Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 133 * 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 133 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -78687.719 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 -78687.719

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 23 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 133 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 135731,6212.621,-1021.303,38,1.3,43,-10.2 TGT_NAME DW

_CALLS 2 TGT_LATLONG 6215.000,-1035.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.209,-0.003

_SM_DEPTHo 3.75 KALMAN_X 132650.9,100.8,-2624.0,-228450.4,8306.1

_SM_ANGLEo -51.5 KALMAN_Y 147681.7,228.6,399.8,-75076.3,-409.2

GPS2 140851,6212.679,-1021.513,10,2.0,10,-10.2 MHEAD_RNG_PITCHd_Wd 279.4,12399,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22587,115.75,0.739,0,0,603,558.06 ALTIM_BOTTOM_PING 725.2,91.8

SM_GC 3.74,11.82,0.00,0.00,0.027,0.000,0.000,32,1888,604,-11.26,-0.34,557.81 _24V_AH 23.3,32.924

IRIDIUM_FIX 6148.92,-1059.58,081207,171729 _10V_AH 10.1,15.032

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53622,1092

HUMID 2048 CFSIZE 260165632,250515456

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,12,0,0

TCM_TEMP 18.80 GPS 081207,203645,6212.208,-1029.521,42,2.6,61,-10.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 63.31 SBE_CT 790 24 442.31

Roll_motor 87 73 149.69 SBE_O2 740 19 327.71

VBD_pump_during_apogee 373 1352 11772.87 WL_BB2F 641 105 1568.64

VBD_pump_during_surface 115 738 1992.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 180.93 nil 0 0 0.00

Iridium_during_connect 90 160 337.19 nil 0 0 0.00

Iridium_during_xfer 341 223 1775.92

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.94

TT8 1894 19 378.78

LPSleep 18371 2 406.37

TT8_Active 652 19 130.45

TT8_Sampling 2187 39 879.18

TT8_CF8 695 45 321.66

TT8_Kalman 33 81 27.57

Analog_circuits 1720 12 208.51

GPS_charging 0 0 0.00

Compass 2154 8 174.05

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 -22.05 0.000 2 0.000 0.000 33 1884 1107

46 -0.95 -146.6 3.8 -0.0 1 211 11.15 2.60 -146.32 0.000 4 0.108 0.074 2286 492 3476

217 -0.95 -146.6 6.7 -8.8 9 221 0.00 2.53 0.00 0.000 6 0.000 0.040 2286 1907 3476

544 -0.95 -146.6 28.6 -6.6 25 548 0.00 2.62 0.00 0.000 4 0.000 0.064 2286 496 3476

755 -0.95 -146.6 44.7 -8.1 34 762 0.00 2.50 0.00 0.000 6 0.000 0.039 2286 1905 3476

1071 -0.95 -146.6 69.8 -6.8 50 1072 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

1380 -0.95 -146.6 96.0 -8.8 65 1381 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

1689 -0.95 -146.6 123.9 -8.7 80 1691 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3476

1999 -0.95 -146.6 149.6 -8.4 95 2000 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

2310 -0.95 -146.6 176.7 -8.8 110 2311 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

2618 -0.95 -146.6 200.9 -7.2 125 2619 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

2926 -0.95 -146.6 222.1 -7.0 140 2927 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3235 -0.95 -146.6 243.8 -7.4 155 3236 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3476

3544 -0.95 -146.6 266.6 -7.2 170 3546 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3854 -0.95 -146.6 286.9 -6.7 185 3855 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3475

4163 -0.95 -146.6 307.9 -6.6 200 4164 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3476

4472 -0.95 -146.6 329.1 -7.0 215 4474 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1904 3475

4782 -0.95 -146.6 349.8 -6.5 230 4783 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3475

5091 -0.95 -146.6 371.3 -7.1 245 5095 0.00 2.50 0.00 0.000 4 0.000 0.050 2286 3290 3475

5158 -0.95 -146.6 376.3 -7.6 248 5162 0.00 2.50 0.00 0.000 6 0.000 0.045 2285 1899 3475

5483 -0.95 -146.6 399.2 -7.0 264 5485 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

5793 -0.95 -146.6 422.7 -8.0 279 5794 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3475

6102 -0.95 -146.6 447.1 -7.8 294 6106 0.00 2.53 0.00 0.000 4 0.000 0.049 2286 3298 3475

6178 -0.95 -146.6 453.2 -7.4 297 6185 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1908 3475

6494 -0.95 -146.6 477.6 -7.8 313 6495 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3475

6804 -0.95 -146.6 500.2 -6.9 328 6805 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1908 3475

7112 -0.95 -146.6 520.0 -6.1 343 7114 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1908 3475

7422 -0.95 -146.6 540.8 -7.0 358 7423 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3475

7731 -0.95 -146.6 562.1 -6.8 373 7735 0.00 2.50 0.00 0.000 4 0.000 0.052 2285 3293 3474

7803 -0.95 -146.6 567.1 -7.4 376 7807 0.00 2.53 0.00 0.000 6 0.000 0.046 2285 1906 3475

8124 -0.95 -146.6 588.7 -6.9 392 8125 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3474

8434 -0.95 -146.6 609.2 -5.6 407 8435 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3474

8742 -0.95 -146.6 627.8 -6.9 422 8743 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3474

9051 -0.95 -146.6 647.6 -6.5 437 9056 0.00 2.53 0.00 0.000 4 0.000 0.056 2286 3291 3474

9118 -0.95 -146.6 652.5 -7.8 440 9122 0.00 2.50 0.00 0.000 6 0.000 0.048 2286 1899 3474

9445 -0.95 -146.6 672.5 -5.8 456 9446 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3474

9754 -0.95 -146.6 694.6 -7.1 471 9755 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3474

10063 -0.95 -146.6 709.8 -5.0 486 10068 0.00 2.53 0.00 0.000 4 0.000 0.056 2285 3291 3473

10185 -0.95 -146.6 717.9 -7.1 491 10192 0.00 2.55 0.00 0.000 6 0.000 0.049 2286 1897 3473

10501 -0.95 -146.6 735.0 -5.0 507 10503 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3473

10810 -0.95 -146.6 750.5 -5.6 522 10812 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3473

11119 -0.95 -146.6 770.3 -7.5 537 11124 0.00 2.58 0.00 0.000 4 0.000 0.062 2286 3295 3473

11185 -0.95 -146.6 774.9 -6.2 540 11190 0.00 2.55 0.00 0.000 6 0.000 0.055 2285 1901 3473

11513 -0.95 -146.6 791.8 -5.9 556 11514 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3472

11820 end dive: BOTTOM_OBSTACLE_DETECTED

state 11821 begin apogee

11826 -0.36 0.0 807.0 5.3 571 11952 0.60 0.00 123.82 1.353 6 0.076 0.000 2416 2092 2878

11953 end apogee: CONTROL_FINISHED_OK

state 11953 begin climb

11955 0.95 146.6 811.0 0.0 577 12083 1.27 0.00 123.18 1.309 6 0.054 0.000 2698 2092 2280

12385 0.97 163.5 792.2 5.5 598 12407 0.00 2.70 15.25 1.309 4 0.000 0.067 2698 3497 2211

12485 1.03 210.7 786.6 4.6 602 12531 0.00 2.60 40.42 1.309 6 0.000 0.058 2698 2102 2018

12843 1.05 231.5 766.9 5.4 619 12864 0.12 0.00 18.38 1.326 6 0.049 0.000 2741 2102 1934

13170 1.05 231.5 738.9 9.9 635 13174 0.00 2.62 0.00 0.000 4 0.000 0.064 2741 3505 1932

13259 1.05 231.5 730.0 9.7 639 13263 0.00 2.62 0.00 0.000 6 0.000 0.058 2741 2095 1932

13578 1.05 231.5 709.8 6.1 655 13579 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2095 1932

13887 1.05 231.5 685.4 9.4 670 13892 0.00 2.60 0.00 0.000 4 0.000 0.059 2741 3505 1931

13948 1.05 231.5 678.9 10.6 673 13953 0.00 2.58 0.00 0.000 6 0.000 0.052 2741 2091 1930

14274 1.05 231.5 646.7 9.2 689 14276 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1931

14583 1.05 231.5 625.1 6.2 704 14585 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1931

14893 1.05 231.9 607.2 6.0 719 14894 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2091 1931

15202 1.05 231.9 583.3 8.4 734 15206 0.00 2.58 0.00 0.000 4 0.000 0.054 2741 3506 1931

15323 1.05 231.9 571.4 9.2 739 15331 0.00 2.55 0.00 0.000 6 0.000 0.047 2741 2103 1931

15639 1.05 231.9 544.8 8.1 755 15640 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2104 1931

15948 1.05 231.9 521.0 7.8 770 15949 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2104 1932

16257 1.05 231.9 495.8 8.0 785 16259 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2103 1932

16567 1.05 231.9 473.2 6.9 800 16568 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2104 1933

16876 1.05 231.9 452.2 6.8 815 16877 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2103 1933

17185 1.05 231.9 432.3 6.4 830 17190 0.00 2.53 0.00 0.000 4 0.000 0.048 2741 3503 1934

17246 1.05 231.9 428.1 6.5 833 17251 0.00 2.50 0.00 0.000 6 0.000 0.044 2741 2098 1934

17572 1.05 231.9 404.9 7.3 849 17573 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1934

17881 1.05 231.9 381.5 7.6 864 17886 0.00 2.55 0.00 0.000 4 0.000 0.049 2741 3506 1935

17942 1.05 231.9 376.7 7.0 867 17947 0.00 2.50 0.00 0.000 6 0.000 0.043 2741 2096 1935

18268 1.05 231.9 350.6 8.0 883 18269 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2096 1935

18577 1.05 231.9 324.3 8.8 898 18578 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2096 1936

18886 1.05 231.9 297.9 8.5 913 18891 0.00 2.53 0.00 0.000 4 0.000 0.049 2741 3503 1936

18948 1.05 231.9 292.4 8.0 916 18952 0.00 2.50 0.00 0.000 6 0.000 0.041 2741 2092 1936

19273 1.05 231.9 265.1 8.5 932 19274 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2092 1936

19582 1.05 231.9 238.6 9.0 947 19584 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2092 1936

19891 1.05 231.9 210.0 9.0 962 19896 0.00 2.55 0.00 0.000 4 0.000 0.049 2741 3510 1937

19957 1.05 231.9 203.5 9.2 965 19962 0.00 2.53 0.00 0.000 6 0.000 0.040 2741 2098 1936

20284 1.05 231.9 172.3 9.7 981 20285 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1937

20593 1.05 231.9 142.8 9.7 996 20595 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2098 1937

20903 1.05 231.9 114.8 8.8 1011 20907 0.00 2.53 0.00 0.000 4 0.000 0.047 2741 3504 1937

20964 1.05 231.9 109.1 9.2 1014 20969 0.00 2.47 0.00 0.000 6 0.000 0.039 2741 2097 1937

21290 1.05 231.9 80.5 9.2 1030 21291 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1937

21599 1.05 231.9 52.4 9.2 1045 21601 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1937

21911 1.05 231.9 24.1 7.5 1060 21912 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2097 1937

22218 1.05 231.9 3.3 6.6 1075 22219 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 2092 1937

22528 1.30 431.7 3.2 0.0 1090 22583 0.15 0.00 52.40 0.783 2 0.061 0.000 2784 2091 1544

22584 end climb: NO_VERTICAL_VELOCITY

state 22584 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	133	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-78687.719	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	135731,6212.621,-1021.303,38,1.3,43,-10.2	TGT_NAME	DW
_CALLS	2	TGT_LATLONG	6215.000,-1035.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.209,-0.003
_SM_DEPTHo	3.75	KALMAN_X	132650.9,100.8,-2624.0,-228450.4,8306.1
_SM_ANGLEo	-51.5	KALMAN_Y	147681.7,228.6,399.8,-75076.3,-409.2
GPS2	140851,6212.679,-1021.513,10,2.0,10,-10.2	MHEAD_RNG_PITCHd_Wd	279.4,12399,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22587,115.75,0.739,0,0,603,558.06	ALTIM_BOTTOM_PING	725.2,91.8
SM_GC	3.74,11.82,0.00,0.00,0.027,0.000,0.000,32,1888,604,-11.26,-0.34,557.81	_24V_AH	23.3,32.924
IRIDIUM_FIX	6148.92,-1059.58,081207,171729	_10V_AH	10.1,15.032
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53622,1092
HUMID	2048	CFSIZE	260165632,250515456
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
TCM_TEMP	18.80	GPS	081207,203645,6212.208,-1029.521,42,2.6,61,-10.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	63.31	SBE_CT	790	24	442.31
Roll_motor	87	73	149.69	SBE_O2	740	19	327.71
VBD_pump_during_apogee	373	1352	11772.87	WL_BB2F	641	105	1568.64
VBD_pump_during_surface	115	738	1992.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	180.93	nil	0	0	0.00
Iridium_during_connect	90	160	337.19	nil	0	0	0.00
Iridium_during_xfer	341	223	1775.92
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.94
TT8	1894	19	378.78
LPSleep	18371	2	406.37
TT8_Active	652	19	130.45
TT8_Sampling	2187	39	879.18
TT8_CF8	695	45	321.66
TT8_Kalman	33	81	27.57
Analog_circuits	1720	12	208.51
GPS_charging	0	0	0.00
Compass	2154	8	174.05
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	-22.05	0.000	2	0.000	0.000	33	1884	1107
46	-0.95	-146.6	3.8	-0.0	1	211	11.15	2.60	-146.32	0.000	4	0.108	0.074	2286	492	3476
217	-0.95	-146.6	6.7	-8.8	9	221	0.00	2.53	0.00	0.000	6	0.000	0.040	2286	1907	3476
544	-0.95	-146.6	28.6	-6.6	25	548	0.00	2.62	0.00	0.000	4	0.000	0.064	2286	496	3476
755	-0.95	-146.6	44.7	-8.1	34	762	0.00	2.50	0.00	0.000	6	0.000	0.039	2286	1905	3476
1071	-0.95	-146.6	69.8	-6.8	50	1072	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
1380	-0.95	-146.6	96.0	-8.8	65	1381	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
1689	-0.95	-146.6	123.9	-8.7	80	1691	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3476
1999	-0.95	-146.6	149.6	-8.4	95	2000	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
2310	-0.95	-146.6	176.7	-8.8	110	2311	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
2618	-0.95	-146.6	200.9	-7.2	125	2619	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
2926	-0.95	-146.6	222.1	-7.0	140	2927	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3235	-0.95	-146.6	243.8	-7.4	155	3236	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3476
3544	-0.95	-146.6	266.6	-7.2	170	3546	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3854	-0.95	-146.6	286.9	-6.7	185	3855	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3475
4163	-0.95	-146.6	307.9	-6.6	200	4164	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3476
4472	-0.95	-146.6	329.1	-7.0	215	4474	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1904	3475
4782	-0.95	-146.6	349.8	-6.5	230	4783	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3475
5091	-0.95	-146.6	371.3	-7.1	245	5095	0.00	2.50	0.00	0.000	4	0.000	0.050	2286	3290	3475
5158	-0.95	-146.6	376.3	-7.6	248	5162	0.00	2.50	0.00	0.000	6	0.000	0.045	2285	1899	3475
5483	-0.95	-146.6	399.2	-7.0	264	5485	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
5793	-0.95	-146.6	422.7	-8.0	279	5794	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3475
6102	-0.95	-146.6	447.1	-7.8	294	6106	0.00	2.53	0.00	0.000	4	0.000	0.049	2286	3298	3475
6178	-0.95	-146.6	453.2	-7.4	297	6185	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1908	3475
6494	-0.95	-146.6	477.6	-7.8	313	6495	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3475
6804	-0.95	-146.6	500.2	-6.9	328	6805	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1908	3475
7112	-0.95	-146.6	520.0	-6.1	343	7114	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1908	3475
7422	-0.95	-146.6	540.8	-7.0	358	7423	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3475
7731	-0.95	-146.6	562.1	-6.8	373	7735	0.00	2.50	0.00	0.000	4	0.000	0.052	2285	3293	3474
7803	-0.95	-146.6	567.1	-7.4	376	7807	0.00	2.53	0.00	0.000	6	0.000	0.046	2285	1906	3475
8124	-0.95	-146.6	588.7	-6.9	392	8125	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3474
8434	-0.95	-146.6	609.2	-5.6	407	8435	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3474
8742	-0.95	-146.6	627.8	-6.9	422	8743	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3474
9051	-0.95	-146.6	647.6	-6.5	437	9056	0.00	2.53	0.00	0.000	4	0.000	0.056	2286	3291	3474
9118	-0.95	-146.6	652.5	-7.8	440	9122	0.00	2.50	0.00	0.000	6	0.000	0.048	2286	1899	3474
9445	-0.95	-146.6	672.5	-5.8	456	9446	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3474
9754	-0.95	-146.6	694.6	-7.1	471	9755	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3474
10063	-0.95	-146.6	709.8	-5.0	486	10068	0.00	2.53	0.00	0.000	4	0.000	0.056	2285	3291	3473
10185	-0.95	-146.6	717.9	-7.1	491	10192	0.00	2.55	0.00	0.000	6	0.000	0.049	2286	1897	3473
10501	-0.95	-146.6	735.0	-5.0	507	10503	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3473
10810	-0.95	-146.6	750.5	-5.6	522	10812	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3473
11119	-0.95	-146.6	770.3	-7.5	537	11124	0.00	2.58	0.00	0.000	4	0.000	0.062	2286	3295	3473
11185	-0.95	-146.6	774.9	-6.2	540	11190	0.00	2.55	0.00	0.000	6	0.000	0.055	2285	1901	3473
11513	-0.95	-146.6	791.8	-5.9	556	11514	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3472
11820	end dive: BOTTOM_OBSTACLE_DETECTED
state	11821	begin apogee
11826	-0.36	0.0	807.0	5.3	571	11952	0.60	0.00	123.82	1.353	6	0.076	0.000	2416	2092	2878
11953	end apogee: CONTROL_FINISHED_OK
state	11953	begin climb
11955	0.95	146.6	811.0	0.0	577	12083	1.27	0.00	123.18	1.309	6	0.054	0.000	2698	2092	2280
12385	0.97	163.5	792.2	5.5	598	12407	0.00	2.70	15.25	1.309	4	0.000	0.067	2698	3497	2211
12485	1.03	210.7	786.6	4.6	602	12531	0.00	2.60	40.42	1.309	6	0.000	0.058	2698	2102	2018
12843	1.05	231.5	766.9	5.4	619	12864	0.12	0.00	18.38	1.326	6	0.049	0.000	2741	2102	1934
13170	1.05	231.5	738.9	9.9	635	13174	0.00	2.62	0.00	0.000	4	0.000	0.064	2741	3505	1932
13259	1.05	231.5	730.0	9.7	639	13263	0.00	2.62	0.00	0.000	6	0.000	0.058	2741	2095	1932
13578	1.05	231.5	709.8	6.1	655	13579	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2095	1932
13887	1.05	231.5	685.4	9.4	670	13892	0.00	2.60	0.00	0.000	4	0.000	0.059	2741	3505	1931
13948	1.05	231.5	678.9	10.6	673	13953	0.00	2.58	0.00	0.000	6	0.000	0.052	2741	2091	1930
14274	1.05	231.5	646.7	9.2	689	14276	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1931
14583	1.05	231.5	625.1	6.2	704	14585	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1931
14893	1.05	231.9	607.2	6.0	719	14894	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2091	1931
15202	1.05	231.9	583.3	8.4	734	15206	0.00	2.58	0.00	0.000	4	0.000	0.054	2741	3506	1931
15323	1.05	231.9	571.4	9.2	739	15331	0.00	2.55	0.00	0.000	6	0.000	0.047	2741	2103	1931
15639	1.05	231.9	544.8	8.1	755	15640	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2104	1931
15948	1.05	231.9	521.0	7.8	770	15949	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2104	1932
16257	1.05	231.9	495.8	8.0	785	16259	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2103	1932
16567	1.05	231.9	473.2	6.9	800	16568	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2104	1933
16876	1.05	231.9	452.2	6.8	815	16877	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2103	1933
17185	1.05	231.9	432.3	6.4	830	17190	0.00	2.53	0.00	0.000	4	0.000	0.048	2741	3503	1934
17246	1.05	231.9	428.1	6.5	833	17251	0.00	2.50	0.00	0.000	6	0.000	0.044	2741	2098	1934
17572	1.05	231.9	404.9	7.3	849	17573	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1934
17881	1.05	231.9	381.5	7.6	864	17886	0.00	2.55	0.00	0.000	4	0.000	0.049	2741	3506	1935
17942	1.05	231.9	376.7	7.0	867	17947	0.00	2.50	0.00	0.000	6	0.000	0.043	2741	2096	1935
18268	1.05	231.9	350.6	8.0	883	18269	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2096	1935
18577	1.05	231.9	324.3	8.8	898	18578	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2096	1936
18886	1.05	231.9	297.9	8.5	913	18891	0.00	2.53	0.00	0.000	4	0.000	0.049	2741	3503	1936
18948	1.05	231.9	292.4	8.0	916	18952	0.00	2.50	0.00	0.000	6	0.000	0.041	2741	2092	1936
19273	1.05	231.9	265.1	8.5	932	19274	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2092	1936
19582	1.05	231.9	238.6	9.0	947	19584	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2092	1936
19891	1.05	231.9	210.0	9.0	962	19896	0.00	2.55	0.00	0.000	4	0.000	0.049	2741	3510	1937
19957	1.05	231.9	203.5	9.2	965	19962	0.00	2.53	0.00	0.000	6	0.000	0.040	2741	2098	1936
20284	1.05	231.9	172.3	9.7	981	20285	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1937
20593	1.05	231.9	142.8	9.7	996	20595	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2098	1937
20903	1.05	231.9	114.8	8.8	1011	20907	0.00	2.53	0.00	0.000	4	0.000	0.047	2741	3504	1937
20964	1.05	231.9	109.1	9.2	1014	20969	0.00	2.47	0.00	0.000	6	0.000	0.039	2741	2097	1937
21290	1.05	231.9	80.5	9.2	1030	21291	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1937
21599	1.05	231.9	52.4	9.2	1045	21601	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1937
21911	1.05	231.9	24.1	7.5	1060	21912	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2097	1937
22218	1.05	231.9	3.3	6.6	1075	22219	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	2092	1937
22528	1.30	431.7	3.2	0.0	1090	22583	0.15	0.00	52.40	0.783	2	0.061	0.000	2784	2091	1544
22584	end climb: NO_VERTICAL_VELOCITY
state	22584	begin surface