Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 244 * 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 244 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -80866.641 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 -80866.641

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 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 244 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 085326,6336.701,-1310.450,39,1.1,39,-12.4 TGT_NAME KW

_CALLS 1 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.055,0.201

_SM_DEPTHo 2.93 KALMAN_X 319290.3,-817.9,737.9,-566544.2,7560.7

_SM_ANGLEo -60.2 KALMAN_Y -30290.3,483.3,426.4,258235.5,-1783.5

GPS2 085850,6336.726,-1310.404,13,1.1,13,-12.4 MHEAD_RNG_PITCHd_Wd 357.1,24586,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22636,0.00,0.000,0,0,603,558.06 ALTIM_BOTTOM_PING 675.3,53.7

SM_GC 3.13,0.00,0.00,0.00,0.000,0.000,0.000,31,1891,603,-11.33,-0.25,558.06 _24V_AH 23.3,52.926

IRIDIUM_FIX 6308.26,-1313.05,060108,070754 _10V_AH 10.1,25.841

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53721,1075

HUMID 2056 CFSIZE 260165632,243195904

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,18,0,0

TCM_TEMP 16.70 GPS 060108,151808,6337.849,-1308.019,31,1.2,31,-12.4

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 116 69.68 SBE_CT 792 24 443.17

Roll_motor 113 76 201.99 SBE_O2 725 19 321.11

VBD_pump_during_apogee 463 1267 13687.63 WL_BB2F 697 105 1706.88

VBD_pump_during_surface 47 760 849.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 95.59 nil 0 0 0.00

Iridium_during_connect 36 160 137.00 nil 0 0 0.00

Iridium_during_xfer 146 223 759.77

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.18

TT8 1871 19 374.30

LPSleep 17738 2 392.36

TT8_Active 698 19 139.74

TT8_Sampling 2197 39 883.22

TT8_CF8 459 45 212.71

TT8_Kalman 33 81 27.57

Analog_circuits 1802 12 218.49

GPS_charging 0 0 0.00

Compass 2159 8 174.51

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 66 0.00 0.00 -42.25 0.000 2 0.000 0.000 34 1884 1510

68 -0.95 -146.6 3.0 -0.1 2 234 11.38 2.60 -144.65 0.000 4 0.117 0.077 2285 500 3475

409 -0.95 -146.6 17.2 -7.2 17 415 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1899 3475

725 -0.95 -146.6 39.1 -6.8 33 726 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

1034 -0.95 -146.6 60.7 -6.9 48 1038 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3295 3475

1083 -0.95 -146.6 64.3 -7.5 50 1087 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1903 3475

1404 -0.95 -146.6 87.1 -7.1 66 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3474

1715 -0.95 -146.6 108.9 -7.1 81 1716 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

2023 -0.95 -146.6 131.1 -7.1 96 2024 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

2332 -0.95 -146.6 152.4 -6.6 111 2333 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

2641 -0.95 -146.6 173.1 -6.7 126 2645 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3299 3475

2695 -0.95 -146.6 176.8 -6.6 128 2702 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1900 3475

3011 -0.95 -146.6 196.3 -5.8 144 3012 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

3321 -0.95 -146.6 213.4 -5.6 159 3322 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

3630 -0.95 -146.6 230.7 -5.5 174 3631 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

3939 -0.95 -146.6 249.1 -5.7 189 3943 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3296 3475

3988 -0.95 -146.6 252.4 -6.9 191 3992 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1900 3475

4309 -0.95 -146.6 274.1 -6.8 207 4310 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

4618 -0.95 -146.6 297.7 -7.6 222 4619 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

4927 -0.95 -146.6 321.4 -7.8 237 4929 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

5237 -0.95 -146.6 344.7 -7.3 252 5238 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

5546 -0.95 -146.6 365.2 -7.1 267 5550 0.00 2.50 0.00 0.000 4 0.000 0.049 2285 3297 3475

5634 -0.95 -146.6 371.2 -6.4 271 5638 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1899 3475

5961 -0.95 -146.6 398.7 -8.7 287 5962 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

6270 -0.95 -146.6 421.8 -7.1 302 6271 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

6580 -0.95 -146.6 444.6 -7.2 317 6581 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

6889 -0.95 -146.6 466.4 -7.4 332 6890 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3474

7198 -0.95 -146.6 490.9 -8.2 347 7199 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1896 3474

7507 -0.95 -146.6 517.0 -8.3 362 7509 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1896 3474

7816 -0.95 -146.6 539.4 -6.9 377 7821 0.00 2.55 0.00 0.000 4 0.000 0.051 2285 3301 3474

7866 -0.95 -146.6 542.9 -6.2 379 7870 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1901 3474

8187 -0.95 -146.6 561.8 -5.3 395 8189 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

8496 -0.95 -146.6 577.7 -5.2 410 8498 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3474

8806 -0.95 -146.6 594.1 -5.8 425 8810 0.00 2.62 0.00 0.000 4 0.000 0.067 2285 487 3474

8862 -0.95 -146.6 598.0 -7.6 427 8868 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1904 3474

9177 -0.95 -146.6 621.2 -7.8 443 9178 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3474

9486 -0.95 -146.6 647.3 -8.7 458 9487 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3474

9795 -0.95 -146.6 670.6 -6.3 473 9800 0.00 2.55 0.00 0.000 4 0.000 0.059 2285 3297 3474

9839 -0.95 -146.6 673.2 -6.2 475 9843 0.00 2.55 0.00 0.000 6 0.000 0.051 2285 1894 3474

10167 -0.95 -146.6 690.0 -4.6 491 10168 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1894 3474

10476 -0.95 -146.6 709.5 -7.2 506 10480 0.00 2.62 0.00 0.000 4 0.000 0.074 2285 489 3474

10530 -0.95 -146.6 713.8 -7.4 508 10536 0.00 2.50 0.00 0.000 6 0.000 0.050 2285 1897 3474

10617 end dive: BOTTOM_OBSTACLE_DETECTED

state 10617 begin apogee

10622 -0.36 0.0 720.2 7.6 513 10749 0.62 0.00 123.85 1.267 6 0.074 0.000 2420 2103 2878

10750 end apogee: CONTROL_FINISHED_OK

state 10750 begin climb

10753 0.95 146.6 723.2 0.0 519 10884 1.25 2.67 123.05 1.226 4 0.049 0.064 2702 3491 2280

10969 0.96 159.6 717.3 5.6 530 10991 0.00 2.55 11.75 1.204 6 0.000 0.051 2703 2102 2227

11300 0.99 178.2 698.9 5.4 546 11319 0.00 0.00 16.60 1.233 6 0.000 0.000 2702 2102 2151

11628 1.00 191.5 680.0 5.6 562 11642 0.00 0.00 12.25 1.236 6 0.000 0.000 2702 2102 2097

11937 1.00 191.5 659.8 7.5 577 11938 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2102 2096

12246 1.00 191.5 635.9 7.1 592 12250 0.00 2.65 0.00 0.000 4 0.000 0.071 2703 684 2096

12300 1.00 191.5 631.7 6.9 594 12307 0.00 2.53 0.00 0.000 6 0.000 0.047 2702 2096 2096

12616 1.02 208.1 613.8 5.5 610 12636 0.00 0.00 14.68 1.230 6 0.000 0.000 2702 2096 2028

12946 1.05 228.2 594.6 5.4 626 12966 0.00 0.00 17.75 1.216 6 0.000 0.000 2702 2098 1946

13274 1.05 228.2 571.8 7.5 642 13279 0.00 2.65 0.00 0.000 4 0.000 0.067 2702 690 1946

13351 1.05 228.2 565.5 8.1 645 13358 0.00 2.53 0.00 0.000 6 0.000 0.044 2702 2110 1947

13667 1.05 228.2 543.5 6.8 661 13668 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2110 1946

13976 1.05 228.2 523.5 6.6 676 13977 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2111 1946

14286 1.05 228.2 501.1 7.4 691 14290 0.00 2.62 0.00 0.000 4 0.000 0.064 2702 690 1946

14362 1.05 228.2 494.5 8.8 694 14369 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2106 1947

14678 1.05 228.2 469.2 7.9 710 14679 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1947

14988 1.05 228.2 445.3 7.3 725 14989 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2106 1946

15297 1.05 228.2 424.9 6.5 740 15301 0.00 2.62 0.00 0.000 4 0.000 0.064 2702 685 1946

15381 1.05 228.2 419.3 6.9 744 15385 0.00 2.47 0.00 0.000 6 0.000 0.041 2703 2102 1947

15706 1.05 228.2 399.3 6.1 760 15707 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 1947

16015 1.05 228.2 378.8 6.6 775 16016 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 1947

16324 1.05 228.2 359.2 6.3 790 16329 0.00 2.62 0.00 0.000 4 0.000 0.064 2702 682 1948

16396 1.05 228.2 354.1 7.1 793 16400 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2108 1948

16711 1.05 228.2 333.0 6.7 808 16712 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2112 1948

17020 1.05 228.2 311.7 6.8 823 17025 0.00 2.62 0.00 0.000 4 0.000 0.061 2703 690 1948

17070 1.05 228.2 308.2 6.8 825 17074 0.00 2.47 0.00 0.000 6 0.000 0.041 2703 2103 1948

17385 1.05 228.2 285.5 7.1 840 17386 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2107 1948

17695 1.05 229.3 264.8 6.0 855 17699 0.00 2.62 0.00 0.000 4 0.000 0.062 2702 688 1948

17749 1.05 229.3 261.3 6.2 857 17756 0.00 2.50 0.00 0.000 6 0.000 0.040 2702 2105 1948

18064 1.05 229.3 242.8 6.4 873 18065 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2108 1948

18374 1.05 229.3 223.3 6.0 888 18378 0.00 2.60 0.00 0.000 4 0.000 0.061 2702 688 1948

18428 1.05 229.3 219.8 6.1 890 18435 0.00 2.50 0.00 0.000 6 0.000 0.041 2702 2109 1948

18744 1.05 229.3 200.8 6.2 906 18745 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2112 1949

19053 1.05 229.3 180.0 7.1 921 19054 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2113 1949

19363 1.05 229.9 162.1 6.0 936 19372 0.00 2.65 3.25 0.908 4 0.000 0.061 2702 694 1940

19439 1.05 229.9 157.1 6.7 939 19444 0.00 2.47 0.00 0.000 6 0.000 0.039 2703 2102 1940

19762 1.05 229.9 138.6 6.1 955 19763 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 1940

20071 1.05 229.9 119.4 6.4 970 20072 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2105 1940

20379 1.05 229.9 98.1 7.3 985 20384 0.00 2.62 0.00 0.000 4 0.000 0.061 2702 680 1940

20442 1.05 229.9 93.3 8.2 988 20446 0.00 2.50 0.00 0.000 6 0.000 0.040 2702 2099 1940

20768 1.05 229.9 71.4 6.5 1004 20769 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 1940

21078 1.05 229.9 51.6 7.2 1019 21079 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2103 1940

21387 1.13 292.9 36.6 4.1 1034 21442 0.17 2.70 49.00 0.835 4 0.039 0.062 2767 692 1683

21498 1.13 292.9 26.8 9.7 1039 21503 0.15 2.50 0.00 0.000 6 0.079 0.040 2736 2106 1683

21819 1.13 293.5 2.4 6.0 1055 21823 0.00 2.53 0.00 0.000 4 0.000 0.050 2736 3501 1683

21846 1.34 465.1 2.3 0.9 1056 21944 0.22 2.53 91.45 0.774 6 0.054 0.043 2794 2087 981

22222 end climb: NO_VERTICAL_VELOCITY

state 22222 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	244	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-80866.641	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	085326,6336.701,-1310.450,39,1.1,39,-12.4	TGT_NAME	KW
_CALLS	1	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.055,0.201
_SM_DEPTHo	2.93	KALMAN_X	319290.3,-817.9,737.9,-566544.2,7560.7
_SM_ANGLEo	-60.2	KALMAN_Y	-30290.3,483.3,426.4,258235.5,-1783.5
GPS2	085850,6336.726,-1310.404,13,1.1,13,-12.4	MHEAD_RNG_PITCHd_Wd	357.1,24586,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22636,0.00,0.000,0,0,603,558.06	ALTIM_BOTTOM_PING	675.3,53.7
SM_GC	3.13,0.00,0.00,0.00,0.000,0.000,0.000,31,1891,603,-11.33,-0.25,558.06	_24V_AH	23.3,52.926
IRIDIUM_FIX	6308.26,-1313.05,060108,070754	_10V_AH	10.1,25.841
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53721,1075
HUMID	2056	CFSIZE	260165632,243195904
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
TCM_TEMP	16.70	GPS	060108,151808,6337.849,-1308.019,31,1.2,31,-12.4
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	116	69.68	SBE_CT	792	24	443.17
Roll_motor	113	76	201.99	SBE_O2	725	19	321.11
VBD_pump_during_apogee	463	1267	13687.63	WL_BB2F	697	105	1706.88
VBD_pump_during_surface	47	760	849.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	95.59	nil	0	0	0.00
Iridium_during_connect	36	160	137.00	nil	0	0	0.00
Iridium_during_xfer	146	223	759.77
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.18
TT8	1871	19	374.30
LPSleep	17738	2	392.36
TT8_Active	698	19	139.74
TT8_Sampling	2197	39	883.22
TT8_CF8	459	45	212.71
TT8_Kalman	33	81	27.57
Analog_circuits	1802	12	218.49
GPS_charging	0	0	0.00
Compass	2159	8	174.51
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	66	0.00	0.00	-42.25	0.000	2	0.000	0.000	34	1884	1510
68	-0.95	-146.6	3.0	-0.1	2	234	11.38	2.60	-144.65	0.000	4	0.117	0.077	2285	500	3475
409	-0.95	-146.6	17.2	-7.2	17	415	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1899	3475
725	-0.95	-146.6	39.1	-6.8	33	726	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
1034	-0.95	-146.6	60.7	-6.9	48	1038	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3295	3475
1083	-0.95	-146.6	64.3	-7.5	50	1087	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1903	3475
1404	-0.95	-146.6	87.1	-7.1	66	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3474
1715	-0.95	-146.6	108.9	-7.1	81	1716	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
2023	-0.95	-146.6	131.1	-7.1	96	2024	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
2332	-0.95	-146.6	152.4	-6.6	111	2333	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
2641	-0.95	-146.6	173.1	-6.7	126	2645	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3299	3475
2695	-0.95	-146.6	176.8	-6.6	128	2702	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1900	3475
3011	-0.95	-146.6	196.3	-5.8	144	3012	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
3321	-0.95	-146.6	213.4	-5.6	159	3322	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
3630	-0.95	-146.6	230.7	-5.5	174	3631	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
3939	-0.95	-146.6	249.1	-5.7	189	3943	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3296	3475
3988	-0.95	-146.6	252.4	-6.9	191	3992	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1900	3475
4309	-0.95	-146.6	274.1	-6.8	207	4310	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
4618	-0.95	-146.6	297.7	-7.6	222	4619	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
4927	-0.95	-146.6	321.4	-7.8	237	4929	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
5237	-0.95	-146.6	344.7	-7.3	252	5238	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
5546	-0.95	-146.6	365.2	-7.1	267	5550	0.00	2.50	0.00	0.000	4	0.000	0.049	2285	3297	3475
5634	-0.95	-146.6	371.2	-6.4	271	5638	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1899	3475
5961	-0.95	-146.6	398.7	-8.7	287	5962	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
6270	-0.95	-146.6	421.8	-7.1	302	6271	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
6580	-0.95	-146.6	444.6	-7.2	317	6581	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
6889	-0.95	-146.6	466.4	-7.4	332	6890	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3474
7198	-0.95	-146.6	490.9	-8.2	347	7199	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1896	3474
7507	-0.95	-146.6	517.0	-8.3	362	7509	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1896	3474
7816	-0.95	-146.6	539.4	-6.9	377	7821	0.00	2.55	0.00	0.000	4	0.000	0.051	2285	3301	3474
7866	-0.95	-146.6	542.9	-6.2	379	7870	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1901	3474
8187	-0.95	-146.6	561.8	-5.3	395	8189	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
8496	-0.95	-146.6	577.7	-5.2	410	8498	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3474
8806	-0.95	-146.6	594.1	-5.8	425	8810	0.00	2.62	0.00	0.000	4	0.000	0.067	2285	487	3474
8862	-0.95	-146.6	598.0	-7.6	427	8868	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1904	3474
9177	-0.95	-146.6	621.2	-7.8	443	9178	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3474
9486	-0.95	-146.6	647.3	-8.7	458	9487	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3474
9795	-0.95	-146.6	670.6	-6.3	473	9800	0.00	2.55	0.00	0.000	4	0.000	0.059	2285	3297	3474
9839	-0.95	-146.6	673.2	-6.2	475	9843	0.00	2.55	0.00	0.000	6	0.000	0.051	2285	1894	3474
10167	-0.95	-146.6	690.0	-4.6	491	10168	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1894	3474
10476	-0.95	-146.6	709.5	-7.2	506	10480	0.00	2.62	0.00	0.000	4	0.000	0.074	2285	489	3474
10530	-0.95	-146.6	713.8	-7.4	508	10536	0.00	2.50	0.00	0.000	6	0.000	0.050	2285	1897	3474
10617	end dive: BOTTOM_OBSTACLE_DETECTED
state	10617	begin apogee
10622	-0.36	0.0	720.2	7.6	513	10749	0.62	0.00	123.85	1.267	6	0.074	0.000	2420	2103	2878
10750	end apogee: CONTROL_FINISHED_OK
state	10750	begin climb
10753	0.95	146.6	723.2	0.0	519	10884	1.25	2.67	123.05	1.226	4	0.049	0.064	2702	3491	2280
10969	0.96	159.6	717.3	5.6	530	10991	0.00	2.55	11.75	1.204	6	0.000	0.051	2703	2102	2227
11300	0.99	178.2	698.9	5.4	546	11319	0.00	0.00	16.60	1.233	6	0.000	0.000	2702	2102	2151
11628	1.00	191.5	680.0	5.6	562	11642	0.00	0.00	12.25	1.236	6	0.000	0.000	2702	2102	2097
11937	1.00	191.5	659.8	7.5	577	11938	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2102	2096
12246	1.00	191.5	635.9	7.1	592	12250	0.00	2.65	0.00	0.000	4	0.000	0.071	2703	684	2096
12300	1.00	191.5	631.7	6.9	594	12307	0.00	2.53	0.00	0.000	6	0.000	0.047	2702	2096	2096
12616	1.02	208.1	613.8	5.5	610	12636	0.00	0.00	14.68	1.230	6	0.000	0.000	2702	2096	2028
12946	1.05	228.2	594.6	5.4	626	12966	0.00	0.00	17.75	1.216	6	0.000	0.000	2702	2098	1946
13274	1.05	228.2	571.8	7.5	642	13279	0.00	2.65	0.00	0.000	4	0.000	0.067	2702	690	1946
13351	1.05	228.2	565.5	8.1	645	13358	0.00	2.53	0.00	0.000	6	0.000	0.044	2702	2110	1947
13667	1.05	228.2	543.5	6.8	661	13668	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2110	1946
13976	1.05	228.2	523.5	6.6	676	13977	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2111	1946
14286	1.05	228.2	501.1	7.4	691	14290	0.00	2.62	0.00	0.000	4	0.000	0.064	2702	690	1946
14362	1.05	228.2	494.5	8.8	694	14369	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2106	1947
14678	1.05	228.2	469.2	7.9	710	14679	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1947
14988	1.05	228.2	445.3	7.3	725	14989	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2106	1946
15297	1.05	228.2	424.9	6.5	740	15301	0.00	2.62	0.00	0.000	4	0.000	0.064	2702	685	1946
15381	1.05	228.2	419.3	6.9	744	15385	0.00	2.47	0.00	0.000	6	0.000	0.041	2703	2102	1947
15706	1.05	228.2	399.3	6.1	760	15707	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	1947
16015	1.05	228.2	378.8	6.6	775	16016	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	1947
16324	1.05	228.2	359.2	6.3	790	16329	0.00	2.62	0.00	0.000	4	0.000	0.064	2702	682	1948
16396	1.05	228.2	354.1	7.1	793	16400	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2108	1948
16711	1.05	228.2	333.0	6.7	808	16712	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2112	1948
17020	1.05	228.2	311.7	6.8	823	17025	0.00	2.62	0.00	0.000	4	0.000	0.061	2703	690	1948
17070	1.05	228.2	308.2	6.8	825	17074	0.00	2.47	0.00	0.000	6	0.000	0.041	2703	2103	1948
17385	1.05	228.2	285.5	7.1	840	17386	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2107	1948
17695	1.05	229.3	264.8	6.0	855	17699	0.00	2.62	0.00	0.000	4	0.000	0.062	2702	688	1948
17749	1.05	229.3	261.3	6.2	857	17756	0.00	2.50	0.00	0.000	6	0.000	0.040	2702	2105	1948
18064	1.05	229.3	242.8	6.4	873	18065	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2108	1948
18374	1.05	229.3	223.3	6.0	888	18378	0.00	2.60	0.00	0.000	4	0.000	0.061	2702	688	1948
18428	1.05	229.3	219.8	6.1	890	18435	0.00	2.50	0.00	0.000	6	0.000	0.041	2702	2109	1948
18744	1.05	229.3	200.8	6.2	906	18745	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2112	1949
19053	1.05	229.3	180.0	7.1	921	19054	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2113	1949
19363	1.05	229.9	162.1	6.0	936	19372	0.00	2.65	3.25	0.908	4	0.000	0.061	2702	694	1940
19439	1.05	229.9	157.1	6.7	939	19444	0.00	2.47	0.00	0.000	6	0.000	0.039	2703	2102	1940
19762	1.05	229.9	138.6	6.1	955	19763	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	1940
20071	1.05	229.9	119.4	6.4	970	20072	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2105	1940
20379	1.05	229.9	98.1	7.3	985	20384	0.00	2.62	0.00	0.000	4	0.000	0.061	2702	680	1940
20442	1.05	229.9	93.3	8.2	988	20446	0.00	2.50	0.00	0.000	6	0.000	0.040	2702	2099	1940
20768	1.05	229.9	71.4	6.5	1004	20769	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	1940
21078	1.05	229.9	51.6	7.2	1019	21079	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2103	1940
21387	1.13	292.9	36.6	4.1	1034	21442	0.17	2.70	49.00	0.835	4	0.039	0.062	2767	692	1683
21498	1.13	292.9	26.8	9.7	1039	21503	0.15	2.50	0.00	0.000	6	0.079	0.040	2736	2106	1683
21819	1.13	293.5	2.4	6.0	1055	21823	0.00	2.53	0.00	0.000	4	0.000	0.050	2736	3501	1683
21846	1.34	465.1	2.3	0.9	1056	21944	0.22	2.53	91.45	0.774	6	0.054	0.043	2794	2087	981
22222	end climb: NO_VERTICAL_VELOCITY
state	22222	begin surface