7	9.9	874	18076	0.00	2.50	0.00	0.000	6	0.000	0.044	2743	2094	1945
18397	1.05	229.3	265.1	9.0	890	18398	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
18706	1.05	229.3	237.1	8.9	905	18707	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2094	1946
19015	1.05	229.3	210.9	8.1	920	19016	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
19324	1.05	229.3	183.4	8.9	935	19326	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
19634	1.05	229.3	156.1	8.7	950	19635	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
19943	1.05	229.3	128.8	8.8	965	19945	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
20253	1.05	229.3	100.5	9.8	980	20254	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
20562	1.05	229.3	73.6	7.0	995	20567	0.00	2.55	0.00	0.000	4	0.000	0.050	2743	3499	1948
20651	1.05	229.3	67.3	6.2	999	20655	0.00	2.47	0.00	0.000	6	0.000	0.040	2743	2093	1947
20979	1.05	229.3	38.0	9.2	1015	20980	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2093	1947
21288	1.09	259.2	11.6	5.1	1030	21315	0.00	0.00	24.83	0.838	6	0.000	0.000	2743	2092	1820
21620	1.33	461.4	3.1	-0.0	1046	21732	0.17	2.62	104.82	0.763	4	0.057	0.048	2790	3496	996
21984	1.57	652.9	3.0	0.3	1062	22041	0.15	2.53	49.30	0.756	6	0.054	0.045	2837	2111	601
22238	end climb: NO_VERTICAL_VELOCITY
state	22238	begin surface