Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 205 * 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 205 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -80033.156 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 -80033.156

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 24 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 205 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 011207,6252.197,-1259.036,23,1.4,23,-11.9 TGT_NAME IW

_CALLS 3 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.089,0.189

_SM_DEPTHo 3.57 KALMAN_X 244575.0,370.3,413.3,-482462.5,1891.4

_SM_ANGLEo -51.3 KALMAN_Y 13280.2,823.3,1940.9,130082.1,-20588.0

GPS2 012508,6252.046,-1258.818,12,1.4,12,-11.9 MHEAD_RNG_PITCHd_Wd 37.1,44599,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21713,0.28,1.250,0,0,603,558.06 ALTIM_BOTTOM_PING 700.2,45.6

SM_GC 3.88,0.00,0.00,0.28,0.000,0.000,1.250,32,1879,603,-11.33,-0.59,558.06 _24V_AH 23.3,46.082

IRIDIUM_FIX 6225.82,-1254.73,281207,050511 _10V_AH 10.1,22.252

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50514,1028

HUMID 2028 CFSIZE 260165632,245616640

INTERNAL_PRESSURE 9.12144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

TCM_TEMP 16.40 GPS 281207,072907,6249.961,-1257.089,35,1.4,35,-11.9

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 97 56.91 SBE_CT 763 24 427.09

Roll_motor 133 78 244.08 SBE_O2 694 19 307.66

VBD_pump_during_apogee 375 1288 11273.80 WL_BB2F 644 105 1576.84

VBD_pump_during_surface 121 1250 3552.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 109 103 263.20 nil 0 0 0.00

Iridium_during_connect 106 160 398.61 nil 0 0 0.00

Iridium_during_xfer 323 223 1681.15

Transponder_ping 8 420 78.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.08

TT8 1827 19 365.38

LPSleep 17014 2 376.34

TT8_Active 698 19 139.64

TT8_Sampling 2176 39 875.04

TT8_CF8 779 45 360.41

TT8_Kalman 33 81 27.57

Analog_circuits 1795 12 217.58

GPS_charging 0 0 0.00

Compass 2142 8 173.10

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 29 0.00 0.00 -6.97 0.000 2 0.000 0.000 27 1888 771

32 -0.95 -146.6 3.7 -0.0 1 220 11.00 2.60 -166.95 0.000 4 0.097 0.073 2291 495 3475

445 -0.95 -146.6 23.7 -9.6 20 450 0.00 2.50 0.00 0.000 6 0.000 0.041 2291 1915 3475

772 -0.95 -146.6 54.1 -10.8 36 773 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1918 3475

1082 -0.95 -146.6 77.1 -8.0 51 1084 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1917 3476

1390 -0.95 -146.6 97.4 -6.1 66 1392 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1918 3476

1700 -0.95 -146.6 119.8 -7.6 81 1701 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1917 3475

2009 -0.95 -146.6 143.3 -9.0 96 2010 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1917 3475

2318 -0.95 -146.6 166.1 -6.7 111 2319 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1918 3475

2627 -0.95 -146.6 185.6 -6.3 126 2629 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1918 3475

2937 -0.95 -146.6 204.2 -4.6 141 2942 0.00 2.65 0.00 0.000 4 0.000 0.067 2291 495 3475

2992 -0.95 -146.6 207.8 -6.4 143 2999 0.00 2.47 0.00 0.000 6 0.000 0.042 2291 1910 3475

3308 -0.95 -146.6 228.1 -7.0 159 3312 0.00 2.50 0.00 0.000 4 0.000 0.049 2291 3295 3475

3346 -0.95 -146.6 230.7 -7.5 160 3353 0.00 2.53 0.00 0.000 6 0.000 0.046 2291 1908 3475

3662 -0.95 -146.6 249.2 -6.4 176 3663 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1908 3475

3971 -0.95 -146.6 271.6 -6.4 191 3975 0.00 2.53 0.00 0.000 4 0.000 0.051 2291 3301 3475

4014 -0.95 -146.6 274.6 -7.1 193 4018 0.00 2.53 0.00 0.000 6 0.000 0.045 2290 1897 3475

4341 -0.95 -146.6 299.3 -7.5 209 4345 0.00 2.53 0.00 0.000 4 0.000 0.050 2291 3294 3475

4395 -0.95 -146.6 303.0 -6.8 211 4402 0.00 2.50 0.00 0.000 6 0.000 0.044 2290 1899 3475

4710 -0.95 -146.6 324.6 -7.7 227 4712 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1900 3475

5020 -0.95 -146.6 347.5 -7.0 242 5024 0.00 2.53 0.00 0.000 4 0.000 0.049 2290 3298 3475

5052 -0.95 -146.6 349.4 -5.9 243 5058 0.00 2.53 0.00 0.000 6 0.000 0.047 2291 1898 3475

5367 -0.95 -146.6 368.9 -6.5 259 5368 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1898 3475

5676 -0.95 -146.6 389.4 -6.9 274 5677 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1898 3475

5986 -0.95 -146.6 410.7 -6.7 289 5990 0.00 2.53 0.00 0.000 4 0.000 0.051 2291 3294 3475

6017 -0.95 -146.6 413.0 -6.8 290 6024 0.00 2.55 0.00 0.000 6 0.000 0.046 2290 1897 3475

6334 -0.95 -146.6 434.7 -6.5 306 6335 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1897 3475

6643 -0.95 -146.6 457.0 -7.4 321 6647 0.00 2.55 0.00 0.000 4 0.000 0.052 2291 3300 3475

6675 -0.95 -146.6 459.4 -7.3 322 6681 0.00 2.53 0.00 0.000 6 0.000 0.047 2290 1899 3475

6990 -0.95 -146.6 481.2 -7.5 338 6991 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1900 3475

7300 -0.95 -146.6 503.1 -6.9 353 7304 0.00 2.53 0.00 0.000 4 0.000 0.051 2291 3293 3474

7331 -0.95 -146.6 505.3 -6.7 354 7338 0.00 2.50 0.00 0.000 6 0.000 0.045 2290 1899 3474

7648 -0.95 -146.6 526.2 -6.2 370 7649 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1899 3474

7956 -0.95 -146.6 545.7 -6.8 385 7958 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1899 3474

8265 -0.95 -146.6 564.7 -6.3 400 8270 0.00 2.53 0.00 0.000 4 0.000 0.054 2291 3293 3473

8350 -0.95 -146.6 569.8 -5.9 404 8354 0.00 2.53 0.00 0.000 6 0.000 0.047 2291 1895 3473

8675 -0.95 -146.6 589.0 -6.5 420 8676 0.00 0.00 0.00 0.000 6 0.000 0.000 2290 1895 3474

8985 -0.95 -146.6 607.8 -5.9 435 8986 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1895 3474

9293 -0.95 -146.6 629.4 -7.1 450 9298 0.00 2.53 0.00 0.000 4 0.000 0.058 2291 3291 3474

9387 -0.95 -146.6 636.4 -7.8 454 9392 0.00 2.53 0.00 0.000 6 0.000 0.049 2291 1896 3473

9708 -0.95 -146.6 658.2 -6.7 470 9709 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1895 3474

10019 -0.95 -146.6 676.6 -5.4 485 10024 0.00 2.58 0.00 0.000 4 0.000 0.059 2291 3294 3473

10059 -0.95 -146.6 679.0 -5.8 487 10063 0.00 2.53 0.00 0.000 6 0.000 0.051 2291 1903 3473

10385 -0.95 -146.6 696.4 -5.5 503 10389 0.00 2.65 0.00 0.000 4 0.000 0.075 2291 489 3473

10446 -0.95 -146.6 699.9 -6.0 506 10453 0.00 2.50 0.00 0.000 6 0.000 0.053 2290 1890 3473

10780 -0.95 -146.6 718.1 -5.7 522 10781 0.00 0.00 0.00 0.000 6 0.000 0.000 2291 1890 3473

11067 end dive: BOTTOM_OBSTACLE_DETECTED

state 11067 begin apogee

11072 -0.36 0.0 736.2 6.3 536 11200 0.57 0.00 124.15 1.289 6 0.070 0.000 2416 2103 2878

11200 end apogee: CONTROL_FINISHED_OK

state 11200 begin climb

11203 0.95 146.6 740.1 0.0 542 11334 1.27 2.75 123.38 1.249 4 0.053 0.074 2701 688 2280

11362 0.96 159.0 736.8 5.6 550 11384 0.00 2.60 11.68 1.212 6 0.000 0.054 2702 2101 2228

11692 0.96 159.0 716.9 6.4 566 11697 0.00 2.62 0.00 0.000 4 0.000 0.067 2702 3501 2227

11915 0.96 159.0 698.7 9.3 576 11920 0.00 2.58 0.00 0.000 6 0.000 0.056 2702 2101 2227

12242 0.96 159.0 674.2 7.2 592 12246 0.00 2.67 0.00 0.000 4 0.000 0.078 2702 691 2226

12313 0.96 159.0 668.8 7.2 595 12317 0.00 2.55 0.00 0.000 6 0.000 0.052 2701 2102 2226

12635 1.05 232.5 652.1 3.8 611 12702 0.10 2.67 60.83 1.276 4 0.057 0.063 2738 3501 1928

12755 1.05 232.5 645.5 6.4 616 12761 0.00 2.62 0.00 0.000 6 0.000 0.055 2739 2094 1928

13069 1.05 232.5 624.2 7.2 632 13074 0.00 2.67 0.00 0.000 4 0.000 0.076 2739 687 1928

13108 1.05 232.5 621.2 7.7 634 13113 0.00 2.58 0.00 0.000 6 0.000 0.051 2739 2109 1928

13434 1.05 232.5 598.1 6.9 650 13435 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2110 1928

13743 1.05 232.5 574.7 7.9 665 13747 0.00 2.58 0.00 0.000 4 0.000 0.058 2739 3506 1927

13792 1.05 232.5 570.7 7.8 667 13796 0.00 2.58 0.00 0.000 6 0.000 0.050 2739 2088 1927

14113 1.05 232.5 547.5 7.1 683 14117 0.00 2.62 0.00 0.000 4 0.000 0.058 2739 3507 1927

14196 1.05 232.5 540.5 8.7 687 14200 0.00 2.55 0.00 0.000 6 0.000 0.049 2739 2101 1928

14521 1.05 232.5 513.4 8.4 703 14526 0.00 2.65 0.00 0.000 4 0.000 0.071 2739 686 1927

14565 1.05 232.5 509.5 8.7 705 14569 0.00 2.53 0.00 0.000 6 0.000 0.045 2739 2108 1927

14892 1.05 232.5 483.1 7.7 721 14893 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2109 1927

15202 1.05 232.5 460.8 7.3 736 15203 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2110 1928

15511 1.05 232.5 436.4 7.9 751 15515 0.00 2.67 0.00 0.000 4 0.000 0.067 2739 685 1928

15565 1.05 232.5 431.3 9.2 753 15571 0.00 2.53 0.00 0.000 6 0.000 0.044 2739 2098 1928

15880 1.05 232.5 405.3 7.9 769 15885 0.00 2.55 0.00 0.000 4 0.000 0.054 2739 3500 1928

15980 1.05 232.5 397.0 7.0 773 15987 0.00 2.53 0.00 0.000 6 0.000 0.046 2739 2092 1928

16296 1.05 232.5 372.1 8.6 789 16297 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2092 1928

16605 1.05 232.5 344.8 7.9 804 16606 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2091 1929

16914 1.05 232.5 318.3 9.7 819 16918 0.00 2.55 0.00 0.000 4 0.000 0.053 2739 3501 1929

16985 1.05 232.5 310.8 11.2 822 16989 0.00 2.50 0.00 0.000 6 0.000 0.043 2739 2099 1929

17306 1.05 232.5 280.2 8.0 838 17308 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1930

17615 1.05 232.5 256.6 7.6 853 17617 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1929

17925 1.05 232.5 235.7 7.9 868 17926 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2100 1930

18234 1.05 232.5 206.5 9.6 883 18239 0.00 2.55 0.00 0.000 4 0.000 0.052 2739 3505 1931

18296 1.05 232.5 200.0 11.9 886 18300 0.00 2.50 0.00 0.000 6 0.000 0.043 2739 2099 1931

18622 1.05 232.5 173.2 8.6 902 18623 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1931

18931 1.05 232.5 147.9 8.5 917 18933 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1931

19241 1.06 235.6 129.2 5.9 932 19247 0.00 0.00 4.38 0.938 6 0.000 0.000 2739 2099 1917

19551 1.06 235.6 105.7 9.3 947 19553 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1916

19859 1.06 235.6 77.5 8.5 962 19860 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1916

20168 1.06 237.1 54.6 6.0 977 20170 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 2099 1916

20478 1.07 248.8 36.1 5.7 992 20491 0.00 0.00 11.12 0.878 6 0.000 0.000 2739 2099 1863

20788 1.07 248.8 10.3 8.0 1007 20792 0.00 2.58 0.00 0.000 4 0.000 0.050 2739 3507 1863

20859 1.07 248.8 3.8 8.8 1010 20864 0.00 2.53 0.00 0.000 6 0.000 0.042 2739 2088 1863

21181 1.31 441.7 3.0 0.3 1026 21224 0.17 0.00 39.97 0.790 2 0.051 0.000 2794 2084 1585

21225 end climb: NO_VERTICAL_VELOCITY

state 21225 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	205	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-80033.156	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	011207,6252.197,-1259.036,23,1.4,23,-11.9	TGT_NAME	IW
_CALLS	3	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.089,0.189
_SM_DEPTHo	3.57	KALMAN_X	244575.0,370.3,413.3,-482462.5,1891.4
_SM_ANGLEo	-51.3	KALMAN_Y	13280.2,823.3,1940.9,130082.1,-20588.0
GPS2	012508,6252.046,-1258.818,12,1.4,12,-11.9	MHEAD_RNG_PITCHd_Wd	37.1,44599,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21713,0.28,1.250,0,0,603,558.06	ALTIM_BOTTOM_PING	700.2,45.6
SM_GC	3.88,0.00,0.00,0.28,0.000,0.000,1.250,32,1879,603,-11.33,-0.59,558.06	_24V_AH	23.3,46.082
IRIDIUM_FIX	6225.82,-1254.73,281207,050511	_10V_AH	10.1,22.252
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50514,1028
HUMID	2028	CFSIZE	260165632,245616640
INTERNAL_PRESSURE	9.12144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
TCM_TEMP	16.40	GPS	281207,072907,6249.961,-1257.089,35,1.4,35,-11.9
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	97	56.91	SBE_CT	763	24	427.09
Roll_motor	133	78	244.08	SBE_O2	694	19	307.66
VBD_pump_during_apogee	375	1288	11273.80	WL_BB2F	644	105	1576.84
VBD_pump_during_surface	121	1250	3552.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	109	103	263.20	nil	0	0	0.00
Iridium_during_connect	106	160	398.61	nil	0	0	0.00
Iridium_during_xfer	323	223	1681.15
Transponder_ping	8	420	78.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.08
TT8	1827	19	365.38
LPSleep	17014	2	376.34
TT8_Active	698	19	139.64
TT8_Sampling	2176	39	875.04
TT8_CF8	779	45	360.41
TT8_Kalman	33	81	27.57
Analog_circuits	1795	12	217.58
GPS_charging	0	0	0.00
Compass	2142	8	173.10
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	29	0.00	0.00	-6.97	0.000	2	0.000	0.000	27	1888	771
32	-0.95	-146.6	3.7	-0.0	1	220	11.00	2.60	-166.95	0.000	4	0.097	0.073	2291	495	3475
445	-0.95	-146.6	23.7	-9.6	20	450	0.00	2.50	0.00	0.000	6	0.000	0.041	2291	1915	3475
772	-0.95	-146.6	54.1	-10.8	36	773	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1918	3475
1082	-0.95	-146.6	77.1	-8.0	51	1084	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1917	3476
1390	-0.95	-146.6	97.4	-6.1	66	1392	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1918	3476
1700	-0.95	-146.6	119.8	-7.6	81	1701	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1917	3475
2009	-0.95	-146.6	143.3	-9.0	96	2010	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1917	3475
2318	-0.95	-146.6	166.1	-6.7	111	2319	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1918	3475
2627	-0.95	-146.6	185.6	-6.3	126	2629	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1918	3475
2937	-0.95	-146.6	204.2	-4.6	141	2942	0.00	2.65	0.00	0.000	4	0.000	0.067	2291	495	3475
2992	-0.95	-146.6	207.8	-6.4	143	2999	0.00	2.47	0.00	0.000	6	0.000	0.042	2291	1910	3475
3308	-0.95	-146.6	228.1	-7.0	159	3312	0.00	2.50	0.00	0.000	4	0.000	0.049	2291	3295	3475
3346	-0.95	-146.6	230.7	-7.5	160	3353	0.00	2.53	0.00	0.000	6	0.000	0.046	2291	1908	3475
3662	-0.95	-146.6	249.2	-6.4	176	3663	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1908	3475
3971	-0.95	-146.6	271.6	-6.4	191	3975	0.00	2.53	0.00	0.000	4	0.000	0.051	2291	3301	3475
4014	-0.95	-146.6	274.6	-7.1	193	4018	0.00	2.53	0.00	0.000	6	0.000	0.045	2290	1897	3475
4341	-0.95	-146.6	299.3	-7.5	209	4345	0.00	2.53	0.00	0.000	4	0.000	0.050	2291	3294	3475
4395	-0.95	-146.6	303.0	-6.8	211	4402	0.00	2.50	0.00	0.000	6	0.000	0.044	2290	1899	3475
4710	-0.95	-146.6	324.6	-7.7	227	4712	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1900	3475
5020	-0.95	-146.6	347.5	-7.0	242	5024	0.00	2.53	0.00	0.000	4	0.000	0.049	2290	3298	3475
5052	-0.95	-146.6	349.4	-5.9	243	5058	0.00	2.53	0.00	0.000	6	0.000	0.047	2291	1898	3475
5367	-0.95	-146.6	368.9	-6.5	259	5368	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1898	3475
5676	-0.95	-146.6	389.4	-6.9	274	5677	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1898	3475
5986	-0.95	-146.6	410.7	-6.7	289	5990	0.00	2.53	0.00	0.000	4	0.000	0.051	2291	3294	3475
6017	-0.95	-146.6	413.0	-6.8	290	6024	0.00	2.55	0.00	0.000	6	0.000	0.046	2290	1897	3475
6334	-0.95	-146.6	434.7	-6.5	306	6335	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1897	3475
6643	-0.95	-146.6	457.0	-7.4	321	6647	0.00	2.55	0.00	0.000	4	0.000	0.052	2291	3300	3475
6675	-0.95	-146.6	459.4	-7.3	322	6681	0.00	2.53	0.00	0.000	6	0.000	0.047	2290	1899	3475
6990	-0.95	-146.6	481.2	-7.5	338	6991	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1900	3475
7300	-0.95	-146.6	503.1	-6.9	353	7304	0.00	2.53	0.00	0.000	4	0.000	0.051	2291	3293	3474
7331	-0.95	-146.6	505.3	-6.7	354	7338	0.00	2.50	0.00	0.000	6	0.000	0.045	2290	1899	3474
7648	-0.95	-146.6	526.2	-6.2	370	7649	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1899	3474
7956	-0.95	-146.6	545.7	-6.8	385	7958	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1899	3474
8265	-0.95	-146.6	564.7	-6.3	400	8270	0.00	2.53	0.00	0.000	4	0.000	0.054	2291	3293	3473
8350	-0.95	-146.6	569.8	-5.9	404	8354	0.00	2.53	0.00	0.000	6	0.000	0.047	2291	1895	3473
8675	-0.95	-146.6	589.0	-6.5	420	8676	0.00	0.00	0.00	0.000	6	0.000	0.000	2290	1895	3474
8985	-0.95	-146.6	607.8	-5.9	435	8986	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1895	3474
9293	-0.95	-146.6	629.4	-7.1	450	9298	0.00	2.53	0.00	0.000	4	0.000	0.058	2291	3291	3474
9387	-0.95	-146.6	636.4	-7.8	454	9392	0.00	2.53	0.00	0.000	6	0.000	0.049	2291	1896	3473
9708	-0.95	-146.6	658.2	-6.7	470	9709	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1895	3474
10019	-0.95	-146.6	676.6	-5.4	485	10024	0.00	2.58	0.00	0.000	4	0.000	0.059	2291	3294	3473
10059	-0.95	-146.6	679.0	-5.8	487	10063	0.00	2.53	0.00	0.000	6	0.000	0.051	2291	1903	3473
10385	-0.95	-146.6	696.4	-5.5	503	10389	0.00	2.65	0.00	0.000	4	0.000	0.075	2291	489	3473
10446	-0.95	-146.6	699.9	-6.0	506	10453	0.00	2.50	0.00	0.000	6	0.000	0.053	2290	1890	3473
10780	-0.95	-146.6	718.1	-5.7	522	10781	0.00	0.00	0.00	0.000	6	0.000	0.000	2291	1890	3473
11067	end dive: BOTTOM_OBSTACLE_DETECTED
state	11067	begin apogee
11072	-0.36	0.0	736.2	6.3	536	11200	0.57	0.00	124.15	1.289	6	0.070	0.000	2416	2103	2878
11200	end apogee: CONTROL_FINISHED_OK
state	11200	begin climb
11203	0.95	146.6	740.1	0.0	542	11334	1.27	2.75	123.38	1.249	4	0.053	0.074	2701	688	2280
11362	0.96	159.0	736.8	5.6	550	11384	0.00	2.60	11.68	1.212	6	0.000	0.054	2702	2101	2228
11692	0.96	159.0	716.9	6.4	566	11697	0.00	2.62	0.00	0.000	4	0.000	0.067	2702	3501	2227
11915	0.96	159.0	698.7	9.3	576	11920	0.00	2.58	0.00	0.000	6	0.000	0.056	2702	2101	2227
12242	0.96	159.0	674.2	7.2	592	12246	0.00	2.67	0.00	0.000	4	0.000	0.078	2702	691	2226
12313	0.96	159.0	668.8	7.2	595	12317	0.00	2.55	0.00	0.000	6	0.000	0.052	2701	2102	2226
12635	1.05	232.5	652.1	3.8	611	12702	0.10	2.67	60.83	1.276	4	0.057	0.063	2738	3501	1928
12755	1.05	232.5	645.5	6.4	616	12761	0.00	2.62	0.00	0.000	6	0.000	0.055	2739	2094	1928
13069	1.05	232.5	624.2	7.2	632	13074	0.00	2.67	0.00	0.000	4	0.000	0.076	2739	687	1928
13108	1.05	232.5	621.2	7.7	634	13113	0.00	2.58	0.00	0.000	6	0.000	0.051	2739	2109	1928
13434	1.05	232.5	598.1	6.9	650	13435	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2110	1928
13743	1.05	232.5	574.7	7.9	665	13747	0.00	2.58	0.00	0.000	4	0.000	0.058	2739	3506	1927
13792	1.05	232.5	570.7	7.8	667	13796	0.00	2.58	0.00	0.000	6	0.000	0.050	2739	2088	1927
14113	1.05	232.5	547.5	7.1	683	14117	0.00	2.62	0.00	0.000	4	0.000	0.058	2739	3507	1927
14196	1.05	232.5	540.5	8.7	687	14200	0.00	2.55	0.00	0.000	6	0.000	0.049	2739	2101	1928
14521	1.05	232.5	513.4	8.4	703	14526	0.00	2.65	0.00	0.000	4	0.000	0.071	2739	686	1927
14565	1.05	232.5	509.5	8.7	705	14569	0.00	2.53	0.00	0.000	6	0.000	0.045	2739	2108	1927
14892	1.05	232.5	483.1	7.7	721	14893	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2109	1927
15202	1.05	232.5	460.8	7.3	736	15203	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2110	1928
15511	1.05	232.5	436.4	7.9	751	15515	0.00	2.67	0.00	0.000	4	0.000	0.067	2739	685	1928
15565	1.05	232.5	431.3	9.2	753	15571	0.00	2.53	0.00	0.000	6	0.000	0.044	2739	2098	1928
15880	1.05	232.5	405.3	7.9	769	15885	0.00	2.55	0.00	0.000	4	0.000	0.054	2739	3500	1928
15980	1.05	232.5	397.0	7.0	773	15987	0.00	2.53	0.00	0.000	6	0.000	0.046	2739	2092	1928
16296	1.05	232.5	372.1	8.6	789	16297	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2092	1928
16605	1.05	232.5	344.8	7.9	804	16606	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2091	1929
16914	1.05	232.5	318.3	9.7	819	16918	0.00	2.55	0.00	0.000	4	0.000	0.053	2739	3501	1929
16985	1.05	232.5	310.8	11.2	822	16989	0.00	2.50	0.00	0.000	6	0.000	0.043	2739	2099	1929
17306	1.05	232.5	280.2	8.0	838	17308	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1930
17615	1.05	232.5	256.6	7.6	853	17617	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1929
17925	1.05	232.5	235.7	7.9	868	17926	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2100	1930
18234	1.05	232.5	206.5	9.6	883	18239	0.00	2.55	0.00	0.000	4	0.000	0.052	2739	3505	1931
18296	1.05	232.5	200.0	11.9	886	18300	0.00	2.50	0.00	0.000	6	0.000	0.043	2739	2099	1931
18622	1.05	232.5	173.2	8.6	902	18623	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1931
18931	1.05	232.5	147.9	8.5	917	18933	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1931
19241	1.06	235.6	129.2	5.9	932	19247	0.00	0.00	4.38	0.938	6	0.000	0.000	2739	2099	1917
19551	1.06	235.6	105.7	9.3	947	19553	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1916
19859	1.06	235.6	77.5	8.5	962	19860	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1916
20168	1.06	237.1	54.6	6.0	977	20170	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	2099	1916
20478	1.07	248.8	36.1	5.7	992	20491	0.00	0.00	11.12	0.878	6	0.000	0.000	2739	2099	1863
20788	1.07	248.8	10.3	8.0	1007	20792	0.00	2.58	0.00	0.000	4	0.000	0.050	2739	3507	1863
20859	1.07	248.8	3.8	8.8	1010	20864	0.00	2.53	0.00	0.000	6	0.000	0.042	2739	2088	1863
21181	1.31	441.7	3.0	0.3	1026	21224	0.17	0.00	39.97	0.790	2	0.051	0.000	2794	2084	1585
21225	end climb: NO_VERTICAL_VELOCITY
state	21225	begin surface