Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 245 * 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 245 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -80880.766 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 -80880.766

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 29 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 32 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 245 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 151808,6337.849,-1308.019,31,1.2,31,-12.4 TGT_NAME KW

_CALLS 2 TGT_LATLONG 6350.000,-1310.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.098,0.184

_SM_DEPTHo 2.87 KALMAN_X 324165.7,-546.6,-942.8,-567870.9,10847.3

_SM_ANGLEo -50.8 KALMAN_Y -33675.3,-885.5,139.1,265268.2,-1233.9

GPS2 152721,6337.777,-1308.009,12,1.0,12,-12.3 MHEAD_RNG_PITCHd_Wd 344.4,22694,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21224,0.62,0.974,0,0,603,558.06 ALTIM_BOTTOM_PING 675.4,61.7

SM_GC 3.00,0.00,0.00,0.62,0.000,0.000,0.974,28,1901,603,-11.35,0.03,558.06 _24V_AH 23.2,53.100

IRIDIUM_FIX 6313.04,-1311.66,060108,191909 _10V_AH 10.1,25.935

TT8_MAMPS 0.026078 DATA_FILE_SIZE 50622,1006

HUMID 2053 CFSIZE 260165632,243142656

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

TCM_TEMP 18.70 GPS 060108,212307,6340.025,-1305.825,31,0.8,31,-12.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 137 82.50 SBE_CT 746 24 415.65

Roll_motor 92 75 161.83 SBE_O2 679 19 299.47

VBD_pump_during_apogee 454 1267 13367.26 WL_BB2F 642 105 1566.25

VBD_pump_during_surface 47 974 1068.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 72 103 172.90 nil 0 0 0.00

Iridium_during_connect 140 160 523.10 nil 0 0 0.00

Iridium_during_xfer 167 223 868.88

Transponder_ping 7 420 68.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.81

TT8 1766 19 353.32

LPSleep 16701 2 369.42

TT8_Active 622 19 124.50

TT8_Sampling 2076 39 834.71

TT8_CF8 611 45 282.71

TT8_Kalman 33 81 27.57

Analog_circuits 1648 12 199.77

GPS_charging 0 0 0.00

Compass 2045 8 165.29

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

22 -0.95 -146.6 0.0 0.0 0 106 0.00 0.00 -82.05 0.000 2 0.000 0.000 31 1886 2226

109 -0.95 -146.6 3.3 -0.7 4 182 11.88 2.60 -55.08 0.000 4 0.137 0.075 2285 498 3476

221 -0.95 -146.6 11.9 -9.5 9 226 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1906 3476

537 -0.95 -146.6 39.4 -9.5 24 538 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

846 -0.95 -146.6 63.0 -6.3 39 847 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

1156 -0.95 -146.6 82.0 -5.8 54 1157 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1910 3476

1466 -0.95 -146.6 105.1 -7.1 69 1470 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3298 3476

1528 -0.95 -146.6 109.3 -6.8 72 1532 0.00 2.50 0.00 0.000 6 0.000 0.044 2284 1906 3476

1854 -0.95 -146.6 129.2 -6.6 88 1855 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2162 -0.95 -146.6 152.3 -7.5 103 2163 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2471 -0.95 -146.6 174.8 -7.2 118 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

2781 -0.95 -146.6 198.0 -8.1 133 2782 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

3090 -0.95 -146.6 221.2 -6.9 148 3091 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

3399 -0.95 -146.6 241.6 -6.6 163 3400 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3475

3709 -0.95 -146.6 262.6 -6.9 178 3710 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3476

4018 -0.95 -146.6 283.1 -6.6 193 4022 0.00 2.62 0.00 0.000 4 0.000 0.067 2285 490 3476

4089 -0.95 -146.6 288.0 -7.1 196 4094 0.00 2.47 0.00 0.000 6 0.000 0.041 2285 1901 3476

4410 -0.95 -146.6 309.7 -7.1 212 4415 0.00 2.62 0.00 0.000 4 0.000 0.067 2284 489 3476

4460 -0.95 -146.6 313.7 -7.8 214 4464 0.00 2.47 0.00 0.000 6 0.000 0.042 2285 1899 3476

4781 -0.95 -146.6 337.8 -7.6 230 4782 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

5090 -0.95 -146.6 360.4 -7.2 245 5094 0.00 2.60 0.00 0.000 4 0.000 0.066 2285 496 3475

5174 -0.95 -146.6 366.8 -7.6 249 5178 0.00 2.47 0.00 0.000 6 0.000 0.042 2285 1904 3475

5499 -0.95 -146.6 388.4 -6.5 265 5500 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3476

5808 -0.95 -146.6 408.9 -6.7 280 5809 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3475

6118 -0.95 -146.6 429.7 -6.8 295 6119 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3475

6429 -0.95 -146.6 450.3 -6.6 310 6434 0.00 2.62 0.00 0.000 4 0.000 0.067 2285 496 3475

6478 -0.95 -146.6 453.9 -7.4 312 6482 0.00 2.45 0.00 0.000 6 0.000 0.043 2285 1901 3475

6800 -0.95 -146.6 473.0 -5.1 328 6801 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1907 3475

7109 -0.95 -146.6 492.6 -7.0 343 7110 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3474

7418 -0.95 -146.6 515.6 -6.7 358 7422 0.00 2.53 0.00 0.000 4 0.000 0.053 2285 3297 3475

7485 -0.95 -146.6 520.0 -7.0 361 7489 0.00 2.50 0.00 0.000 6 0.000 0.048 2285 1903 3475

7805 -0.95 -146.6 536.4 -4.2 377 7807 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1904 3474

8114 -0.95 -146.6 552.8 -5.6 392 8116 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1904 3474

8424 -0.95 -146.6 575.3 -7.9 407 8428 0.00 2.55 0.00 0.000 4 0.000 0.055 2285 3299 3474

8535 -0.95 -146.6 584.3 -7.9 412 8539 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1902 3474

8856 -0.95 -146.6 604.4 -6.0 428 8857 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

9165 -0.95 -146.6 621.7 -6.0 443 9167 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

9475 -0.95 -146.6 637.5 -5.6 458 9479 0.00 2.55 0.00 0.000 4 0.000 0.056 2285 3302 3474

9540 -0.95 -146.6 642.5 -8.1 461 9545 0.00 2.53 0.00 0.000 6 0.000 0.048 2285 1898 3474

9867 -0.95 -146.6 672.2 -8.9 477 9868 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3474

10177 -0.95 -146.6 692.1 -5.8 492 10178 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3474

10486 -0.95 -146.6 712.5 -7.2 507 10490 0.00 2.55 0.00 0.000 4 0.000 0.057 2285 3297 3474

10547 -0.95 -146.6 717.0 -7.8 510 10552 0.00 2.55 0.00 0.000 6 0.000 0.051 2285 1895 3474

10707 end dive: BOTTOM_OBSTACLE_DETECTED

state 10707 begin apogee

10712 -0.36 0.0 727.6 6.7 518 10840 0.62 0.00 124.35 1.268 6 0.074 0.000 2421 2103 2878

10841 end apogee: CONTROL_FINISHED_OK

state 10841 begin climb

10843 0.95 146.6 732.3 0.0 524 10974 1.25 2.75 122.78 1.245 4 0.049 0.069 2703 696 2280

11064 0.95 146.6 726.1 7.7 535 11068 0.00 2.53 0.00 0.000 6 0.000 0.048 2703 2094 2280

11391 0.95 146.6 700.6 8.5 551 11392 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2095 2279

11700 0.99 180.6 680.5 5.0 566 11735 0.00 2.67 29.08 1.243 4 0.000 0.062 2703 3507 2141

11881 1.01 194.0 668.2 5.6 574 11901 0.00 2.58 12.43 1.222 6 0.000 0.051 2703 2099 2086

12229 1.03 216.6 646.8 5.3 591 12250 0.00 0.00 19.52 1.230 6 0.000 0.000 2703 2099 1995

12557 1.06 240.1 621.8 5.3 607 12584 0.10 2.67 20.50 1.219 4 0.057 0.056 2740 3506 1898

12680 1.06 240.1 611.6 9.1 612 12686 0.00 2.58 0.00 0.000 6 0.000 0.048 2740 2094 1898

12995 1.06 240.1 581.1 11.1 628 12996 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2093 1898

13305 1.06 240.1 545.3 11.6 643 13306 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2094 1898

13613 1.06 240.1 517.5 7.5 658 13618 0.00 2.58 0.00 0.000 4 0.000 0.054 2740 3504 1898

13676 1.06 240.1 512.8 7.1 661 13680 0.00 2.53 0.00 0.000 6 0.000 0.047 2740 2101 1898

14002 1.06 240.1 490.2 6.9 677 14003 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2100 1898

14311 1.06 240.1 465.7 8.2 692 14312 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2101 1898

14620 1.06 240.1 444.3 6.9 707 14621 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2101 1898

14930 1.06 240.1 421.8 7.6 722 14931 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2101 1898

15239 1.06 240.1 397.7 8.0 737 15243 0.00 2.58 0.00 0.000 4 0.000 0.051 2740 3507 1898

15300 1.06 240.1 392.6 8.5 740 15305 0.00 2.53 0.00 0.000 6 0.000 0.043 2740 2092 1898

15626 1.06 240.1 366.7 8.1 756 15627 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1898

15935 1.06 240.1 342.4 7.8 771 15936 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1898

16244 1.06 240.1 317.7 8.3 786 16246 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1898

16554 1.06 240.1 292.2 8.2 801 16555 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

16863 1.06 240.1 268.4 7.4 816 16864 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

17172 1.06 240.1 245.2 8.0 831 17173 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

17482 1.06 240.1 221.0 7.1 846 17483 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

17791 1.06 240.1 198.4 7.3 861 17792 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

18100 1.06 240.1 173.8 7.6 876 18101 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2091 1900

18410 1.06 240.1 149.1 7.6 891 18411 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2092 1899

18720 1.06 240.1 126.0 7.5 906 18724 0.00 2.58 0.00 0.000 4 0.000 0.050 2740 3505 1900

18808 1.06 240.1 119.0 7.3 910 18813 0.00 2.50 0.00 0.000 6 0.000 0.041 2740 2091 1900

19136 1.06 240.1 95.3 7.6 926 19137 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2091 1900

19445 1.06 240.1 70.1 8.3 941 19446 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2091 1900

19754 1.09 263.6 46.9 5.3 956 19779 0.00 2.62 19.50 0.865 4 0.000 0.061 2740 689 1803

19825 1.09 263.6 43.0 6.6 959 19829 0.00 2.53 0.00 0.000 6 0.000 0.038 2740 2112 1803

20145 1.09 263.6 13.1 8.7 975 20146 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2116 1803

20457 1.34 467.7 2.3 -0.1 990 20569 0.17 2.55 106.30 0.772 4 0.077 0.044 2783 3504 970

20808 end climb: NO_VERTICAL_VELOCITY

state 20808 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	245	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-80880.766	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	151808,6337.849,-1308.019,31,1.2,31,-12.4	TGT_NAME	KW
_CALLS	2	TGT_LATLONG	6350.000,-1310.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.098,0.184
_SM_DEPTHo	2.87	KALMAN_X	324165.7,-546.6,-942.8,-567870.9,10847.3
_SM_ANGLEo	-50.8	KALMAN_Y	-33675.3,-885.5,139.1,265268.2,-1233.9
GPS2	152721,6337.777,-1308.009,12,1.0,12,-12.3	MHEAD_RNG_PITCHd_Wd	344.4,22694,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21224,0.62,0.974,0,0,603,558.06	ALTIM_BOTTOM_PING	675.4,61.7
SM_GC	3.00,0.00,0.00,0.62,0.000,0.000,0.974,28,1901,603,-11.35,0.03,558.06	_24V_AH	23.2,53.100
IRIDIUM_FIX	6313.04,-1311.66,060108,191909	_10V_AH	10.1,25.935
TT8_MAMPS	0.026078	DATA_FILE_SIZE	50622,1006
HUMID	2053	CFSIZE	260165632,243142656
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	18.70	GPS	060108,212307,6340.025,-1305.825,31,0.8,31,-12.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	137	82.50	SBE_CT	746	24	415.65
Roll_motor	92	75	161.83	SBE_O2	679	19	299.47
VBD_pump_during_apogee	454	1267	13367.26	WL_BB2F	642	105	1566.25
VBD_pump_during_surface	47	974	1068.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	72	103	172.90	nil	0	0	0.00
Iridium_during_connect	140	160	523.10	nil	0	0	0.00
Iridium_during_xfer	167	223	868.88
Transponder_ping	7	420	68.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.81
TT8	1766	19	353.32
LPSleep	16701	2	369.42
TT8_Active	622	19	124.50
TT8_Sampling	2076	39	834.71
TT8_CF8	611	45	282.71
TT8_Kalman	33	81	27.57
Analog_circuits	1648	12	199.77
GPS_charging	0	0	0.00
Compass	2045	8	165.29
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
22	-0.95	-146.6	0.0	0.0	0	106	0.00	0.00	-82.05	0.000	2	0.000	0.000	31	1886	2226
109	-0.95	-146.6	3.3	-0.7	4	182	11.88	2.60	-55.08	0.000	4	0.137	0.075	2285	498	3476
221	-0.95	-146.6	11.9	-9.5	9	226	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1906	3476
537	-0.95	-146.6	39.4	-9.5	24	538	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
846	-0.95	-146.6	63.0	-6.3	39	847	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
1156	-0.95	-146.6	82.0	-5.8	54	1157	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1910	3476
1466	-0.95	-146.6	105.1	-7.1	69	1470	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3298	3476
1528	-0.95	-146.6	109.3	-6.8	72	1532	0.00	2.50	0.00	0.000	6	0.000	0.044	2284	1906	3476
1854	-0.95	-146.6	129.2	-6.6	88	1855	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2162	-0.95	-146.6	152.3	-7.5	103	2163	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2471	-0.95	-146.6	174.8	-7.2	118	2473	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
2781	-0.95	-146.6	198.0	-8.1	133	2782	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
3090	-0.95	-146.6	221.2	-6.9	148	3091	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
3399	-0.95	-146.6	241.6	-6.6	163	3400	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3475
3709	-0.95	-146.6	262.6	-6.9	178	3710	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3476
4018	-0.95	-146.6	283.1	-6.6	193	4022	0.00	2.62	0.00	0.000	4	0.000	0.067	2285	490	3476
4089	-0.95	-146.6	288.0	-7.1	196	4094	0.00	2.47	0.00	0.000	6	0.000	0.041	2285	1901	3476
4410	-0.95	-146.6	309.7	-7.1	212	4415	0.00	2.62	0.00	0.000	4	0.000	0.067	2284	489	3476
4460	-0.95	-146.6	313.7	-7.8	214	4464	0.00	2.47	0.00	0.000	6	0.000	0.042	2285	1899	3476
4781	-0.95	-146.6	337.8	-7.6	230	4782	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
5090	-0.95	-146.6	360.4	-7.2	245	5094	0.00	2.60	0.00	0.000	4	0.000	0.066	2285	496	3475
5174	-0.95	-146.6	366.8	-7.6	249	5178	0.00	2.47	0.00	0.000	6	0.000	0.042	2285	1904	3475
5499	-0.95	-146.6	388.4	-6.5	265	5500	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3476
5808	-0.95	-146.6	408.9	-6.7	280	5809	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3475
6118	-0.95	-146.6	429.7	-6.8	295	6119	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3475
6429	-0.95	-146.6	450.3	-6.6	310	6434	0.00	2.62	0.00	0.000	4	0.000	0.067	2285	496	3475
6478	-0.95	-146.6	453.9	-7.4	312	6482	0.00	2.45	0.00	0.000	6	0.000	0.043	2285	1901	3475
6800	-0.95	-146.6	473.0	-5.1	328	6801	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1907	3475
7109	-0.95	-146.6	492.6	-7.0	343	7110	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3474
7418	-0.95	-146.6	515.6	-6.7	358	7422	0.00	2.53	0.00	0.000	4	0.000	0.053	2285	3297	3475
7485	-0.95	-146.6	520.0	-7.0	361	7489	0.00	2.50	0.00	0.000	6	0.000	0.048	2285	1903	3475
7805	-0.95	-146.6	536.4	-4.2	377	7807	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1904	3474
8114	-0.95	-146.6	552.8	-5.6	392	8116	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1904	3474
8424	-0.95	-146.6	575.3	-7.9	407	8428	0.00	2.55	0.00	0.000	4	0.000	0.055	2285	3299	3474
8535	-0.95	-146.6	584.3	-7.9	412	8539	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1902	3474
8856	-0.95	-146.6	604.4	-6.0	428	8857	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
9165	-0.95	-146.6	621.7	-6.0	443	9167	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
9475	-0.95	-146.6	637.5	-5.6	458	9479	0.00	2.55	0.00	0.000	4	0.000	0.056	2285	3302	3474
9540	-0.95	-146.6	642.5	-8.1	461	9545	0.00	2.53	0.00	0.000	6	0.000	0.048	2285	1898	3474
9867	-0.95	-146.6	672.2	-8.9	477	9868	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3474
10177	-0.95	-146.6	692.1	-5.8	492	10178	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3474
10486	-0.95	-146.6	712.5	-7.2	507	10490	0.00	2.55	0.00	0.000	4	0.000	0.057	2285	3297	3474
10547	-0.95	-146.6	717.0	-7.8	510	10552	0.00	2.55	0.00	0.000	6	0.000	0.051	2285	1895	3474
10707	end dive: BOTTOM_OBSTACLE_DETECTED
state	10707	begin apogee
10712	-0.36	0.0	727.6	6.7	518	10840	0.62	0.00	124.35	1.268	6	0.074	0.000	2421	2103	2878
10841	end apogee: CONTROL_FINISHED_OK
state	10841	begin climb
10843	0.95	146.6	732.3	0.0	524	10974	1.25	2.75	122.78	1.245	4	0.049	0.069	2703	696	2280
11064	0.95	146.6	726.1	7.7	535	11068	0.00	2.53	0.00	0.000	6	0.000	0.048	2703	2094	2280
11391	0.95	146.6	700.6	8.5	551	11392	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2095	2279
11700	0.99	180.6	680.5	5.0	566	11735	0.00	2.67	29.08	1.243	4	0.000	0.062	2703	3507	2141
11881	1.01	194.0	668.2	5.6	574	11901	0.00	2.58	12.43	1.222	6	0.000	0.051	2703	2099	2086
12229	1.03	216.6	646.8	5.3	591	12250	0.00	0.00	19.52	1.230	6	0.000	0.000	2703	2099	1995
12557	1.06	240.1	621.8	5.3	607	12584	0.10	2.67	20.50	1.219	4	0.057	0.056	2740	3506	1898
12680	1.06	240.1	611.6	9.1	612	12686	0.00	2.58	0.00	0.000	6	0.000	0.048	2740	2094	1898
12995	1.06	240.1	581.1	11.1	628	12996	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2093	1898
13305	1.06	240.1	545.3	11.6	643	13306	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2094	1898
13613	1.06	240.1	517.5	7.5	658	13618	0.00	2.58	0.00	0.000	4	0.000	0.054	2740	3504	1898
13676	1.06	240.1	512.8	7.1	661	13680	0.00	2.53	0.00	0.000	6	0.000	0.047	2740	2101	1898
14002	1.06	240.1	490.2	6.9	677	14003	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2100	1898
14311	1.06	240.1	465.7	8.2	692	14312	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2101	1898
14620	1.06	240.1	444.3	6.9	707	14621	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2101	1898
14930	1.06	240.1	421.8	7.6	722	14931	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2101	1898
15239	1.06	240.1	397.7	8.0	737	15243	0.00	2.58	0.00	0.000	4	0.000	0.051	2740	3507	1898
15300	1.06	240.1	392.6	8.5	740	15305	0.00	2.53	0.00	0.000	6	0.000	0.043	2740	2092	1898
15626	1.06	240.1	366.7	8.1	756	15627	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1898
15935	1.06	240.1	342.4	7.8	771	15936	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1898
16244	1.06	240.1	317.7	8.3	786	16246	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1898
16554	1.06	240.1	292.2	8.2	801	16555	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
16863	1.06	240.1	268.4	7.4	816	16864	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
17172	1.06	240.1	245.2	8.0	831	17173	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
17482	1.06	240.1	221.0	7.1	846	17483	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
17791	1.06	240.1	198.4	7.3	861	17792	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
18100	1.06	240.1	173.8	7.6	876	18101	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2091	1900
18410	1.06	240.1	149.1	7.6	891	18411	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2092	1899
18720	1.06	240.1	126.0	7.5	906	18724	0.00	2.58	0.00	0.000	4	0.000	0.050	2740	3505	1900
18808	1.06	240.1	119.0	7.3	910	18813	0.00	2.50	0.00	0.000	6	0.000	0.041	2740	2091	1900
19136	1.06	240.1	95.3	7.6	926	19137	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2091	1900
19445	1.06	240.1	70.1	8.3	941	19446	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2091	1900
19754	1.09	263.6	46.9	5.3	956	19779	0.00	2.62	19.50	0.865	4	0.000	0.061	2740	689	1803
19825	1.09	263.6	43.0	6.6	959	19829	0.00	2.53	0.00	0.000	6	0.000	0.038	2740	2112	1803
20145	1.09	263.6	13.1	8.7	975	20146	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2116	1803
20457	1.34	467.7	2.3	-0.1	990	20569	0.17	2.55	106.30	0.772	4	0.077	0.044	2783	3504	970
20808	end climb: NO_VERTICAL_VELOCITY
state	20808	begin surface