Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 222 * 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 222 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 23 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 -80331.938 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 -80331.938

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 23 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 222 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 231908,6314.436,-1304.971,36,1.2,36,-12.2 TGT_NAME IW

_CALLS 5 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 10 TGT_RADIUS 5000.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.105,0.181

_SM_DEPTHo 3.43 KALMAN_X 277068.9,-568.4,-523.2,-518441.5,11355.2

_SM_ANGLEo -48.2 KALMAN_Y -18474.4,220.4,-4.8,205968.8,-6785.7

GPS2 233859,6314.503,-1304.927,14,2.4,33,-12.2 MHEAD_RNG_PITCHd_Wd 342.1,8447,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 19974,96.28,0.744,0,0,602,558.06 ALTIM_BOTTOM_PING 600.7,69.1

SM_GC 3.44,11.88,0.00,0.00,0.028,0.000,0.000,31,1894,602,-11.27,-0.14,558.30 _24V_AH 23.3,49.084

IRIDIUM_FIX 6249.28,-1300.75,010108,030308 _10V_AH 10.1,23.759

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47402,964

HUMID 2036 CFSIZE 260165632,244617216

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 18.70 GPS 010108,052238,6316.151,-1302.269,40,1.6,40,-12.1

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 95 56.18 SBE_CT 710 24 397.44

Roll_motor 87 74 152.07 SBE_O2 651 19 288.35

VBD_pump_during_apogee 405 1251 11832.50 WL_BB2F 634 105 1552.16

VBD_pump_during_surface 96 743 1668.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 190 103 456.21 nil 0 0 0.00

Iridium_during_connect 249 160 930.43 nil 0 0 0.00

Iridium_during_xfer 342 223 1780.71

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.04

TT8 1690 19 337.99

LPSleep 16315 2 360.88

TT8_Active 636 19 127.35

TT8_Sampling 2013 39 809.53

TT8_CF8 1026 45 474.92

TT8_Kalman 33 81 27.57

Analog_circuits 1636 12 198.31

GPS_charging 0 0 0.00

Compass 1962 8 158.59

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

22 -0.95 -146.6 0.0 0.0 0 45 0.00 0.00 -21.80 0.000 2 0.000 0.000 28 1884 1108

48 -0.95 -146.6 3.5 -0.0 1 213 10.93 2.60 -143.68 0.000 4 0.096 0.074 2289 499 3477

468 -0.95 -146.6 26.5 -5.5 20 473 0.00 2.47 0.00 0.000 6 0.000 0.041 2289 1912 3476

789 -0.95 -146.6 45.6 -4.5 36 793 0.00 2.65 0.00 0.000 4 0.000 0.064 2289 491 3476

927 -0.95 -146.6 54.6 -7.3 42 931 0.00 2.47 0.00 0.000 6 0.000 0.041 2289 1901 3477

1249 -0.95 -146.6 73.8 -6.2 58 1250 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3477

1558 -0.95 -146.6 95.1 -6.5 73 1559 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3476

1867 -0.95 -146.6 116.1 -6.6 88 1868 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3477

2177 -0.95 -146.6 136.9 -7.0 103 2178 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3477

2485 -0.95 -146.6 156.4 -6.1 118 2486 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3477

2795 -0.95 -146.6 179.3 -7.6 133 2796 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1905 3476

3104 -0.95 -146.6 201.7 -6.6 148 3108 0.00 2.50 0.00 0.000 4 0.000 0.050 2289 3294 3476

3159 -0.95 -146.6 205.0 -5.8 150 3166 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1904 3477

3474 -0.95 -146.6 223.0 -6.7 166 3475 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3477

3784 -0.95 -146.6 240.2 -4.8 181 3785 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1904 3477

4093 -0.95 -146.6 258.6 -5.8 196 4097 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3303 3477

4144 -0.95 -146.6 261.8 -6.5 198 4148 0.00 2.50 0.00 0.000 6 0.000 0.044 2289 1899 3477

4459 -0.95 -146.6 284.5 -7.6 213 4460 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1899 3477

4768 -0.95 -146.6 306.2 -7.0 228 4769 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3476

5080 -0.95 -146.6 325.8 -6.0 243 5084 0.00 2.53 0.00 0.000 4 0.000 0.048 2289 3300 3477

5141 -0.95 -146.6 329.7 -6.7 246 5145 0.00 2.53 0.00 0.000 6 0.000 0.044 2289 1895 3476

5466 -0.95 -146.6 349.3 -6.2 262 5468 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3477

5776 -0.95 -146.6 366.6 -5.4 277 5777 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

6085 -0.95 -146.6 384.3 -5.9 292 6086 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

6394 -0.95 -146.6 404.8 -7.0 307 6395 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

6705 -0.95 -146.6 425.6 -7.1 322 6709 0.00 2.53 0.00 0.000 4 0.000 0.051 2289 3295 3476

6759 -0.95 -146.6 429.9 -7.8 324 6766 0.00 2.53 0.00 0.000 6 0.000 0.045 2288 1896 3476

7074 -0.95 -146.6 453.4 -7.6 340 7076 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1896 3476

7384 -0.95 -146.6 476.7 -7.1 355 7385 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1895 3476

7693 -0.95 -146.6 498.0 -6.7 370 7694 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1893 3476

8002 -0.95 -146.6 519.6 -8.1 385 8003 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3476

8312 -0.95 -146.6 541.9 -6.3 400 8313 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3476

8621 -0.95 -146.6 559.7 -5.9 415 8622 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3476

8930 -0.95 -146.6 579.9 -6.8 430 8931 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1894 3475

9244 -0.95 -146.6 600.7 -6.9 445 9248 0.00 2.58 0.00 0.000 4 0.000 0.057 2288 3301 3475

9287 -0.95 -146.6 604.1 -6.3 447 9291 0.00 2.53 0.00 0.000 6 0.000 0.048 2288 1901 3475

9614 -0.95 -146.6 625.4 -5.9 463 9615 0.00 0.00 0.00 0.000 6 0.000 0.000 2289 1900 3475

9924 -0.95 -146.6 643.4 -5.8 478 9928 0.00 2.58 0.00 0.000 4 0.000 0.059 2289 3301 3475

9995 -0.95 -146.6 648.3 -6.4 481 9999 0.00 2.55 0.00 0.000 6 0.000 0.052 2288 1901 3475

10170 end dive: BOTTOM_OBSTACLE_DETECTED

state 10170 begin apogee

10176 -0.36 0.0 659.8 5.9 490 10301 0.60 0.00 122.20 1.252 6 0.073 0.000 2419 2096 2878

10302 end apogee: CONTROL_FINISHED_OK

state 10302 begin climb

10304 0.95 146.6 664.3 0.0 496 10433 1.25 2.67 120.55 1.213 4 0.049 0.061 2704 3499 2279

10551 0.97 162.5 656.5 5.5 507 10571 0.00 2.55 14.07 1.193 6 0.000 0.052 2704 2104 2214

10887 1.03 216.6 639.2 4.4 524 10937 0.00 2.67 45.17 1.210 4 0.000 0.060 2704 3500 1994

10998 1.03 216.6 631.6 7.0 529 11003 0.00 2.58 0.00 0.000 6 0.000 0.052 2704 2098 1994

11320 1.03 216.6 609.5 6.8 545 11321 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2097 1994

11629 1.03 216.6 588.3 6.4 560 11630 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2097 1992

11938 1.03 216.6 567.3 7.0 575 11939 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2097 1992

12247 1.03 216.6 546.3 6.9 590 12248 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2097 1991

12556 1.03 216.6 524.1 7.7 605 12561 0.00 2.62 0.00 0.000 4 0.000 0.071 2704 690 1991

12645 1.03 216.6 517.5 7.3 609 12649 0.00 2.50 0.00 0.000 6 0.000 0.044 2704 2105 1991

12972 1.03 216.6 493.6 6.5 625 12973 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1990

13281 1.03 216.6 474.6 6.0 640 13282 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1991

13590 1.03 216.6 455.8 6.3 655 13592 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1991

13899 1.03 216.6 434.5 7.4 670 13901 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1991

14209 1.03 216.6 410.0 8.1 685 14213 0.00 2.65 0.00 0.000 4 0.000 0.063 2704 685 1991

14257 1.03 216.6 405.7 8.1 687 14262 0.00 2.53 0.00 0.000 6 0.000 0.041 2703 2104 1991

14578 1.03 216.6 380.3 7.4 703 14579 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2108 1991

14887 1.03 216.6 359.8 6.7 718 14891 0.00 2.65 0.00 0.000 4 0.000 0.062 2704 680 1992

14948 1.03 216.6 355.3 7.5 721 14953 0.00 2.50 0.00 0.000 6 0.000 0.041 2704 2104 1992

15274 1.03 216.6 332.0 7.5 737 15276 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1992

15584 1.03 216.6 307.3 8.2 752 15585 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1992

15893 1.03 216.6 285.3 6.3 767 15894 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2106 1992

16202 1.07 246.8 268.9 5.1 782 16233 0.10 2.70 24.58 0.994 4 0.052 0.063 2750 685 1870

16299 1.07 246.8 261.5 8.8 786 16306 0.00 2.50 0.00 0.000 6 0.000 0.041 2750 2098 1870

16615 1.07 246.8 235.4 8.1 802 16617 0.12 0.00 0.00 0.000 6 0.083 0.000 2724 2102 1870

16924 1.07 246.8 211.6 7.7 817 16925 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2102 1870

17233 1.07 246.8 189.8 7.5 832 17234 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2102 1870

17543 1.07 246.8 164.2 9.1 847 17544 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2102 1871

17852 1.07 246.8 139.6 8.0 862 17853 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2102 1871

18163 1.07 246.8 114.5 8.7 877 18167 0.00 2.60 0.00 0.000 4 0.000 0.061 2724 689 1871

18212 1.07 246.8 110.0 8.2 879 18216 0.00 2.50 0.00 0.000 6 0.000 0.039 2724 2111 1871

18533 1.07 246.8 79.4 10.4 895 18534 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2115 1871

18843 1.12 286.3 55.4 4.8 910 18884 0.00 2.72 31.80 0.849 4 0.000 0.058 2724 687 1709

18934 1.12 286.3 51.1 6.3 914 18938 0.00 2.53 0.00 0.000 6 0.000 0.039 2724 2108 1709

19262 1.12 286.3 30.2 7.1 930 19267 0.00 2.50 0.00 0.000 4 0.000 0.048 2724 3495 1709

19283 1.12 286.3 27.9 9.7 931 19288 0.00 2.50 0.00 0.000 6 0.000 0.038 2724 2096 1709

19611 1.12 286.3 2.8 6.7 947 19612 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2094 1709

19920 1.37 487.8 2.9 -0.0 962 19971 0.28 0.00 47.33 0.792 2 0.071 0.000 2788 2093 1374

19971 end climb: NO_VERTICAL_VELOCITY

state 19971 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	222	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	23	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	-80331.938	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	231908,6314.436,-1304.971,36,1.2,36,-12.2	TGT_NAME	IW
_CALLS	5	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	10	TGT_RADIUS	5000.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.105,0.181
_SM_DEPTHo	3.43	KALMAN_X	277068.9,-568.4,-523.2,-518441.5,11355.2
_SM_ANGLEo	-48.2	KALMAN_Y	-18474.4,220.4,-4.8,205968.8,-6785.7
GPS2	233859,6314.503,-1304.927,14,2.4,33,-12.2	MHEAD_RNG_PITCHd_Wd	342.1,8447,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	19974,96.28,0.744,0,0,602,558.06	ALTIM_BOTTOM_PING	600.7,69.1
SM_GC	3.44,11.88,0.00,0.00,0.028,0.000,0.000,31,1894,602,-11.27,-0.14,558.30	_24V_AH	23.3,49.084
IRIDIUM_FIX	6249.28,-1300.75,010108,030308	_10V_AH	10.1,23.759
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47402,964
HUMID	2036	CFSIZE	260165632,244617216
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	18.70	GPS	010108,052238,6316.151,-1302.269,40,1.6,40,-12.1
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	95	56.18	SBE_CT	710	24	397.44
Roll_motor	87	74	152.07	SBE_O2	651	19	288.35
VBD_pump_during_apogee	405	1251	11832.50	WL_BB2F	634	105	1552.16
VBD_pump_during_surface	96	743	1668.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	190	103	456.21	nil	0	0	0.00
Iridium_during_connect	249	160	930.43	nil	0	0	0.00
Iridium_during_xfer	342	223	1780.71
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.04
TT8	1690	19	337.99
LPSleep	16315	2	360.88
TT8_Active	636	19	127.35
TT8_Sampling	2013	39	809.53
TT8_CF8	1026	45	474.92
TT8_Kalman	33	81	27.57
Analog_circuits	1636	12	198.31
GPS_charging	0	0	0.00
Compass	1962	8	158.59
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
22	-0.95	-146.6	0.0	0.0	0	45	0.00	0.00	-21.80	0.000	2	0.000	0.000	28	1884	1108
48	-0.95	-146.6	3.5	-0.0	1	213	10.93	2.60	-143.68	0.000	4	0.096	0.074	2289	499	3477
468	-0.95	-146.6	26.5	-5.5	20	473	0.00	2.47	0.00	0.000	6	0.000	0.041	2289	1912	3476
789	-0.95	-146.6	45.6	-4.5	36	793	0.00	2.65	0.00	0.000	4	0.000	0.064	2289	491	3476
927	-0.95	-146.6	54.6	-7.3	42	931	0.00	2.47	0.00	0.000	6	0.000	0.041	2289	1901	3477
1249	-0.95	-146.6	73.8	-6.2	58	1250	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3477
1558	-0.95	-146.6	95.1	-6.5	73	1559	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3476
1867	-0.95	-146.6	116.1	-6.6	88	1868	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3477
2177	-0.95	-146.6	136.9	-7.0	103	2178	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3477
2485	-0.95	-146.6	156.4	-6.1	118	2486	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3477
2795	-0.95	-146.6	179.3	-7.6	133	2796	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1905	3476
3104	-0.95	-146.6	201.7	-6.6	148	3108	0.00	2.50	0.00	0.000	4	0.000	0.050	2289	3294	3476
3159	-0.95	-146.6	205.0	-5.8	150	3166	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1904	3477
3474	-0.95	-146.6	223.0	-6.7	166	3475	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3477
3784	-0.95	-146.6	240.2	-4.8	181	3785	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1904	3477
4093	-0.95	-146.6	258.6	-5.8	196	4097	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3303	3477
4144	-0.95	-146.6	261.8	-6.5	198	4148	0.00	2.50	0.00	0.000	6	0.000	0.044	2289	1899	3477
4459	-0.95	-146.6	284.5	-7.6	213	4460	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1899	3477
4768	-0.95	-146.6	306.2	-7.0	228	4769	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3476
5080	-0.95	-146.6	325.8	-6.0	243	5084	0.00	2.53	0.00	0.000	4	0.000	0.048	2289	3300	3477
5141	-0.95	-146.6	329.7	-6.7	246	5145	0.00	2.53	0.00	0.000	6	0.000	0.044	2289	1895	3476
5466	-0.95	-146.6	349.3	-6.2	262	5468	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3477
5776	-0.95	-146.6	366.6	-5.4	277	5777	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
6085	-0.95	-146.6	384.3	-5.9	292	6086	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
6394	-0.95	-146.6	404.8	-7.0	307	6395	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
6705	-0.95	-146.6	425.6	-7.1	322	6709	0.00	2.53	0.00	0.000	4	0.000	0.051	2289	3295	3476
6759	-0.95	-146.6	429.9	-7.8	324	6766	0.00	2.53	0.00	0.000	6	0.000	0.045	2288	1896	3476
7074	-0.95	-146.6	453.4	-7.6	340	7076	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1896	3476
7384	-0.95	-146.6	476.7	-7.1	355	7385	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1895	3476
7693	-0.95	-146.6	498.0	-6.7	370	7694	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1893	3476
8002	-0.95	-146.6	519.6	-8.1	385	8003	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3476
8312	-0.95	-146.6	541.9	-6.3	400	8313	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3476
8621	-0.95	-146.6	559.7	-5.9	415	8622	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3476
8930	-0.95	-146.6	579.9	-6.8	430	8931	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1894	3475
9244	-0.95	-146.6	600.7	-6.9	445	9248	0.00	2.58	0.00	0.000	4	0.000	0.057	2288	3301	3475
9287	-0.95	-146.6	604.1	-6.3	447	9291	0.00	2.53	0.00	0.000	6	0.000	0.048	2288	1901	3475
9614	-0.95	-146.6	625.4	-5.9	463	9615	0.00	0.00	0.00	0.000	6	0.000	0.000	2289	1900	3475
9924	-0.95	-146.6	643.4	-5.8	478	9928	0.00	2.58	0.00	0.000	4	0.000	0.059	2289	3301	3475
9995	-0.95	-146.6	648.3	-6.4	481	9999	0.00	2.55	0.00	0.000	6	0.000	0.052	2288	1901	3475
10170	end dive: BOTTOM_OBSTACLE_DETECTED
state	10170	begin apogee
10176	-0.36	0.0	659.8	5.9	490	10301	0.60	0.00	122.20	1.252	6	0.073	0.000	2419	2096	2878
10302	end apogee: CONTROL_FINISHED_OK
state	10302	begin climb
10304	0.95	146.6	664.3	0.0	496	10433	1.25	2.67	120.55	1.213	4	0.049	0.061	2704	3499	2279
10551	0.97	162.5	656.5	5.5	507	10571	0.00	2.55	14.07	1.193	6	0.000	0.052	2704	2104	2214
10887	1.03	216.6	639.2	4.4	524	10937	0.00	2.67	45.17	1.210	4	0.000	0.060	2704	3500	1994
10998	1.03	216.6	631.6	7.0	529	11003	0.00	2.58	0.00	0.000	6	0.000	0.052	2704	2098	1994
11320	1.03	216.6	609.5	6.8	545	11321	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2097	1994
11629	1.03	216.6	588.3	6.4	560	11630	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2097	1992
11938	1.03	216.6	567.3	7.0	575	11939	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2097	1992
12247	1.03	216.6	546.3	6.9	590	12248	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2097	1991
12556	1.03	216.6	524.1	7.7	605	12561	0.00	2.62	0.00	0.000	4	0.000	0.071	2704	690	1991
12645	1.03	216.6	517.5	7.3	609	12649	0.00	2.50	0.00	0.000	6	0.000	0.044	2704	2105	1991
12972	1.03	216.6	493.6	6.5	625	12973	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1990
13281	1.03	216.6	474.6	6.0	640	13282	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1991
13590	1.03	216.6	455.8	6.3	655	13592	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1991
13899	1.03	216.6	434.5	7.4	670	13901	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1991
14209	1.03	216.6	410.0	8.1	685	14213	0.00	2.65	0.00	0.000	4	0.000	0.063	2704	685	1991
14257	1.03	216.6	405.7	8.1	687	14262	0.00	2.53	0.00	0.000	6	0.000	0.041	2703	2104	1991
14578	1.03	216.6	380.3	7.4	703	14579	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2108	1991
14887	1.03	216.6	359.8	6.7	718	14891	0.00	2.65	0.00	0.000	4	0.000	0.062	2704	680	1992
14948	1.03	216.6	355.3	7.5	721	14953	0.00	2.50	0.00	0.000	6	0.000	0.041	2704	2104	1992
15274	1.03	216.6	332.0	7.5	737	15276	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1992
15584	1.03	216.6	307.3	8.2	752	15585	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1992
15893	1.03	216.6	285.3	6.3	767	15894	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2106	1992
16202	1.07	246.8	268.9	5.1	782	16233	0.10	2.70	24.58	0.994	4	0.052	0.063	2750	685	1870
16299	1.07	246.8	261.5	8.8	786	16306	0.00	2.50	0.00	0.000	6	0.000	0.041	2750	2098	1870
16615	1.07	246.8	235.4	8.1	802	16617	0.12	0.00	0.00	0.000	6	0.083	0.000	2724	2102	1870
16924	1.07	246.8	211.6	7.7	817	16925	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2102	1870
17233	1.07	246.8	189.8	7.5	832	17234	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2102	1870
17543	1.07	246.8	164.2	9.1	847	17544	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2102	1871
17852	1.07	246.8	139.6	8.0	862	17853	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2102	1871
18163	1.07	246.8	114.5	8.7	877	18167	0.00	2.60	0.00	0.000	4	0.000	0.061	2724	689	1871
18212	1.07	246.8	110.0	8.2	879	18216	0.00	2.50	0.00	0.000	6	0.000	0.039	2724	2111	1871
18533	1.07	246.8	79.4	10.4	895	18534	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2115	1871
18843	1.12	286.3	55.4	4.8	910	18884	0.00	2.72	31.80	0.849	4	0.000	0.058	2724	687	1709
18934	1.12	286.3	51.1	6.3	914	18938	0.00	2.53	0.00	0.000	6	0.000	0.039	2724	2108	1709
19262	1.12	286.3	30.2	7.1	930	19267	0.00	2.50	0.00	0.000	4	0.000	0.048	2724	3495	1709
19283	1.12	286.3	27.9	9.7	931	19288	0.00	2.50	0.00	0.000	6	0.000	0.038	2724	2096	1709
19611	1.12	286.3	2.8	6.7	947	19612	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2094	1709
19920	1.37	487.8	2.9	-0.0	962	19971	0.28	0.00	47.33	0.792	2	0.071	0.000	2788	2093	1374
19971	end climb: NO_VERTICAL_VELOCITY
state	19971	begin surface