Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 236 * 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 236 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 21 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 -80703.32 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 -80703.32

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 21 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 236 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 073108,6321.763,-1323.484,42,1.1,42,-12.4 TGT_NAME IW

_CALLS 1 TGT_LATLONG 6315.000,-1315.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.208,0.015

_SM_DEPTHo 3.14 KALMAN_X 302537.2,140.4,13819.7,-575425.5,25848.2

_SM_ANGLEo -45.3 KALMAN_Y -31585.6,300.2,-10162.7,242787.6,-14008.5

GPS2 073726,6321.883,-1323.586,32,1.3,32,-12.4 MHEAD_RNG_PITCHd_Wd 286.5,14620,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 24621,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 851.0,94.5

SM_GC 3.22,12.10,0.00,0.00,0.026,0.000,0.000,35,1889,603,-11.26,-0.28,558.06 _24V_AH 23.2,51.512

IRIDIUM_FIX 6254.00,-1316.90,040108,060652 _10V_AH 10.1,25.054

TT8_MAMPS 0.026845 DATA_FILE_SIZE 59996,1169

HUMID 2065 CFSIZE 260165632,243736576

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

TCM_TEMP 16.50 GPS 040108,143007,6325.164,-1333.488,54,1.6,54,-12.5

XPDR_PINGS 16

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 102 61.10 SBE_CT 846 24 471.20

Roll_motor 67 78 123.29 SBE_O2 790 19 348.28

VBD_pump_during_apogee 514 1434 17135.23 WL_BB2F 684 105 1667.35

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 88.01 nil 0 0 0.00

Iridium_during_connect 33 160 124.79 nil 0 0 0.00

Iridium_during_xfer 176 223 915.58

Transponder_ping 11 420 112.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.12

TT8 1988 19 397.72

LPSleep 19564 2 432.75

TT8_Active 609 19 121.94

TT8_Sampling 2350 39 944.79

TT8_CF8 483 45 223.75

TT8_Kalman 33 81 27.57

Analog_circuits 1760 12 213.40

GPS_charging 0 0 0.00

Compass 2290 8 185.06

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.95 -146.6 0.0 0.0 0 46 0.00 0.00 -21.58 0.000 2 0.000 0.000 28 1890 1101

49 -0.95 -146.6 3.1 -0.0 1 217 11.10 2.58 -150.25 0.000 4 0.103 0.061 2286 3311 3476

439 -0.95 -146.6 32.2 -16.7 19 443 0.00 2.53 0.00 0.000 6 0.000 0.042 2287 1906 3476

765 -0.95 -146.6 67.0 -7.1 35 766 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1075 -0.95 -146.6 91.4 -8.2 50 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1384 -0.95 -146.6 108.7 -5.5 65 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1692 -0.95 -146.6 129.3 -8.5 80 1693 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

2001 -0.95 -146.6 151.7 -6.5 95 2003 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2310 -0.95 -146.6 173.7 -6.7 110 2312 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

2620 -0.95 -146.6 194.0 -7.0 125 2621 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

2929 -0.95 -146.6 214.3 -7.0 140 2934 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3311 3476

3007 -0.95 -146.6 219.9 -7.1 143 3013 0.00 2.53 0.00 0.000 6 0.000 0.043 2287 1899 3476

3322 -0.95 -146.6 241.6 -7.3 159 3324 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

3631 -0.95 -146.6 266.3 -8.2 174 3632 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

3941 -0.95 -146.6 293.5 -9.1 189 3942 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

4250 -0.95 -146.6 322.8 -8.8 204 4251 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3476

4560 -0.95 -146.6 351.5 -9.8 219 4561 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1899 3475

4868 -0.95 -146.6 380.3 -9.1 234 4873 0.00 2.55 0.00 0.000 4 0.000 0.049 2287 3311 3476

4935 -0.95 -146.6 386.6 -10.4 237 4939 0.00 2.53 0.00 0.000 6 0.000 0.043 2287 1901 3476

5256 -0.95 -146.6 411.5 -7.1 253 5257 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3476

5565 -0.95 -146.6 429.3 -5.5 268 5566 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

5875 -0.95 -146.6 449.0 -7.1 283 5879 0.00 2.55 0.00 0.000 4 0.000 0.050 2287 3311 3476

5952 -0.95 -146.6 455.1 -7.7 286 5958 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1901 3476

6267 -0.95 -146.6 479.7 -7.6 302 6268 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3476

6577 -0.95 -146.6 503.7 -7.5 317 6578 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

6886 -0.95 -146.6 525.0 -6.4 332 6888 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

7195 -0.95 -146.6 546.0 -6.8 347 7199 0.00 2.60 0.00 0.000 4 0.000 0.067 2287 494 3475

7266 -0.95 -146.6 551.6 -8.8 350 7271 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1912 3475

7582 -0.95 -146.6 574.6 -7.2 365 7583 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3475

7891 -0.95 -146.6 596.4 -6.9 380 7892 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3475

8200 -0.95 -146.6 618.7 -7.3 395 8202 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1916 3475

8509 -0.95 -146.6 641.8 -7.7 410 8510 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3475

8819 -0.95 -146.6 663.4 -6.7 425 8820 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3475

9128 -0.95 -146.6 685.1 -6.4 440 9129 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3475

9437 -0.95 -146.6 706.8 -7.3 455 9438 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3474

9746 -0.95 -146.6 733.4 -9.3 470 9748 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1917 3475

10056 -0.95 -146.6 761.3 -8.1 485 10057 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3474

10365 -0.95 -146.6 789.1 -9.6 500 10366 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1916 3474

10674 -0.95 -146.6 814.5 -6.9 515 10679 0.00 2.53 0.00 0.000 4 0.000 0.058 2287 3300 3474

10763 -0.95 -146.6 820.4 -6.2 519 10768 0.00 2.58 0.00 0.000 6 0.000 0.054 2287 1898 3474

11084 -0.95 -146.6 835.2 -3.9 535 11086 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3474

11394 -0.95 -146.6 841.2 -1.8 550 11398 0.00 2.62 0.00 0.000 4 0.000 0.065 2287 3304 3474

11488 -0.95 -146.6 844.8 -4.5 554 11492 0.00 2.58 0.00 0.000 6 0.000 0.056 2287 1901 3474

11803 -0.95 -146.6 865.1 -7.8 569 11804 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

12113 -0.95 -146.6 882.4 -3.9 584 12114 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3474

12422 -0.95 -146.6 901.7 -7.5 599 12423 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3473

12731 -0.95 -146.6 928.1 -9.8 614 12732 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1901 3472

12832 end dive: BOTTOM_OBSTACLE_DETECTED

state 12832 begin apogee

12838 -0.36 0.0 936.0 7.3 619 12968 0.60 0.00 126.68 1.434 6 0.077 0.000 2416 2105 2878

12969 end apogee: CONTROL_FINISHED_OK

state 12969 begin climb

12971 0.95 146.6 940.2 0.0 625 13106 1.27 2.80 125.65 1.395 4 0.054 0.078 2701 693 2279

13361 1.04 219.0 931.4 3.8 643 13428 0.00 2.58 61.70 1.401 6 0.000 0.057 2701 2092 1985

13749 1.04 219.0 900.8 6.4 662 13750 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2096 1984

14059 1.04 219.7 881.1 6.0 677 14060 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2096 1983

14368 1.12 288.8 865.2 3.9 692 14434 0.15 2.70 59.45 1.399 4 0.047 0.064 2753 3506 1700

14517 1.12 288.8 855.7 6.9 699 14521 0.00 2.62 0.00 0.000 6 0.000 0.058 2753 2099 1700

14844 1.12 288.8 828.6 9.4 715 14848 0.00 2.65 0.00 0.000 4 0.000 0.063 2753 3509 1700

14921 1.12 288.8 821.1 8.8 718 14927 0.00 2.60 0.00 0.000 6 0.000 0.055 2753 2098 1699

15236 1.12 288.8 792.8 8.8 734 15237 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2098 1699

15545 1.12 288.8 761.6 10.1 749 15549 0.00 2.60 0.00 0.000 4 0.000 0.057 2753 3506 1699

15611 1.12 288.8 753.8 11.7 752 15616 0.00 2.58 0.00 0.000 6 0.000 0.051 2753 2091 1699

15932 1.12 288.8 720.8 9.6 768 15933 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1699

16241 1.12 288.8 688.3 10.4 783 16242 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1699

16550 1.12 288.8 658.9 9.0 798 16551 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1699

16859 1.12 288.8 629.5 9.4 813 16861 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1700

17169 1.12 288.8 601.3 8.8 828 17170 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1700

17478 1.12 288.8 577.8 7.7 843 17479 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1701

17787 1.12 288.8 548.6 10.7 858 17788 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1701

18097 1.12 288.8 517.7 9.9 873 18098 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1701

18406 1.12 288.8 484.8 11.1 888 18407 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1702

18715 1.12 288.8 449.5 11.5 903 18716 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1702

19024 1.12 288.8 415.8 10.6 918 19025 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1702

19334 1.12 288.8 382.9 10.3 933 19335 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1702

19643 1.12 288.8 351.7 9.0 948 19644 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1703

19952 1.12 288.8 324.0 9.1 963 19953 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1703

20262 1.12 288.8 297.9 8.1 978 20263 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1703

20571 1.12 288.8 272.4 8.7 993 20572 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2091 1704

20880 1.12 288.8 243.2 9.2 1008 20884 0.00 2.58 0.00 0.000 4 0.000 0.064 2753 690 1704

20923 1.12 288.8 238.5 11.1 1010 20927 0.00 2.50 0.00 0.000 6 0.000 0.040 2753 2112 1704

21250 1.12 288.8 208.3 9.1 1026 21252 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

21560 1.12 288.8 178.6 10.7 1041 21561 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

21869 1.12 288.8 150.6 10.4 1056 21870 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

22178 1.12 288.8 122.3 7.7 1071 22179 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

22487 1.12 288.8 93.4 11.3 1086 22488 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

22797 1.12 288.8 74.2 6.8 1101 22798 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

23106 1.12 288.8 39.6 10.7 1116 23107 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1704

23415 1.12 288.8 4.6 10.5 1131 23416 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2116 1705

23726 1.37 490.2 2.6 -0.0 1146 23839 0.15 2.72 106.22 0.786 4 0.056 0.061 2796 688 879

23861 1.63 704.9 2.5 -0.4 1152 23902 0.25 2.53 35.25 0.762 6 0.053 0.041 2854 2117 603

24198 end climb: NO_VERTICAL_VELOCITY

state 24198 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	236	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	21	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	-80703.32	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	073108,6321.763,-1323.484,42,1.1,42,-12.4	TGT_NAME	IW
_CALLS	1	TGT_LATLONG	6315.000,-1315.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.208,0.015
_SM_DEPTHo	3.14	KALMAN_X	302537.2,140.4,13819.7,-575425.5,25848.2
_SM_ANGLEo	-45.3	KALMAN_Y	-31585.6,300.2,-10162.7,242787.6,-14008.5
GPS2	073726,6321.883,-1323.586,32,1.3,32,-12.4	MHEAD_RNG_PITCHd_Wd	286.5,14620,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	24621,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	851.0,94.5
SM_GC	3.22,12.10,0.00,0.00,0.026,0.000,0.000,35,1889,603,-11.26,-0.28,558.06	_24V_AH	23.2,51.512
IRIDIUM_FIX	6254.00,-1316.90,040108,060652	_10V_AH	10.1,25.054
TT8_MAMPS	0.026845	DATA_FILE_SIZE	59996,1169
HUMID	2065	CFSIZE	260165632,243736576
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	16.50	GPS	040108,143007,6325.164,-1333.488,54,1.6,54,-12.5
XPDR_PINGS	16

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	102	61.10	SBE_CT	846	24	471.20
Roll_motor	67	78	123.29	SBE_O2	790	19	348.28
VBD_pump_during_apogee	514	1434	17135.23	WL_BB2F	684	105	1667.35
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	88.01	nil	0	0	0.00
Iridium_during_connect	33	160	124.79	nil	0	0	0.00
Iridium_during_xfer	176	223	915.58
Transponder_ping	11	420	112.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.12
TT8	1988	19	397.72
LPSleep	19564	2	432.75
TT8_Active	609	19	121.94
TT8_Sampling	2350	39	944.79
TT8_CF8	483	45	223.75
TT8_Kalman	33	81	27.57
Analog_circuits	1760	12	213.40
GPS_charging	0	0	0.00
Compass	2290	8	185.06
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.95	-146.6	0.0	0.0	0	46	0.00	0.00	-21.58	0.000	2	0.000	0.000	28	1890	1101
49	-0.95	-146.6	3.1	-0.0	1	217	11.10	2.58	-150.25	0.000	4	0.103	0.061	2286	3311	3476
439	-0.95	-146.6	32.2	-16.7	19	443	0.00	2.53	0.00	0.000	6	0.000	0.042	2287	1906	3476
765	-0.95	-146.6	67.0	-7.1	35	766	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1075	-0.95	-146.6	91.4	-8.2	50	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1384	-0.95	-146.6	108.7	-5.5	65	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1692	-0.95	-146.6	129.3	-8.5	80	1693	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
2001	-0.95	-146.6	151.7	-6.5	95	2003	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2310	-0.95	-146.6	173.7	-6.7	110	2312	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
2620	-0.95	-146.6	194.0	-7.0	125	2621	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
2929	-0.95	-146.6	214.3	-7.0	140	2934	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3311	3476
3007	-0.95	-146.6	219.9	-7.1	143	3013	0.00	2.53	0.00	0.000	6	0.000	0.043	2287	1899	3476
3322	-0.95	-146.6	241.6	-7.3	159	3324	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
3631	-0.95	-146.6	266.3	-8.2	174	3632	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
3941	-0.95	-146.6	293.5	-9.1	189	3942	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
4250	-0.95	-146.6	322.8	-8.8	204	4251	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3476
4560	-0.95	-146.6	351.5	-9.8	219	4561	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1899	3475
4868	-0.95	-146.6	380.3	-9.1	234	4873	0.00	2.55	0.00	0.000	4	0.000	0.049	2287	3311	3476
4935	-0.95	-146.6	386.6	-10.4	237	4939	0.00	2.53	0.00	0.000	6	0.000	0.043	2287	1901	3476
5256	-0.95	-146.6	411.5	-7.1	253	5257	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3476
5565	-0.95	-146.6	429.3	-5.5	268	5566	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
5875	-0.95	-146.6	449.0	-7.1	283	5879	0.00	2.55	0.00	0.000	4	0.000	0.050	2287	3311	3476
5952	-0.95	-146.6	455.1	-7.7	286	5958	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1901	3476
6267	-0.95	-146.6	479.7	-7.6	302	6268	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3476
6577	-0.95	-146.6	503.7	-7.5	317	6578	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
6886	-0.95	-146.6	525.0	-6.4	332	6888	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
7195	-0.95	-146.6	546.0	-6.8	347	7199	0.00	2.60	0.00	0.000	4	0.000	0.067	2287	494	3475
7266	-0.95	-146.6	551.6	-8.8	350	7271	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1912	3475
7582	-0.95	-146.6	574.6	-7.2	365	7583	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3475
7891	-0.95	-146.6	596.4	-6.9	380	7892	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3475
8200	-0.95	-146.6	618.7	-7.3	395	8202	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1916	3475
8509	-0.95	-146.6	641.8	-7.7	410	8510	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3475
8819	-0.95	-146.6	663.4	-6.7	425	8820	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3475
9128	-0.95	-146.6	685.1	-6.4	440	9129	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3475
9437	-0.95	-146.6	706.8	-7.3	455	9438	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3474
9746	-0.95	-146.6	733.4	-9.3	470	9748	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1917	3475
10056	-0.95	-146.6	761.3	-8.1	485	10057	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3474
10365	-0.95	-146.6	789.1	-9.6	500	10366	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1916	3474
10674	-0.95	-146.6	814.5	-6.9	515	10679	0.00	2.53	0.00	0.000	4	0.000	0.058	2287	3300	3474
10763	-0.95	-146.6	820.4	-6.2	519	10768	0.00	2.58	0.00	0.000	6	0.000	0.054	2287	1898	3474
11084	-0.95	-146.6	835.2	-3.9	535	11086	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3474
11394	-0.95	-146.6	841.2	-1.8	550	11398	0.00	2.62	0.00	0.000	4	0.000	0.065	2287	3304	3474
11488	-0.95	-146.6	844.8	-4.5	554	11492	0.00	2.58	0.00	0.000	6	0.000	0.056	2287	1901	3474
11803	-0.95	-146.6	865.1	-7.8	569	11804	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
12113	-0.95	-146.6	882.4	-3.9	584	12114	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3474
12422	-0.95	-146.6	901.7	-7.5	599	12423	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3473
12731	-0.95	-146.6	928.1	-9.8	614	12732	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1901	3472
12832	end dive: BOTTOM_OBSTACLE_DETECTED
state	12832	begin apogee
12838	-0.36	0.0	936.0	7.3	619	12968	0.60	0.00	126.68	1.434	6	0.077	0.000	2416	2105	2878
12969	end apogee: CONTROL_FINISHED_OK
state	12969	begin climb
12971	0.95	146.6	940.2	0.0	625	13106	1.27	2.80	125.65	1.395	4	0.054	0.078	2701	693	2279
13361	1.04	219.0	931.4	3.8	643	13428	0.00	2.58	61.70	1.401	6	0.000	0.057	2701	2092	1985
13749	1.04	219.0	900.8	6.4	662	13750	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2096	1984
14059	1.04	219.7	881.1	6.0	677	14060	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2096	1983
14368	1.12	288.8	865.2	3.9	692	14434	0.15	2.70	59.45	1.399	4	0.047	0.064	2753	3506	1700
14517	1.12	288.8	855.7	6.9	699	14521	0.00	2.62	0.00	0.000	6	0.000	0.058	2753	2099	1700
14844	1.12	288.8	828.6	9.4	715	14848	0.00	2.65	0.00	0.000	4	0.000	0.063	2753	3509	1700
14921	1.12	288.8	821.1	8.8	718	14927	0.00	2.60	0.00	0.000	6	0.000	0.055	2753	2098	1699
15236	1.12	288.8	792.8	8.8	734	15237	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2098	1699
15545	1.12	288.8	761.6	10.1	749	15549	0.00	2.60	0.00	0.000	4	0.000	0.057	2753	3506	1699
15611	1.12	288.8	753.8	11.7	752	15616	0.00	2.58	0.00	0.000	6	0.000	0.051	2753	2091	1699
15932	1.12	288.8	720.8	9.6	768	15933	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1699
16241	1.12	288.8	688.3	10.4	783	16242	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1699
16550	1.12	288.8	658.9	9.0	798	16551	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1699
16859	1.12	288.8	629.5	9.4	813	16861	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1700
17169	1.12	288.8	601.3	8.8	828	17170	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1700
17478	1.12	288.8	577.8	7.7	843	17479	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1701
17787	1.12	288.8	548.6	10.7	858	17788	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1701
18097	1.12	288.8	517.7	9.9	873	18098	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1701
18406	1.12	288.8	484.8	11.1	888	18407	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1702
18715	1.12	288.8	449.5	11.5	903	18716	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1702
19024	1.12	288.8	415.8	10.6	918	19025	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1702
19334	1.12	288.8	382.9	10.3	933	19335	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1702
19643	1.12	288.8	351.7	9.0	948	19644	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1703
19952	1.12	288.8	324.0	9.1	963	19953	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1703
20262	1.12	288.8	297.9	8.1	978	20263	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1703
20571	1.12	288.8	272.4	8.7	993	20572	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2091	1704
20880	1.12	288.8	243.2	9.2	1008	20884	0.00	2.58	0.00	0.000	4	0.000	0.064	2753	690	1704
20923	1.12	288.8	238.5	11.1	1010	20927	0.00	2.50	0.00	0.000	6	0.000	0.040	2753	2112	1704
21250	1.12	288.8	208.3	9.1	1026	21252	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
21560	1.12	288.8	178.6	10.7	1041	21561	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
21869	1.12	288.8	150.6	10.4	1056	21870	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
22178	1.12	288.8	122.3	7.7	1071	22179	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
22487	1.12	288.8	93.4	11.3	1086	22488	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
22797	1.12	288.8	74.2	6.8	1101	22798	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
23106	1.12	288.8	39.6	10.7	1116	23107	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1704
23415	1.12	288.8	4.6	10.5	1131	23416	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2116	1705
23726	1.37	490.2	2.6	-0.0	1146	23839	0.15	2.72	106.22	0.786	4	0.056	0.061	2796	688	879
23861	1.63	704.9	2.5	-0.4	1152	23902	0.25	2.53	35.25	0.762	6	0.053	0.041	2854	2117	603
24198	end climb: NO_VERTICAL_VELOCITY
state	24198	begin surface