Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 137 * 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 137 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -78743.172 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 -78743.172

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 32 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 137 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 160608,6217.110,-1044.019,32,1.2,32,-10.5 TGT_NAME EW

_CALLS 1 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.186,0.094

_SM_DEPTHo 4.01 KALMAN_X 130096.8,40.8,-925.3,-247568.0,5042.9

_SM_ANGLEo -57.3 KALMAN_Y 144376.1,417.3,-2085.3,-61397.3,5184.6

GPS2 161315,6217.045,-1044.208,10,1.6,10,-10.5 MHEAD_RNG_PITCHd_Wd 307.2,20011,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21414,39.40,0.755,0,0,602,558.06 ALTIM_BOTTOM_PING 725.5,89.8

SM_GC 4.40,11.93,0.00,0.00,0.028,0.000,0.000,27,1914,602,-11.27,0.42,558.06 _24V_AH 23.3,33.701

IRIDIUM_FIX 6148.92,-1059.58,091207,131327 _10V_AH 10.1,15.429

TT8_MAMPS 0.026845 DATA_FILE_SIZE 50509,1035

HUMID 2041 CFSIZE 260165632,250253312

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

TCM_TEMP 18.80 GPS 091207,222001,6219.220,-1049.290,40,1.2,40,-10.5

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 118 70.84 SBE_CT 762 24 426.13

Roll_motor 91 76 163.97 SBE_O2 700 19 310.02

VBD_pump_during_apogee 467 1332 14509.85 WL_BB2F 622 105 1522.41

VBD_pump_during_surface 39 754 692.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 36 103 87.54 nil 0 0 0.00

Iridium_during_connect 39 160 145.46 nil 0 0 0.00

Iridium_during_xfer 254 223 1320.37

Transponder_ping 7 420 68.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.91

TT8 1809 19 361.84

LPSleep 17184 2 380.11

TT8_Active 658 19 131.74

TT8_Sampling 2148 39 863.79

TT8_CF8 503 45 232.97

TT8_Kalman 33 81 27.56

Analog_circuits 1724 12 208.98

GPS_charging 0 0 0.00

Compass 2115 8 170.90

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 -21.95 0.000 2 0.000 0.000 30 1884 1119

46 -0.95 -146.6 4.1 -0.0 1 214 11.45 2.58 -149.38 0.000 4 0.119 0.059 2286 3294 3476

299 -0.95 -146.6 12.7 -10.7 13 304 0.00 2.47 0.00 0.000 6 0.000 0.041 2286 1907 3476

626 -0.95 -146.6 40.1 -8.1 29 627 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

935 -0.95 -146.6 62.5 -7.2 44 936 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1907 3476

1244 -0.95 -146.6 91.0 -8.8 59 1248 0.00 2.50 0.00 0.000 4 0.000 0.045 2286 3300 3476

1337 -0.95 -146.6 98.7 -8.9 63 1342 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1882 3476

1660 -0.95 -146.6 119.8 -6.7 79 1662 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1882 3476

1968 -0.95 -146.6 141.6 -7.6 94 1973 0.00 2.55 0.00 0.000 4 0.000 0.045 2286 3305 3476

2068 -0.95 -146.6 149.0 -6.5 98 2076 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1904 3476

2384 -0.95 -146.6 166.9 -5.7 114 2385 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3475

2693 -0.95 -146.6 185.5 -6.1 129 2694 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3002 -0.95 -146.6 208.0 -7.9 144 3003 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1904 3476

3311 -0.95 -146.6 234.3 -9.0 159 3315 0.00 2.50 0.00 0.000 4 0.000 0.047 2286 3300 3476

3382 -0.95 -146.6 240.8 -9.3 162 3386 0.00 2.50 0.00 0.000 6 0.000 0.042 2286 1897 3476

3703 -0.95 -146.6 267.7 -8.4 178 3704 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

4012 -0.95 -146.6 292.9 -8.1 193 4013 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

4321 -0.95 -146.6 316.6 -7.5 208 4323 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

4631 -0.95 -146.6 339.6 -7.5 223 4635 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3301 3476

4714 -0.95 -146.6 346.2 -8.3 227 4718 0.00 2.50 0.00 0.000 6 0.000 0.044 2286 1900 3476

5039 -0.95 -146.6 370.9 -7.9 243 5040 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

5348 -0.95 -146.6 394.2 -7.4 258 5349 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

5658 -0.95 -146.6 417.8 -7.8 273 5662 0.00 2.50 0.00 0.000 4 0.000 0.048 2286 3300 3476

5719 -0.95 -146.6 422.6 -7.7 276 5724 0.00 2.47 0.00 0.000 6 0.000 0.044 2286 1901 3476

6045 -0.95 -146.6 446.8 -7.7 292 6046 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

6354 -0.95 -146.6 469.4 -7.1 307 6359 0.00 2.50 0.00 0.000 4 0.000 0.049 2286 3300 3476

6420 -0.95 -146.6 474.1 -7.0 310 6425 0.00 2.53 0.00 0.000 6 0.000 0.045 2286 1894 3476

6747 -0.95 -146.6 495.1 -6.6 326 6749 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3476

7056 -0.95 -146.6 515.9 -7.2 341 7061 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3298 3475

7150 -0.95 -146.6 523.0 -7.7 345 7155 0.00 2.50 0.00 0.000 6 0.000 0.046 2286 1900 3476

7472 -0.95 -146.6 547.4 -7.5 361 7473 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3476

7781 -0.95 -146.6 571.2 -7.3 376 7783 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

8091 -0.95 -146.6 590.5 -5.7 391 8092 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3475

8400 -0.95 -146.6 605.1 -4.3 406 8401 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

8709 -0.95 -146.6 618.2 -5.1 421 8713 0.00 2.55 0.00 0.000 4 0.000 0.053 2286 3302 3475

8798 -0.95 -146.6 624.2 -7.4 425 8802 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1896 3474

9125 -0.95 -146.6 651.4 -8.7 441 9126 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

9434 -0.95 -146.6 674.7 -7.1 456 9435 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3474

9743 -0.95 -146.6 698.5 -8.3 471 9748 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3295 3474

9820 -0.95 -146.6 704.4 -6.9 474 9828 0.00 2.55 0.00 0.000 6 0.000 0.049 2286 1903 3474

10136 -0.95 -146.6 720.0 -3.5 490 10138 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3474

10445 -0.95 -146.6 732.9 -5.3 505 10450 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3295 3474

10522 -0.95 -146.6 737.7 -6.5 508 10529 0.00 2.55 0.00 0.000 6 0.000 0.049 2286 1899 3474

10838 -0.95 -146.6 755.7 -7.4 524 10842 0.00 2.58 0.00 0.000 4 0.000 0.060 2286 3303 3474

11016 -0.95 -146.6 769.0 -8.3 532 11021 0.00 2.55 0.00 0.000 6 0.000 0.051 2285 1895 3474

11337 -0.95 -146.6 790.8 -5.5 548 11338 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3474

11645 end dive: BOTTOM_OBSTACLE_DETECTED

state 11645 begin apogee

11650 -0.36 0.0 805.5 5.4 563 11777 0.60 0.00 124.32 1.332 6 0.074 0.000 2415 2101 2878

11778 end apogee: CONTROL_FINISHED_OK

state 11778 begin climb

11780 0.95 146.6 808.2 0.0 569 11907 1.27 0.00 123.18 1.291 6 0.054 0.000 2699 2101 2279

12212 1.00 191.8 794.5 4.7 590 12253 0.00 0.00 38.90 1.299 6 0.000 0.000 2699 2101 2096

12559 1.00 191.8 778.3 6.8 607 12563 0.00 2.70 0.00 0.000 4 0.000 0.077 2699 688 2095

12624 1.00 191.8 772.2 10.7 610 12629 0.00 2.58 0.00 0.000 6 0.000 0.054 2699 2102 2095

12951 1.00 191.8 744.3 7.4 626 12953 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2102 2093

13261 1.12 283.4 733.2 3.3 641 13344 0.17 2.70 76.28 1.308 4 0.042 0.061 2756 3506 1722

13573 1.12 283.4 703.8 10.1 655 13578 0.00 2.60 0.00 0.000 6 0.000 0.053 2756 2104 1721

13901 1.12 283.4 668.1 9.3 671 13902 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2103 1721

14210 1.12 283.4 643.5 7.7 686 14211 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1721

14519 1.12 283.4 614.6 9.7 701 14520 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2103 1721

14828 1.12 283.4 584.4 9.9 716 14829 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1721

15137 1.12 283.4 552.3 10.8 731 15139 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1721

15447 1.12 283.4 520.8 9.6 746 15448 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2103 1721

15756 1.12 283.4 494.8 8.5 761 15757 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1722

16065 1.12 283.4 465.5 9.7 776 16066 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1723

16375 1.12 283.4 432.9 10.8 791 16376 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1723

16684 1.12 283.4 400.9 10.1 806 16685 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2104 1723

16993 1.12 283.4 371.2 9.3 821 16997 0.00 2.60 0.00 0.000 4 0.000 0.064 2756 685 1724

17058 1.12 283.4 364.6 10.1 824 17063 0.00 2.50 0.00 0.000 6 0.000 0.040 2756 2105 1724

17385 1.12 283.4 335.8 8.8 840 17386 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2109 1724

17694 1.12 283.4 308.8 8.9 855 17695 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2108 1724

18003 1.12 283.4 282.2 8.4 870 18008 0.00 2.60 0.00 0.000 4 0.000 0.062 2756 687 1724

18058 1.12 283.4 277.1 8.8 872 18065 0.00 2.47 0.00 0.000 6 0.000 0.039 2756 2102 1724

18373 1.12 283.4 250.2 8.2 888 18374 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1724

18683 1.12 283.4 222.8 8.9 903 18684 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1725

18992 1.12 283.4 194.8 9.7 918 18993 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1725

19301 1.12 283.4 165.3 10.0 933 19302 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1726

19612 1.12 283.4 135.8 9.2 948 19613 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1726

19921 1.12 283.4 105.2 8.8 963 19922 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2105 1726

20229 1.12 283.4 77.3 8.0 978 20234 0.00 2.62 0.00 0.000 4 0.000 0.061 2756 680 1726

20284 1.12 283.4 72.3 9.7 980 20291 0.00 2.53 0.00 0.000 6 0.000 0.038 2756 2105 1726

20600 1.12 283.4 43.9 9.9 996 20601 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2109 1726

20909 1.12 283.4 14.9 10.0 1011 20910 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2108 1726

21218 1.36 482.1 3.5 0.1 1026 21330 0.15 2.72 104.75 0.771 4 0.058 0.061 2802 690 912

21412 end climb: NO_VERTICAL_VELOCITY

state 21412 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	137	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-78743.172	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	160608,6217.110,-1044.019,32,1.2,32,-10.5	TGT_NAME	EW
_CALLS	1	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.186,0.094
_SM_DEPTHo	4.01	KALMAN_X	130096.8,40.8,-925.3,-247568.0,5042.9
_SM_ANGLEo	-57.3	KALMAN_Y	144376.1,417.3,-2085.3,-61397.3,5184.6
GPS2	161315,6217.045,-1044.208,10,1.6,10,-10.5	MHEAD_RNG_PITCHd_Wd	307.2,20011,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21414,39.40,0.755,0,0,602,558.06	ALTIM_BOTTOM_PING	725.5,89.8
SM_GC	4.40,11.93,0.00,0.00,0.028,0.000,0.000,27,1914,602,-11.27,0.42,558.06	_24V_AH	23.3,33.701
IRIDIUM_FIX	6148.92,-1059.58,091207,131327	_10V_AH	10.1,15.429
TT8_MAMPS	0.026845	DATA_FILE_SIZE	50509,1035
HUMID	2041	CFSIZE	260165632,250253312
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	18.80	GPS	091207,222001,6219.220,-1049.290,40,1.2,40,-10.5
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	118	70.84	SBE_CT	762	24	426.13
Roll_motor	91	76	163.97	SBE_O2	700	19	310.02
VBD_pump_during_apogee	467	1332	14509.85	WL_BB2F	622	105	1522.41
VBD_pump_during_surface	39	754	692.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	36	103	87.54	nil	0	0	0.00
Iridium_during_connect	39	160	145.46	nil	0	0	0.00
Iridium_during_xfer	254	223	1320.37
Transponder_ping	7	420	68.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.91
TT8	1809	19	361.84
LPSleep	17184	2	380.11
TT8_Active	658	19	131.74
TT8_Sampling	2148	39	863.79
TT8_CF8	503	45	232.97
TT8_Kalman	33	81	27.56
Analog_circuits	1724	12	208.98
GPS_charging	0	0	0.00
Compass	2115	8	170.90
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	-21.95	0.000	2	0.000	0.000	30	1884	1119
46	-0.95	-146.6	4.1	-0.0	1	214	11.45	2.58	-149.38	0.000	4	0.119	0.059	2286	3294	3476
299	-0.95	-146.6	12.7	-10.7	13	304	0.00	2.47	0.00	0.000	6	0.000	0.041	2286	1907	3476
626	-0.95	-146.6	40.1	-8.1	29	627	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
935	-0.95	-146.6	62.5	-7.2	44	936	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1907	3476
1244	-0.95	-146.6	91.0	-8.8	59	1248	0.00	2.50	0.00	0.000	4	0.000	0.045	2286	3300	3476
1337	-0.95	-146.6	98.7	-8.9	63	1342	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1882	3476
1660	-0.95	-146.6	119.8	-6.7	79	1662	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1882	3476
1968	-0.95	-146.6	141.6	-7.6	94	1973	0.00	2.55	0.00	0.000	4	0.000	0.045	2286	3305	3476
2068	-0.95	-146.6	149.0	-6.5	98	2076	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1904	3476
2384	-0.95	-146.6	166.9	-5.7	114	2385	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3475
2693	-0.95	-146.6	185.5	-6.1	129	2694	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3002	-0.95	-146.6	208.0	-7.9	144	3003	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1904	3476
3311	-0.95	-146.6	234.3	-9.0	159	3315	0.00	2.50	0.00	0.000	4	0.000	0.047	2286	3300	3476
3382	-0.95	-146.6	240.8	-9.3	162	3386	0.00	2.50	0.00	0.000	6	0.000	0.042	2286	1897	3476
3703	-0.95	-146.6	267.7	-8.4	178	3704	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
4012	-0.95	-146.6	292.9	-8.1	193	4013	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
4321	-0.95	-146.6	316.6	-7.5	208	4323	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
4631	-0.95	-146.6	339.6	-7.5	223	4635	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3301	3476
4714	-0.95	-146.6	346.2	-8.3	227	4718	0.00	2.50	0.00	0.000	6	0.000	0.044	2286	1900	3476
5039	-0.95	-146.6	370.9	-7.9	243	5040	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
5348	-0.95	-146.6	394.2	-7.4	258	5349	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
5658	-0.95	-146.6	417.8	-7.8	273	5662	0.00	2.50	0.00	0.000	4	0.000	0.048	2286	3300	3476
5719	-0.95	-146.6	422.6	-7.7	276	5724	0.00	2.47	0.00	0.000	6	0.000	0.044	2286	1901	3476
6045	-0.95	-146.6	446.8	-7.7	292	6046	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
6354	-0.95	-146.6	469.4	-7.1	307	6359	0.00	2.50	0.00	0.000	4	0.000	0.049	2286	3300	3476
6420	-0.95	-146.6	474.1	-7.0	310	6425	0.00	2.53	0.00	0.000	6	0.000	0.045	2286	1894	3476
6747	-0.95	-146.6	495.1	-6.6	326	6749	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3476
7056	-0.95	-146.6	515.9	-7.2	341	7061	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3298	3475
7150	-0.95	-146.6	523.0	-7.7	345	7155	0.00	2.50	0.00	0.000	6	0.000	0.046	2286	1900	3476
7472	-0.95	-146.6	547.4	-7.5	361	7473	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3476
7781	-0.95	-146.6	571.2	-7.3	376	7783	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
8091	-0.95	-146.6	590.5	-5.7	391	8092	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3475
8400	-0.95	-146.6	605.1	-4.3	406	8401	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
8709	-0.95	-146.6	618.2	-5.1	421	8713	0.00	2.55	0.00	0.000	4	0.000	0.053	2286	3302	3475
8798	-0.95	-146.6	624.2	-7.4	425	8802	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1896	3474
9125	-0.95	-146.6	651.4	-8.7	441	9126	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
9434	-0.95	-146.6	674.7	-7.1	456	9435	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3474
9743	-0.95	-146.6	698.5	-8.3	471	9748	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3295	3474
9820	-0.95	-146.6	704.4	-6.9	474	9828	0.00	2.55	0.00	0.000	6	0.000	0.049	2286	1903	3474
10136	-0.95	-146.6	720.0	-3.5	490	10138	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3474
10445	-0.95	-146.6	732.9	-5.3	505	10450	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3295	3474
10522	-0.95	-146.6	737.7	-6.5	508	10529	0.00	2.55	0.00	0.000	6	0.000	0.049	2286	1899	3474
10838	-0.95	-146.6	755.7	-7.4	524	10842	0.00	2.58	0.00	0.000	4	0.000	0.060	2286	3303	3474
11016	-0.95	-146.6	769.0	-8.3	532	11021	0.00	2.55	0.00	0.000	6	0.000	0.051	2285	1895	3474
11337	-0.95	-146.6	790.8	-5.5	548	11338	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3474
11645	end dive: BOTTOM_OBSTACLE_DETECTED
state	11645	begin apogee
11650	-0.36	0.0	805.5	5.4	563	11777	0.60	0.00	124.32	1.332	6	0.074	0.000	2415	2101	2878
11778	end apogee: CONTROL_FINISHED_OK
state	11778	begin climb
11780	0.95	146.6	808.2	0.0	569	11907	1.27	0.00	123.18	1.291	6	0.054	0.000	2699	2101	2279
12212	1.00	191.8	794.5	4.7	590	12253	0.00	0.00	38.90	1.299	6	0.000	0.000	2699	2101	2096
12559	1.00	191.8	778.3	6.8	607	12563	0.00	2.70	0.00	0.000	4	0.000	0.077	2699	688	2095
12624	1.00	191.8	772.2	10.7	610	12629	0.00	2.58	0.00	0.000	6	0.000	0.054	2699	2102	2095
12951	1.00	191.8	744.3	7.4	626	12953	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2102	2093
13261	1.12	283.4	733.2	3.3	641	13344	0.17	2.70	76.28	1.308	4	0.042	0.061	2756	3506	1722
13573	1.12	283.4	703.8	10.1	655	13578	0.00	2.60	0.00	0.000	6	0.000	0.053	2756	2104	1721
13901	1.12	283.4	668.1	9.3	671	13902	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2103	1721
14210	1.12	283.4	643.5	7.7	686	14211	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1721
14519	1.12	283.4	614.6	9.7	701	14520	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2103	1721
14828	1.12	283.4	584.4	9.9	716	14829	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1721
15137	1.12	283.4	552.3	10.8	731	15139	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1721
15447	1.12	283.4	520.8	9.6	746	15448	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2103	1721
15756	1.12	283.4	494.8	8.5	761	15757	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1722
16065	1.12	283.4	465.5	9.7	776	16066	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1723
16375	1.12	283.4	432.9	10.8	791	16376	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1723
16684	1.12	283.4	400.9	10.1	806	16685	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2104	1723
16993	1.12	283.4	371.2	9.3	821	16997	0.00	2.60	0.00	0.000	4	0.000	0.064	2756	685	1724
17058	1.12	283.4	364.6	10.1	824	17063	0.00	2.50	0.00	0.000	6	0.000	0.040	2756	2105	1724
17385	1.12	283.4	335.8	8.8	840	17386	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2109	1724
17694	1.12	283.4	308.8	8.9	855	17695	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2108	1724
18003	1.12	283.4	282.2	8.4	870	18008	0.00	2.60	0.00	0.000	4	0.000	0.062	2756	687	1724
18058	1.12	283.4	277.1	8.8	872	18065	0.00	2.47	0.00	0.000	6	0.000	0.039	2756	2102	1724
18373	1.12	283.4	250.2	8.2	888	18374	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1724
18683	1.12	283.4	222.8	8.9	903	18684	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1725
18992	1.12	283.4	194.8	9.7	918	18993	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1725
19301	1.12	283.4	165.3	10.0	933	19302	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1726
19612	1.12	283.4	135.8	9.2	948	19613	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1726
19921	1.12	283.4	105.2	8.8	963	19922	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2105	1726
20229	1.12	283.4	77.3	8.0	978	20234	0.00	2.62	0.00	0.000	4	0.000	0.061	2756	680	1726
20284	1.12	283.4	72.3	9.7	980	20291	0.00	2.53	0.00	0.000	6	0.000	0.038	2756	2105	1726
20600	1.12	283.4	43.9	9.9	996	20601	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2109	1726
20909	1.12	283.4	14.9	10.0	1011	20910	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2108	1726
21218	1.36	482.1	3.5	0.1	1026	21330	0.15	2.72	104.75	0.771	4	0.058	0.061	2802	690	912
21412	end climb: NO_VERTICAL_VELOCITY
state	21412	begin surface