Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 130 * 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 130 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 27 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 -78648.125 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 -78648.125

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 27 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 130 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 170538,6214.260,-1000.131,37,1.0,37,-10.0 TGT_NAME DW

_CALLS 1 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.206,-0.036

_SM_DEPTHo 3.72 KALMAN_X 132994.8,-1577.8,361.6,-211119.8,15548.1

_SM_ANGLEo -59.2 KALMAN_Y 151876.8,-1045.1,409.7,-74992.0,9408.3

GPS2 171126,6214.278,-1000.087,14,1.0,14,-10.0 MHEAD_RNG_PITCHd_Wd 270.1,30136,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22105,71.85,0.741,0,0,602,558.06 ALTIM_BOTTOM_PING 650.3,93.8

SM_GC 3.83,11.88,0.00,0.00,0.030,0.000,0.000,29,1893,604,-11.26,-0.17,557.81 _24V_AH 23.3,32.372

IRIDIUM_FIX 6148.92,-948.98,071207,151527 _10V_AH 10.1,14.716

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53696,1069

HUMID 2039 CFSIZE 260165632,250732544

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 16.80 GPS 071207,233007,6214.067,-1003.200,36,0.9,36,-10.1

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 111 65.95 SBE_CT 779 24 435.84

Roll_motor 96 65 146.32 SBE_O2 723 19 320.19

VBD_pump_during_apogee 416 1292 12532.95 WL_BB2F 680 105 1664.92

VBD_pump_during_surface 71 740 1240.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.18 nil 0 0 0.00

Iridium_during_connect 36 160 136.34 nil 0 0 0.00

Iridium_during_xfer 174 223 908.39

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.02

TT8 1889 19 377.80

LPSleep 17689 2 391.28

TT8_Active 673 19 134.74

TT8_Sampling 2273 39 913.96

TT8_CF8 421 45 195.05

TT8_Kalman 33 81 27.57

Analog_circuits 1769 12 214.44

GPS_charging 0 0 0.00

Compass 2237 8 180.83

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 -22.02 0.000 2 0.000 0.000 35 1888 1112

45 -0.95 -146.6 3.8 -0.0 1 224 11.25 2.58 -159.48 0.000 4 0.112 0.058 2285 3294 3476

478 -0.95 -146.6 22.4 -7.5 21 482 0.00 2.47 0.00 0.000 6 0.000 0.041 2285 1904 3475

803 -0.95 -146.6 44.1 -6.6 37 807 0.00 2.53 0.00 0.000 4 0.000 0.044 2285 3310 3475

970 -0.95 -146.6 55.3 -6.2 44 977 0.00 2.55 0.00 0.000 6 0.000 0.041 2285 1899 3476

1286 -0.95 -146.6 74.7 -6.5 60 1287 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

1595 -0.95 -146.6 96.7 -7.5 75 1597 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

1904 -0.95 -146.6 120.0 -7.3 90 1909 0.00 2.50 0.00 0.000 4 0.000 0.044 2285 3301 3476

1998 -0.95 -146.6 126.9 -6.8 94 2002 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1900 3476

2319 -0.95 -146.6 146.1 -6.0 110 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

2628 -0.95 -146.6 166.5 -6.8 125 2629 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3476

2937 -0.95 -146.6 188.2 -6.8 140 2942 0.00 2.53 0.00 0.000 4 0.000 0.045 2285 3310 3476

3021 -0.95 -146.6 193.7 -6.7 144 3025 0.00 2.53 0.00 0.000 6 0.000 0.041 2285 1892 3476

3346 -0.95 -146.6 215.7 -6.6 160 3347 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1892 3475

3655 -0.95 -146.6 237.7 -7.6 175 3656 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1892 3475

3965 -0.95 -146.6 260.8 -6.9 190 3969 0.00 2.53 0.00 0.000 4 0.000 0.047 2285 3300 3476

4041 -0.95 -146.6 266.6 -7.7 193 4048 0.00 2.53 0.00 0.000 6 0.000 0.043 2285 1903 3476

4357 -0.95 -146.6 287.9 -6.9 209 4358 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3476

4666 -0.95 -146.6 309.2 -6.7 224 4667 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3476

4975 -0.95 -146.6 328.2 -6.0 239 4976 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3476

5285 -0.95 -146.6 346.9 -5.8 254 5289 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3307 3475

5372 -0.95 -146.6 352.3 -6.4 258 5377 0.00 2.55 0.00 0.000 6 0.000 0.044 2285 1900 3475

5699 -0.95 -146.6 373.0 -6.6 274 5700 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3475

6008 -0.95 -146.6 396.3 -7.6 289 6010 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

6317 -0.95 -146.6 421.1 -7.6 304 6322 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3301 3475

6383 -0.95 -146.6 426.2 -7.8 307 6387 0.00 2.55 0.00 0.000 6 0.000 0.045 2285 1900 3475

6710 -0.95 -146.6 450.7 -7.1 323 6711 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

7019 -0.95 -146.6 473.9 -7.8 338 7023 0.00 2.50 0.00 0.000 4 0.000 0.050 2285 3301 3475

7102 -0.95 -146.6 480.7 -8.5 342 7106 0.00 2.50 0.00 0.000 6 0.000 0.046 2285 1900 3475

7428 -0.95 -146.6 505.6 -7.5 358 7429 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3475

7737 -0.95 -146.6 526.8 -6.5 373 7741 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3301 3475

7825 -0.95 -146.6 532.8 -7.3 377 7829 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1896 3475

8151 -0.95 -146.6 555.5 -6.8 393 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1895 3474

8461 -0.95 -146.6 573.0 -5.3 408 8465 0.00 2.55 0.00 0.000 4 0.000 0.053 2285 3301 3474

8549 -0.95 -146.6 578.9 -6.8 412 8553 0.00 2.55 0.00 0.000 6 0.000 0.048 2285 1886 3475

8878 -0.95 -146.6 601.4 -7.1 428 8882 0.00 2.58 0.00 0.000 4 0.000 0.056 2285 3297 3474

8948 -0.95 -146.6 606.9 -7.4 431 8953 0.00 2.55 0.00 0.000 6 0.000 0.048 2285 1898 3474

9270 -0.95 -146.6 630.5 -7.3 447 9271 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

9579 -0.95 -146.6 651.8 -6.4 462 9580 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

9888 -0.95 -146.6 668.0 -4.6 477 9893 0.00 2.58 0.00 0.000 4 0.000 0.059 2285 3299 3474

9988 -0.95 -146.6 673.2 -4.9 481 9995 0.00 2.55 0.00 0.000 6 0.000 0.051 2285 1898 3474

10304 -0.95 -146.6 689.5 -5.7 497 10305 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1898 3474

10613 -0.95 -146.6 708.2 -7.0 512 10614 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1899 3473

10922 -0.95 -146.6 729.5 -7.0 527 10926 0.00 2.58 0.00 0.000 4 0.000 0.063 2285 3299 3473

11004 end dive: BOTTOM_OBSTACLE_DETECTED

state 11004 begin apogee

11010 -0.36 0.0 734.4 6.7 531 11137 0.62 0.00 122.97 1.292 6 0.076 0.000 2421 2095 2877

11137 end apogee: CONTROL_FINISHED_OK

state 11137 begin climb

11139 0.95 146.6 738.9 0.0 537 11267 1.25 0.00 122.53 1.253 6 0.054 0.000 2698 2095 2280

11575 0.95 146.6 719.8 6.0 559 11576 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2095 2279

11884 1.00 187.3 703.0 4.8 574 11926 0.00 2.67 34.55 1.275 4 0.000 0.065 2698 3494 2114

12090 1.00 189.0 691.9 5.9 583 12094 0.00 2.58 0.00 0.000 6 0.000 0.054 2698 2102 2113

12409 1.00 189.0 671.7 6.4 599 12410 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2102 2112

12719 1.00 193.2 652.7 5.9 614 12726 0.00 0.00 5.80 1.249 6 0.000 0.000 2698 2102 2090

13028 1.02 204.4 635.8 5.7 629 13040 0.00 0.00 10.43 1.279 6 0.000 0.000 2699 2102 2044

13337 1.02 204.4 616.5 6.3 644 13338 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2102 2044

13646 1.02 204.4 597.0 6.5 659 13647 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2102 2044

13956 1.04 218.6 578.8 5.6 674 13971 0.10 0.00 13.00 1.236 6 0.061 0.000 2735 2102 1986

14265 1.04 218.6 555.9 8.0 689 14270 0.00 2.55 0.00 0.000 4 0.000 0.052 2735 3500 1986

14359 1.04 218.6 547.9 7.9 693 14364 0.00 2.55 0.00 0.000 6 0.000 0.045 2735 2098 1986

14680 1.04 218.6 523.3 7.9 709 14681 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1986

14989 1.04 218.6 499.4 7.7 724 14990 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1986

15299 1.04 218.6 476.6 7.4 739 15303 0.00 2.53 0.00 0.000 4 0.000 0.051 2735 3497 1987

15359 1.04 218.6 471.6 8.4 742 15363 0.00 2.47 0.00 0.000 6 0.000 0.044 2735 2098 1987

15691 1.04 218.6 445.2 7.8 758 15692 0.00 0.00 0.00 0.000 6 0.000 0.000 2736 2098 1987

16000 1.04 218.6 421.5 7.5 773 16001 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1987

16309 1.04 218.6 397.8 7.7 788 16310 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1988

16618 1.04 218.6 375.4 7.2 803 16619 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1988

16927 1.04 218.6 353.5 7.2 818 16929 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1989

17237 1.04 218.6 329.9 7.8 833 17238 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1989

17546 1.04 218.6 305.2 8.1 848 17547 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1989

17855 1.04 218.6 281.7 7.3 863 17856 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1989

18164 1.04 218.6 259.0 7.2 878 18166 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1990

18474 1.04 218.6 237.0 7.2 893 18475 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1990

18783 1.04 218.6 215.0 7.0 908 18784 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2098 1991

19092 1.04 218.6 192.7 7.2 923 19097 0.00 2.53 0.00 0.000 4 0.000 0.048 2735 3498 1990

19160 1.04 218.6 187.7 7.4 926 19164 0.00 2.50 0.00 0.000 6 0.000 0.040 2735 2087 1990

19479 1.04 218.6 166.0 6.7 942 19480 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2087 1991

19789 1.04 218.6 144.2 6.9 957 19790 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2087 1991

20098 1.04 218.6 120.5 8.6 972 20103 0.00 2.55 0.00 0.000 4 0.000 0.047 2735 3504 1991

20182 1.04 218.6 113.1 8.8 976 20187 0.00 2.47 0.00 0.000 6 0.000 0.039 2735 2097 1991

20509 1.04 218.6 88.1 6.7 992 20510 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2097 1992

20818 1.04 218.6 66.9 7.4 1007 20819 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2097 1992

21127 1.05 227.8 47.4 5.7 1022 21138 0.00 0.00 9.20 0.873 6 0.000 0.000 2735 2097 1949

21438 1.05 227.8 27.6 6.5 1037 21439 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2097 1949

21746 1.05 227.8 5.4 7.2 1052 21750 0.00 2.53 0.00 0.000 4 0.000 0.045 2735 3500 1949

21897 1.28 416.1 3.0 0.4 1059 22002 0.17 2.47 97.72 0.764 6 0.052 0.042 2781 2101 1181

22102 end climb: NO_VERTICAL_VELOCITY

state 22102 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	130	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	27	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	-78648.125	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	170538,6214.260,-1000.131,37,1.0,37,-10.0	TGT_NAME	DW
_CALLS	1	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.206,-0.036
_SM_DEPTHo	3.72	KALMAN_X	132994.8,-1577.8,361.6,-211119.8,15548.1
_SM_ANGLEo	-59.2	KALMAN_Y	151876.8,-1045.1,409.7,-74992.0,9408.3
GPS2	171126,6214.278,-1000.087,14,1.0,14,-10.0	MHEAD_RNG_PITCHd_Wd	270.1,30136,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22105,71.85,0.741,0,0,602,558.06	ALTIM_BOTTOM_PING	650.3,93.8
SM_GC	3.83,11.88,0.00,0.00,0.030,0.000,0.000,29,1893,604,-11.26,-0.17,557.81	_24V_AH	23.3,32.372
IRIDIUM_FIX	6148.92,-948.98,071207,151527	_10V_AH	10.1,14.716
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53696,1069
HUMID	2039	CFSIZE	260165632,250732544
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	16.80	GPS	071207,233007,6214.067,-1003.200,36,0.9,36,-10.1
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	111	65.95	SBE_CT	779	24	435.84
Roll_motor	96	65	146.32	SBE_O2	723	19	320.19
VBD_pump_during_apogee	416	1292	12532.95	WL_BB2F	680	105	1664.92
VBD_pump_during_surface	71	740	1240.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.18	nil	0	0	0.00
Iridium_during_connect	36	160	136.34	nil	0	0	0.00
Iridium_during_xfer	174	223	908.39
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.02
TT8	1889	19	377.80
LPSleep	17689	2	391.28
TT8_Active	673	19	134.74
TT8_Sampling	2273	39	913.96
TT8_CF8	421	45	195.05
TT8_Kalman	33	81	27.57
Analog_circuits	1769	12	214.44
GPS_charging	0	0	0.00
Compass	2237	8	180.83
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	-22.02	0.000	2	0.000	0.000	35	1888	1112
45	-0.95	-146.6	3.8	-0.0	1	224	11.25	2.58	-159.48	0.000	4	0.112	0.058	2285	3294	3476
478	-0.95	-146.6	22.4	-7.5	21	482	0.00	2.47	0.00	0.000	6	0.000	0.041	2285	1904	3475
803	-0.95	-146.6	44.1	-6.6	37	807	0.00	2.53	0.00	0.000	4	0.000	0.044	2285	3310	3475
970	-0.95	-146.6	55.3	-6.2	44	977	0.00	2.55	0.00	0.000	6	0.000	0.041	2285	1899	3476
1286	-0.95	-146.6	74.7	-6.5	60	1287	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
1595	-0.95	-146.6	96.7	-7.5	75	1597	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
1904	-0.95	-146.6	120.0	-7.3	90	1909	0.00	2.50	0.00	0.000	4	0.000	0.044	2285	3301	3476
1998	-0.95	-146.6	126.9	-6.8	94	2002	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1900	3476
2319	-0.95	-146.6	146.1	-6.0	110	2321	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
2628	-0.95	-146.6	166.5	-6.8	125	2629	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3476
2937	-0.95	-146.6	188.2	-6.8	140	2942	0.00	2.53	0.00	0.000	4	0.000	0.045	2285	3310	3476
3021	-0.95	-146.6	193.7	-6.7	144	3025	0.00	2.53	0.00	0.000	6	0.000	0.041	2285	1892	3476
3346	-0.95	-146.6	215.7	-6.6	160	3347	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1892	3475
3655	-0.95	-146.6	237.7	-7.6	175	3656	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1892	3475
3965	-0.95	-146.6	260.8	-6.9	190	3969	0.00	2.53	0.00	0.000	4	0.000	0.047	2285	3300	3476
4041	-0.95	-146.6	266.6	-7.7	193	4048	0.00	2.53	0.00	0.000	6	0.000	0.043	2285	1903	3476
4357	-0.95	-146.6	287.9	-6.9	209	4358	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3476
4666	-0.95	-146.6	309.2	-6.7	224	4667	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3476
4975	-0.95	-146.6	328.2	-6.0	239	4976	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3476
5285	-0.95	-146.6	346.9	-5.8	254	5289	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3307	3475
5372	-0.95	-146.6	352.3	-6.4	258	5377	0.00	2.55	0.00	0.000	6	0.000	0.044	2285	1900	3475
5699	-0.95	-146.6	373.0	-6.6	274	5700	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3475
6008	-0.95	-146.6	396.3	-7.6	289	6010	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
6317	-0.95	-146.6	421.1	-7.6	304	6322	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3301	3475
6383	-0.95	-146.6	426.2	-7.8	307	6387	0.00	2.55	0.00	0.000	6	0.000	0.045	2285	1900	3475
6710	-0.95	-146.6	450.7	-7.1	323	6711	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
7019	-0.95	-146.6	473.9	-7.8	338	7023	0.00	2.50	0.00	0.000	4	0.000	0.050	2285	3301	3475
7102	-0.95	-146.6	480.7	-8.5	342	7106	0.00	2.50	0.00	0.000	6	0.000	0.046	2285	1900	3475
7428	-0.95	-146.6	505.6	-7.5	358	7429	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3475
7737	-0.95	-146.6	526.8	-6.5	373	7741	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3301	3475
7825	-0.95	-146.6	532.8	-7.3	377	7829	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1896	3475
8151	-0.95	-146.6	555.5	-6.8	393	8152	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1895	3474
8461	-0.95	-146.6	573.0	-5.3	408	8465	0.00	2.55	0.00	0.000	4	0.000	0.053	2285	3301	3474
8549	-0.95	-146.6	578.9	-6.8	412	8553	0.00	2.55	0.00	0.000	6	0.000	0.048	2285	1886	3475
8878	-0.95	-146.6	601.4	-7.1	428	8882	0.00	2.58	0.00	0.000	4	0.000	0.056	2285	3297	3474
8948	-0.95	-146.6	606.9	-7.4	431	8953	0.00	2.55	0.00	0.000	6	0.000	0.048	2285	1898	3474
9270	-0.95	-146.6	630.5	-7.3	447	9271	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
9579	-0.95	-146.6	651.8	-6.4	462	9580	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
9888	-0.95	-146.6	668.0	-4.6	477	9893	0.00	2.58	0.00	0.000	4	0.000	0.059	2285	3299	3474
9988	-0.95	-146.6	673.2	-4.9	481	9995	0.00	2.55	0.00	0.000	6	0.000	0.051	2285	1898	3474
10304	-0.95	-146.6	689.5	-5.7	497	10305	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1898	3474
10613	-0.95	-146.6	708.2	-7.0	512	10614	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1899	3473
10922	-0.95	-146.6	729.5	-7.0	527	10926	0.00	2.58	0.00	0.000	4	0.000	0.063	2285	3299	3473
11004	end dive: BOTTOM_OBSTACLE_DETECTED
state	11004	begin apogee
11010	-0.36	0.0	734.4	6.7	531	11137	0.62	0.00	122.97	1.292	6	0.076	0.000	2421	2095	2877
11137	end apogee: CONTROL_FINISHED_OK
state	11137	begin climb
11139	0.95	146.6	738.9	0.0	537	11267	1.25	0.00	122.53	1.253	6	0.054	0.000	2698	2095	2280
11575	0.95	146.6	719.8	6.0	559	11576	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2095	2279
11884	1.00	187.3	703.0	4.8	574	11926	0.00	2.67	34.55	1.275	4	0.000	0.065	2698	3494	2114
12090	1.00	189.0	691.9	5.9	583	12094	0.00	2.58	0.00	0.000	6	0.000	0.054	2698	2102	2113
12409	1.00	189.0	671.7	6.4	599	12410	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2102	2112
12719	1.00	193.2	652.7	5.9	614	12726	0.00	0.00	5.80	1.249	6	0.000	0.000	2698	2102	2090
13028	1.02	204.4	635.8	5.7	629	13040	0.00	0.00	10.43	1.279	6	0.000	0.000	2699	2102	2044
13337	1.02	204.4	616.5	6.3	644	13338	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2102	2044
13646	1.02	204.4	597.0	6.5	659	13647	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2102	2044
13956	1.04	218.6	578.8	5.6	674	13971	0.10	0.00	13.00	1.236	6	0.061	0.000	2735	2102	1986
14265	1.04	218.6	555.9	8.0	689	14270	0.00	2.55	0.00	0.000	4	0.000	0.052	2735	3500	1986
14359	1.04	218.6	547.9	7.9	693	14364	0.00	2.55	0.00	0.000	6	0.000	0.045	2735	2098	1986
14680	1.04	218.6	523.3	7.9	709	14681	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1986
14989	1.04	218.6	499.4	7.7	724	14990	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1986
15299	1.04	218.6	476.6	7.4	739	15303	0.00	2.53	0.00	0.000	4	0.000	0.051	2735	3497	1987
15359	1.04	218.6	471.6	8.4	742	15363	0.00	2.47	0.00	0.000	6	0.000	0.044	2735	2098	1987
15691	1.04	218.6	445.2	7.8	758	15692	0.00	0.00	0.00	0.000	6	0.000	0.000	2736	2098	1987
16000	1.04	218.6	421.5	7.5	773	16001	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1987
16309	1.04	218.6	397.8	7.7	788	16310	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1988
16618	1.04	218.6	375.4	7.2	803	16619	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1988
16927	1.04	218.6	353.5	7.2	818	16929	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1989
17237	1.04	218.6	329.9	7.8	833	17238	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1989
17546	1.04	218.6	305.2	8.1	848	17547	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1989
17855	1.04	218.6	281.7	7.3	863	17856	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1989
18164	1.04	218.6	259.0	7.2	878	18166	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1990
18474	1.04	218.6	237.0	7.2	893	18475	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1990
18783	1.04	218.6	215.0	7.0	908	18784	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2098	1991
19092	1.04	218.6	192.7	7.2	923	19097	0.00	2.53	0.00	0.000	4	0.000	0.048	2735	3498	1990
19160	1.04	218.6	187.7	7.4	926	19164	0.00	2.50	0.00	0.000	6	0.000	0.040	2735	2087	1990
19479	1.04	218.6	166.0	6.7	942	19480	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2087	1991
19789	1.04	218.6	144.2	6.9	957	19790	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2087	1991
20098	1.04	218.6	120.5	8.6	972	20103	0.00	2.55	0.00	0.000	4	0.000	0.047	2735	3504	1991
20182	1.04	218.6	113.1	8.8	976	20187	0.00	2.47	0.00	0.000	6	0.000	0.039	2735	2097	1991
20509	1.04	218.6	88.1	6.7	992	20510	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2097	1992
20818	1.04	218.6	66.9	7.4	1007	20819	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2097	1992
21127	1.05	227.8	47.4	5.7	1022	21138	0.00	0.00	9.20	0.873	6	0.000	0.000	2735	2097	1949
21438	1.05	227.8	27.6	6.5	1037	21439	0.00	0.00	0.00	0.000	6	0.000	0.000	2735	2097	1949
21746	1.05	227.8	5.4	7.2	1052	21750	0.00	2.53	0.00	0.000	4	0.000	0.045	2735	3500	1949
21897	1.28	416.1	3.0	0.4	1059	22002	0.17	2.47	97.72	0.764	6	0.052	0.042	2781	2101	1181
22102	end climb: NO_VERTICAL_VELOCITY
state	22102	begin surface