Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 114 * 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 114 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 300 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 35 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -78395.812 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 300

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 -78395.812

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 35 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 114 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 233858,6159.446,-933.771,28,3.8,47,-9.7 TGT_NAME CW

_CALLS 1 TGT_LATLONG 6205.000,-950.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.196,0.072

_SM_DEPTHo 3.38 KALMAN_X 83845.2,-2472.5,-1311.0,-136118.9,26671.1

_SM_ANGLEo -62.6 KALMAN_Y 115411.7,-128.8,197.2,-66806.1,-4795.5

GPS2 234415,6159.405,-933.729,12,1.1,12,-9.7 MHEAD_RNG_PITCHd_Wd 299.9,17505,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20499,0.00,0.000,0,0,604,557.81 ALTIM_BOTTOM_PING 600.2,85.5

SM_GC 3.24,12.05,0.00,0.00,0.028,0.000,0.000,32,1891,604,-11.26,-0.25,557.81 _24V_AH 23.4,29.614

IRIDIUM_FIX 6135.28,-945.07,031207,222231 _10V_AH 10.1,13.295

TT8_MAMPS 0.026845 DATA_FILE_SIZE 47434,971

HUMID 2060 CFSIZE 260165632,251736064

INTERNAL_PRESSURE 9.16051 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,17,0,0

TCM_TEMP 15.70 GPS 041207,052801,6200.713,-937.028,40,0.8,40,-9.7

XPDR_PINGS 11

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 119 72.38 SBE_CT 710 24 398.75

Roll_motor 91 62 135.07 SBE_O2 657 19 292.49

VBD_pump_during_apogee 484 1233 13976.93 WL_BB2F 644 105 1583.57

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 37 103 89.55 nil 0 0 0.00

Iridium_during_connect 37 160 141.63 nil 0 0 0.00

Iridium_during_xfer 150 223 787.63

Transponder_ping 7 420 76.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.89

TT8 1692 19 338.49

LPSleep 16085 2 355.80

TT8_Active 627 19 125.49

TT8_Sampling 2034 39 817.73

TT8_CF8 381 45 176.55

TT8_Kalman 33 81 27.56

Analog_circuits 1648 12 199.85

GPS_charging 0 0 0.00

Compass 2005 8 162.01

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -22.38 0.000 2 0.000 0.000 26 1873 1131

45 -0.95 -146.6 3.4 -0.0 1 218 11.48 2.60 -152.75 0.000 4 0.120 0.058 2293 3295 3477

343 -0.95 -146.6 14.2 -8.8 15 348 0.00 2.47 0.00 0.000 6 0.000 0.041 2293 1903 3477

669 -0.95 -146.6 39.2 -7.5 31 670 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1903 3477

979 -0.95 -146.6 63.1 -7.8 46 983 0.00 2.50 0.00 0.000 4 0.000 0.044 2293 3301 3477

1040 -0.95 -146.6 68.7 -9.3 49 1044 0.00 2.50 0.00 0.000 6 0.000 0.040 2294 1894 3477

1365 -0.95 -146.6 91.2 -7.6 65 1367 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1895 3477

1675 -0.95 -146.6 113.1 -6.6 80 1676 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1894 3477

1985 -0.95 -146.6 130.7 -5.3 95 1986 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1894 3477

2293 -0.95 -146.6 155.7 -8.3 110 2297 0.00 2.53 0.00 0.000 4 0.000 0.045 2293 3302 3477

2364 -0.95 -146.6 161.8 -8.3 113 2369 0.00 2.53 0.00 0.000 6 0.000 0.041 2293 1901 3477

2685 -0.95 -146.6 185.0 -7.0 129 2686 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1901 3477

2994 -0.95 -146.6 207.7 -7.7 144 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1901 3477

3303 -0.95 -146.6 230.8 -7.1 159 3305 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1901 3477

3613 -0.95 -146.6 252.6 -6.3 174 3616 0.00 2.50 0.00 0.000 4 0.000 0.045 2293 3302 3477

3707 -0.95 -146.6 258.4 -5.5 178 3711 0.00 2.53 0.00 0.000 6 0.000 0.041 2293 1898 3477

4034 -0.95 -146.6 276.8 -5.5 194 4035 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3477

4343 -0.95 -146.6 294.6 -5.4 209 4344 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3477

4652 -0.95 -146.6 310.0 -5.2 224 4656 0.00 2.50 0.00 0.000 4 0.000 0.046 2293 3295 3477

4708 -0.95 -146.6 312.9 -5.6 226 4714 0.00 2.47 0.00 0.000 6 0.000 0.041 2293 1898 3477

5022 -0.95 -146.6 330.0 -5.3 242 5024 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3477

5332 -0.95 -146.6 346.3 -5.4 257 5333 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3477

5641 -0.95 -146.6 363.7 -5.8 272 5642 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1898 3476

5950 -0.95 -146.6 382.5 -6.2 287 5954 0.00 2.50 0.00 0.000 4 0.000 0.048 2293 3295 3476

6021 -0.95 -146.6 386.8 -5.7 290 6026 0.00 2.47 0.00 0.000 6 0.000 0.043 2293 1902 3476

6343 -0.95 -146.6 405.6 -5.3 306 6347 0.00 2.50 0.00 0.000 4 0.000 0.048 2293 3296 3476

6404 -0.95 -146.6 409.0 -5.6 309 6408 0.00 2.50 0.00 0.000 6 0.000 0.044 2293 1896 3476

6729 -0.95 -146.6 427.7 -6.0 325 6730 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3476

7038 -0.95 -146.6 449.4 -7.4 340 7039 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1896 3476

7347 -0.95 -146.6 472.0 -7.0 355 7348 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1896 3476

7657 -0.95 -146.6 491.7 -6.0 370 7661 0.00 2.53 0.00 0.000 4 0.000 0.051 2293 3297 3476

7710 -0.95 -146.6 495.2 -6.9 372 7717 0.00 2.53 0.00 0.000 6 0.000 0.046 2293 1907 3476

8026 -0.95 -146.6 515.0 -5.9 388 8027 0.00 0.00 0.00 0.000 6 0.000 0.000 2294 1907 3476

8336 -0.95 -146.6 532.0 -5.7 403 8340 0.00 2.53 0.00 0.000 4 0.000 0.053 2293 3298 3476

8401 -0.95 -146.6 536.1 -7.1 406 8405 0.00 2.53 0.00 0.000 6 0.000 0.046 2293 1905 3475

8728 -0.95 -146.6 555.4 -5.8 422 8729 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1905 3475

9037 -0.95 -146.6 573.9 -6.4 437 9038 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1905 3475

9346 -0.95 -146.6 595.8 -6.9 452 9347 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1905 3475

9655 -0.95 -146.6 618.5 -7.8 467 9657 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1905 3474

9965 -0.95 -146.6 639.6 -6.6 482 9966 0.00 0.00 0.00 0.000 6 0.000 0.000 2293 1905 3474

10274 -0.95 -146.6 658.1 -5.6 497 10279 0.00 2.55 0.00 0.000 4 0.000 0.059 2293 3296 3474

10374 -0.95 -146.6 665.0 -8.6 501 10381 0.00 2.50 0.00 0.000 6 0.000 0.051 2293 1902 3474

10523 end dive: BOTTOM_OBSTACLE_DETECTED

state 10523 begin apogee

10528 -0.36 0.0 676.0 6.7 509 10653 0.57 0.00 121.90 1.233 6 0.074 0.000 2418 2098 2878

10653 end apogee: CONTROL_FINISHED_OK

state 10654 begin climb

10655 0.95 146.6 678.9 0.0 515 10786 1.25 2.70 120.85 1.191 4 0.053 0.063 2698 3497 2280

10865 0.95 146.6 671.6 6.9 525 10869 0.00 2.55 0.00 0.000 6 0.000 0.049 2698 2100 2280

11192 1.02 201.7 659.6 4.4 541 11240 0.00 0.00 46.62 1.198 6 0.000 0.000 2698 2099 2055

11540 1.02 201.7 637.1 8.0 558 11544 0.00 2.60 0.00 0.000 4 0.000 0.058 2698 3500 2054

11640 1.02 201.7 628.5 8.9 562 11647 0.00 2.55 0.00 0.000 6 0.000 0.048 2698 2094 2054

11955 1.02 201.7 607.2 7.1 578 11956 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2094 2054

12264 1.02 201.7 586.2 6.4 593 12265 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2093 2053

12573 1.02 201.7 566.6 6.1 608 12575 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2094 2052

12883 1.05 228.4 549.5 5.2 623 12908 0.12 0.00 22.33 1.184 6 0.049 0.000 2743 2094 1946

13212 1.05 228.4 524.2 8.3 639 13213 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

13521 1.05 228.4 498.7 8.4 654 13522 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1946

13831 1.05 228.4 470.7 9.1 669 13835 0.00 2.55 0.00 0.000 4 0.000 0.052 2743 3499 1946

13941 1.05 228.4 460.5 9.2 674 13945 0.00 2.53 0.00 0.000 6 0.000 0.044 2743 2102 1945

14267 1.05 228.4 429.5 9.9 690 14269 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2102 1945

14577 1.05 228.4 400.4 9.3 705 14581 0.00 2.53 0.00 0.000 4 0.000 0.049 2743 3507 1946

14653 1.05 228.4 392.9 9.6 708 14660 0.00 2.53 0.00 0.000 6 0.000 0.043 2743 2105 1946

14969 1.05 228.4 362.5 9.8 724 14970 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2105 1946

15278 1.05 228.4 333.9 8.8 739 15279 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2105 1946

15587 1.05 228.4 308.6 7.9 754 15588 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2105 1946

15896 1.05 228.4 285.8 6.8 769 15900 0.00 2.50 0.00 0.000 4 0.000 0.048 2743 3507 1947

15979 1.05 228.4 279.9 7.5 772 15986 0.00 2.53 0.00 0.000 6 0.000 0.041 2743 2094 1946

16294 1.05 228.4 258.1 7.5 788 16296 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1947

16604 1.05 228.4 233.0 8.2 803 16605 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1947

16913 1.05 228.4 207.0 8.6 818 16914 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1948

17222 1.05 228.4 179.9 8.7 833 17223 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2094 1948

17531 1.05 228.4 153.7 8.4 848 17535 0.00 2.53 0.00 0.000 4 0.000 0.047 2743 3502 1948

17637 1.05 228.4 144.1 8.9 852 17644 0.00 2.50 0.00 0.000 6 0.000 0.039 2743 2098 1948

17952 1.05 228.4 119.0 7.3 868 17954 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1948

18262 1.05 228.4 97.2 7.2 883 18263 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1949

18571 1.05 228.4 73.4 7.5 898 18572 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2098 1948

18881 1.06 236.1 51.4 5.8 913 18895 0.00 2.58 7.43 0.875 4 0.000 0.047 2743 3500 1915

18956 1.06 236.1 44.7 9.0 916 18961 0.00 2.50 0.00 0.000 6 0.000 0.038 2743 2101 1915

19278 1.06 236.1 16.6 8.6 932 19279 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2101 1915

19587 1.31 437.9 2.7 -0.0 947 19699 0.15 2.65 104.55 0.755 4 0.053 0.058 2789 694 1092

19712 1.58 659.5 2.4 -0.6 953 19779 0.22 2.50 60.62 0.730 6 0.058 0.040 2838 2109 603

20078 end climb: NO_VERTICAL_VELOCITY

state 20078 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	114	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	300	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	35	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-78395.812	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	233858,6159.446,-933.771,28,3.8,47,-9.7	TGT_NAME	CW
_CALLS	1	TGT_LATLONG	6205.000,-950.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.196,0.072
_SM_DEPTHo	3.38	KALMAN_X	83845.2,-2472.5,-1311.0,-136118.9,26671.1
_SM_ANGLEo	-62.6	KALMAN_Y	115411.7,-128.8,197.2,-66806.1,-4795.5
GPS2	234415,6159.405,-933.729,12,1.1,12,-9.7	MHEAD_RNG_PITCHd_Wd	299.9,17505,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20499,0.00,0.000,0,0,604,557.81	ALTIM_BOTTOM_PING	600.2,85.5
SM_GC	3.24,12.05,0.00,0.00,0.028,0.000,0.000,32,1891,604,-11.26,-0.25,557.81	_24V_AH	23.4,29.614
IRIDIUM_FIX	6135.28,-945.07,031207,222231	_10V_AH	10.1,13.295
TT8_MAMPS	0.026845	DATA_FILE_SIZE	47434,971
HUMID	2060	CFSIZE	260165632,251736064
INTERNAL_PRESSURE	9.16051	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,17,0,0
TCM_TEMP	15.70	GPS	041207,052801,6200.713,-937.028,40,0.8,40,-9.7
XPDR_PINGS	11

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	119	72.38	SBE_CT	710	24	398.75
Roll_motor	91	62	135.07	SBE_O2	657	19	292.49
VBD_pump_during_apogee	484	1233	13976.93	WL_BB2F	644	105	1583.57
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	37	103	89.55	nil	0	0	0.00
Iridium_during_connect	37	160	141.63	nil	0	0	0.00
Iridium_during_xfer	150	223	787.63
Transponder_ping	7	420	76.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.89
TT8	1692	19	338.49
LPSleep	16085	2	355.80
TT8_Active	627	19	125.49
TT8_Sampling	2034	39	817.73
TT8_CF8	381	45	176.55
TT8_Kalman	33	81	27.56
Analog_circuits	1648	12	199.85
GPS_charging	0	0	0.00
Compass	2005	8	162.01
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-22.38	0.000	2	0.000	0.000	26	1873	1131
45	-0.95	-146.6	3.4	-0.0	1	218	11.48	2.60	-152.75	0.000	4	0.120	0.058	2293	3295	3477
343	-0.95	-146.6	14.2	-8.8	15	348	0.00	2.47	0.00	0.000	6	0.000	0.041	2293	1903	3477
669	-0.95	-146.6	39.2	-7.5	31	670	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1903	3477
979	-0.95	-146.6	63.1	-7.8	46	983	0.00	2.50	0.00	0.000	4	0.000	0.044	2293	3301	3477
1040	-0.95	-146.6	68.7	-9.3	49	1044	0.00	2.50	0.00	0.000	6	0.000	0.040	2294	1894	3477
1365	-0.95	-146.6	91.2	-7.6	65	1367	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1895	3477
1675	-0.95	-146.6	113.1	-6.6	80	1676	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1894	3477
1985	-0.95	-146.6	130.7	-5.3	95	1986	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1894	3477
2293	-0.95	-146.6	155.7	-8.3	110	2297	0.00	2.53	0.00	0.000	4	0.000	0.045	2293	3302	3477
2364	-0.95	-146.6	161.8	-8.3	113	2369	0.00	2.53	0.00	0.000	6	0.000	0.041	2293	1901	3477
2685	-0.95	-146.6	185.0	-7.0	129	2686	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1901	3477
2994	-0.95	-146.6	207.7	-7.7	144	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1901	3477
3303	-0.95	-146.6	230.8	-7.1	159	3305	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1901	3477
3613	-0.95	-146.6	252.6	-6.3	174	3616	0.00	2.50	0.00	0.000	4	0.000	0.045	2293	3302	3477
3707	-0.95	-146.6	258.4	-5.5	178	3711	0.00	2.53	0.00	0.000	6	0.000	0.041	2293	1898	3477
4034	-0.95	-146.6	276.8	-5.5	194	4035	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3477
4343	-0.95	-146.6	294.6	-5.4	209	4344	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3477
4652	-0.95	-146.6	310.0	-5.2	224	4656	0.00	2.50	0.00	0.000	4	0.000	0.046	2293	3295	3477
4708	-0.95	-146.6	312.9	-5.6	226	4714	0.00	2.47	0.00	0.000	6	0.000	0.041	2293	1898	3477
5022	-0.95	-146.6	330.0	-5.3	242	5024	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3477
5332	-0.95	-146.6	346.3	-5.4	257	5333	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3477
5641	-0.95	-146.6	363.7	-5.8	272	5642	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1898	3476
5950	-0.95	-146.6	382.5	-6.2	287	5954	0.00	2.50	0.00	0.000	4	0.000	0.048	2293	3295	3476
6021	-0.95	-146.6	386.8	-5.7	290	6026	0.00	2.47	0.00	0.000	6	0.000	0.043	2293	1902	3476
6343	-0.95	-146.6	405.6	-5.3	306	6347	0.00	2.50	0.00	0.000	4	0.000	0.048	2293	3296	3476
6404	-0.95	-146.6	409.0	-5.6	309	6408	0.00	2.50	0.00	0.000	6	0.000	0.044	2293	1896	3476
6729	-0.95	-146.6	427.7	-6.0	325	6730	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3476
7038	-0.95	-146.6	449.4	-7.4	340	7039	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1896	3476
7347	-0.95	-146.6	472.0	-7.0	355	7348	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1896	3476
7657	-0.95	-146.6	491.7	-6.0	370	7661	0.00	2.53	0.00	0.000	4	0.000	0.051	2293	3297	3476
7710	-0.95	-146.6	495.2	-6.9	372	7717	0.00	2.53	0.00	0.000	6	0.000	0.046	2293	1907	3476
8026	-0.95	-146.6	515.0	-5.9	388	8027	0.00	0.00	0.00	0.000	6	0.000	0.000	2294	1907	3476
8336	-0.95	-146.6	532.0	-5.7	403	8340	0.00	2.53	0.00	0.000	4	0.000	0.053	2293	3298	3476
8401	-0.95	-146.6	536.1	-7.1	406	8405	0.00	2.53	0.00	0.000	6	0.000	0.046	2293	1905	3475
8728	-0.95	-146.6	555.4	-5.8	422	8729	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1905	3475
9037	-0.95	-146.6	573.9	-6.4	437	9038	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1905	3475
9346	-0.95	-146.6	595.8	-6.9	452	9347	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1905	3475
9655	-0.95	-146.6	618.5	-7.8	467	9657	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1905	3474
9965	-0.95	-146.6	639.6	-6.6	482	9966	0.00	0.00	0.00	0.000	6	0.000	0.000	2293	1905	3474
10274	-0.95	-146.6	658.1	-5.6	497	10279	0.00	2.55	0.00	0.000	4	0.000	0.059	2293	3296	3474
10374	-0.95	-146.6	665.0	-8.6	501	10381	0.00	2.50	0.00	0.000	6	0.000	0.051	2293	1902	3474
10523	end dive: BOTTOM_OBSTACLE_DETECTED
state	10523	begin apogee
10528	-0.36	0.0	676.0	6.7	509	10653	0.57	0.00	121.90	1.233	6	0.074	0.000	2418	2098	2878
10653	end apogee: CONTROL_FINISHED_OK
state	10654	begin climb
10655	0.95	146.6	678.9	0.0	515	10786	1.25	2.70	120.85	1.191	4	0.053	0.063	2698	3497	2280
10865	0.95	146.6	671.6	6.9	525	10869	0.00	2.55	0.00	0.000	6	0.000	0.049	2698	2100	2280
11192	1.02	201.7	659.6	4.4	541	11240	0.00	0.00	46.62	1.198	6	0.000	0.000	2698	2099	2055
11540	1.02	201.7	637.1	8.0	558	11544	0.00	2.60	0.00	0.000	4	0.000	0.058	2698	3500	2054
11640	1.02	201.7	628.5	8.9	562	11647	0.00	2.55	0.00	0.000	6	0.000	0.048	2698	2094	2054
11955	1.02	201.7	607.2	7.1	578	11956	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2094	2054
12264	1.02	201.7	586.2	6.4	593	12265	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2093	2053
12573	1.02	201.7	566.6	6.1	608	12575	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2094	2052
12883	1.05	228.4	549.5	5.2	623	12908	0.12	0.00	22.33	1.184	6	0.049	0.000	2743	2094	1946
13212	1.05	228.4	524.2	8.3	639	13213	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
13521	1.05	228.4	498.7	8.4	654	13522	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1946
13831	1.05	228.4	470.7	9.1	669	13835	0.00	2.55	0.00	0.000	4	0.000	0.052	2743	3499	1946
13941	1.05	228.4	460.5	9.2	674	13945	0.00	2.53	0.00	0.000	6	0.000	0.044	2743	2102	1945
14267	1.05	228.4	429.5	9.9	690	14269	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2102	1945
14577	1.05	228.4	400.4	9.3	705	14581	0.00	2.53	0.00	0.000	4	0.000	0.049	2743	3507	1946
14653	1.05	228.4	392.9	9.6	708	14660	0.00	2.53	0.00	0.000	6	0.000	0.043	2743	2105	1946
14969	1.05	228.4	362.5	9.8	724	14970	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2105	1946
15278	1.05	228.4	333.9	8.8	739	15279	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	2105	1946
15587	1.05	228.4	308.6	7.9	754	15588	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2105	1946
15896	1.05	228.4	285.8	6.8	769	15900	0.00	2.50	0.00	0.000	4	0.000	0.048	2743	3507	1947
15979	1.05	228.4	279.9	7.5	772	15986	0.00	2.53	0.00	0.000	6	0.000	0.041	2743	2094	1946
16294	1.05	228.4	258.1	7.5	788	16296	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1947
16604	1.05	228.4	233.0	8.2	803	16605	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1947
16913	1.05	228.4	207.0	8.6	818	16914	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1948
17222	1.05	228.4	179.9	8.7	833	17223	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2094	1948
17531	1.05	228.4	153.7	8.4	848	17535	0.00	2.53	0.00	0.000	4	0.000	0.047	2743	3502	1948
17637	1.05	228.4	144.1	8.9	852	17644	0.00	2.50	0.00	0.000	6	0.000	0.039	2743	2098	1948
17952	1.05	228.4	119.0	7.3	868	17954	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1948
18262	1.05	228.4	97.2	7.2	883	18263	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1949
18571	1.05	228.4	73.4	7.5	898	18572	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2098	1948
18881	1.06	236.1	51.4	5.8	913	18895	0.00	2.58	7.43	0.875	4	0.000	0.047	2743	3500	1915
18956	1.06	236.1	44.7	9.0	916	18961	0.00	2.50	0.00	0.000	6	0.000	0.038	2743	2101	1915
19278	1.06	236.1	16.6	8.6	932	19279	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2101	1915
19587	1.31	437.9	2.7	-0.0	947	19699	0.15	2.65	104.55	0.755	4	0.053	0.058	2789	694	1092
19712	1.58	659.5	2.4	-0.6	953	19779	0.22	2.50	60.62	0.730	6	0.058	0.040	2838	2109	603
20078	end climb: NO_VERTICAL_VELOCITY
state	20078	begin surface