Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 139 * 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 139 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 24 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 -78774.18 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 -78774.18

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 24 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 139 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 045508,6220.286,-1047.274,29,1.0,29,-10.5 TGT_NAME EW

_CALLS 4 TGT_LATLONG 6225.000,-1100.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.039,0.205

_SM_DEPTHo 4.17 KALMAN_X 131776.1,-76.4,3183.5,-255913.0,-8042.7

_SM_ANGLEo -54.7 KALMAN_Y 140623.4,323.7,-1362.0,-51856.5,130.6

GPS2 051402,6220.513,-1047.234,10,1.0,10,-10.5 MHEAD_RNG_PITCHd_Wd 359.7,13744,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 20981,21.08,0.765,0,0,602,558.06 ALTIM_BOTTOM_PING 651.5,92.9

SM_GC 4.18,11.95,0.00,0.00,0.028,0.000,0.000,34,1883,602,-11.25,-0.48,558.30 _24V_AH 23.3,34.079

IRIDIUM_FIX 6158.08,-956.72,101207,090942 _10V_AH 10.2,15.627

TT8_MAMPS 0.026078 DATA_FILE_SIZE 50480,1017

HUMID 2034 CFSIZE 260165632,250109952

INTERNAL_PRESSURE 9.15074 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 16.80 GPS 101207,111308,6223.999,-1041.678,33,1.1,33,-10.5

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 109 65.61 SBE_CT 746 24 417.57

Roll_motor 112 73 193.44 SBE_O2 688 19 304.66

VBD_pump_during_apogee 498 1277 14841.98 WL_BB2F 617 105 1509.82

VBD_pump_during_surface 21 764 375.50 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 148 103 355.99 nil 0 0 0.00

Iridium_during_connect 214 160 797.87 nil 0 0 0.00

Iridium_during_xfer 476 223 2477.52

Transponder_ping 6 420 66.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.15

TT8 1776 19 358.84

LPSleep 16994 2 379.63

TT8_Active 707 19 142.97

TT8_Sampling 2039 39 827.82

TT8_CF8 1040 45 486.22

TT8_Kalman 33 81 27.84

Analog_circuits 1734 12 212.25

GPS_charging 0 0 0.00

Compass 2014 8 164.41

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 26 1889 1120

46 -0.95 -146.6 4.2 -0.0 1 212 11.25 2.58 -147.65 0.000 4 0.110 0.057 2285 3300 3476

307 -0.95 -146.6 13.1 -6.9 13 312 0.00 2.53 0.00 0.000 6 0.000 0.040 2285 1904 3476

636 -0.95 -146.6 41.8 -13.6 29 640 0.00 2.50 0.00 0.000 4 0.000 0.044 2285 3301 3476

662 -0.95 -146.6 46.8 -17.7 30 666 0.00 2.53 0.00 0.000 6 0.000 0.041 2285 1902 3475

983 -0.95 -146.6 77.1 -8.5 46 984 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

1292 -0.95 -146.6 104.9 -10.9 61 1297 0.00 2.53 0.00 0.000 4 0.000 0.045 2285 3307 3476

1347 -0.95 -146.6 111.6 -10.6 63 1354 0.00 2.55 0.00 0.000 6 0.000 0.041 2285 1897 3475

1663 -0.95 -146.6 138.9 -8.5 79 1667 0.00 2.53 0.00 0.000 4 0.000 0.046 2285 3302 3475

1711 -0.95 -146.6 142.2 -6.3 81 1716 0.00 2.53 0.00 0.000 6 0.000 0.041 2284 1905 3475

2032 -0.95 -146.6 166.0 -6.6 97 2034 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3475

2342 -0.95 -146.6 187.1 -6.2 112 2346 0.00 2.60 0.00 0.000 4 0.000 0.065 2284 497 3475

2384 -0.95 -146.6 190.1 -7.4 114 2389 0.00 2.50 0.00 0.000 6 0.000 0.041 2285 1905 3475

2711 -0.95 -146.6 212.0 -6.8 130 2715 0.00 2.50 0.00 0.000 4 0.000 0.048 2285 3300 3475

2760 -0.95 -146.6 215.9 -8.3 132 2765 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1902 3475

3081 -0.95 -146.6 238.6 -6.9 148 3082 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

3390 -0.95 -146.6 259.1 -7.5 163 3391 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

3700 -0.95 -146.6 279.1 -6.5 178 3701 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

4010 -0.95 -146.6 300.5 -7.2 193 4011 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3475

4318 -0.95 -146.6 321.9 -6.6 208 4322 0.00 2.50 0.00 0.000 4 0.000 0.047 2285 3303 3475

4401 -0.95 -146.6 327.7 -6.7 212 4406 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1895 3475

4728 -0.95 -146.6 350.5 -7.1 228 4732 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3299 3475

4771 -0.95 -146.6 353.8 -7.9 230 4775 0.00 2.50 0.00 0.000 6 0.000 0.044 2285 1901 3475

5098 -0.95 -146.6 377.3 -7.1 246 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3475

5407 -0.95 -146.6 399.9 -7.4 261 5408 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

5716 -0.95 -146.6 424.6 -8.2 276 5718 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6025 -0.95 -146.6 449.8 -8.0 291 6027 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6335 -0.95 -146.6 471.9 -6.9 306 6336 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6645 -0.95 -146.6 492.0 -6.4 321 6649 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3298 3475

6687 -0.95 -146.6 495.1 -7.0 323 6692 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1906 3474

7014 -0.95 -146.6 517.3 -7.2 339 7015 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1906 3474

7323 -0.95 -146.6 539.0 -6.8 354 7328 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3301 3474

7378 -0.95 -146.6 542.7 -7.3 356 7385 0.00 2.55 0.00 0.000 6 0.000 0.047 2285 1903 3474

7693 -0.95 -146.6 564.5 -6.5 372 7695 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3473

8003 -0.95 -146.6 587.4 -6.8 387 8004 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3473

8312 -0.95 -146.6 609.4 -7.2 402 8313 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3473

8621 -0.95 -146.6 634.3 -7.9 417 8622 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1900 3473

8931 -0.95 -146.6 659.2 -7.6 432 8935 0.00 2.60 0.00 0.000 4 0.000 0.069 2285 493 3473

8996 -0.95 -146.6 665.1 -8.5 435 9001 0.00 2.50 0.00 0.000 6 0.000 0.046 2285 1899 3473

9323 -0.95 -146.6 687.1 -6.8 451 9324 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3473

9633 -0.95 -146.6 711.2 -8.7 466 9634 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3473

9942 -0.95 -146.6 733.9 -4.8 481 9943 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1901 3472

9960 end dive: BOTTOM_OBSTACLE_DETECTED

state 9961 begin apogee

9965 -0.36 0.0 734.9 4.4 482 10092 0.62 0.00 123.15 1.277 6 0.076 0.000 2421 2105 2878

10092 end apogee: CONTROL_FINISHED_OK

state 10092 begin climb

10094 0.95 146.6 738.1 0.0 488 10223 1.27 0.00 122.53 1.241 6 0.051 0.000 2703 2104 2280

10532 0.97 167.5 717.2 5.4 510 10557 0.00 2.67 18.10 1.261 4 0.000 0.063 2703 3496 2195

10620 1.03 210.5 711.8 4.7 514 10662 0.00 2.58 36.15 1.256 6 0.000 0.053 2703 2099 2020

10970 1.03 210.5 687.4 8.7 531 10972 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2019

11279 1.03 210.5 665.5 6.6 546 11284 0.00 2.65 0.00 0.000 4 0.000 0.074 2703 689 2018

11368 1.03 210.5 659.0 7.3 550 11372 0.00 2.53 0.00 0.000 6 0.000 0.048 2703 2096 2018

11695 1.03 210.5 636.4 7.1 566 11696 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2097 2017

12004 1.03 210.5 613.5 7.8 581 12005 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2098 2017

12314 1.03 210.5 591.2 7.3 596 12315 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2099 2017

12623 1.03 210.5 568.3 7.8 611 12624 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2017

12932 1.03 210.5 545.0 7.1 626 12933 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2101 2017

13241 1.03 210.5 525.0 6.1 641 13246 0.00 2.62 0.00 0.000 4 0.000 0.064 2703 686 2017

13296 1.03 210.5 521.2 6.5 643 13303 0.00 2.53 0.00 0.000 6 0.000 0.043 2703 2100 2017

13611 1.03 210.5 501.4 6.4 659 13612 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2100 2017

13921 1.04 226.0 483.1 5.5 674 13940 0.00 0.00 13.35 1.166 6 0.000 0.000 2703 2101 1956

14249 1.05 230.5 464.3 5.9 690 14256 0.00 0.00 4.85 1.100 6 0.000 0.000 2703 2103 1938

14558 1.05 230.5 446.2 6.0 705 14559 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2103 1938

14868 1.05 233.3 427.5 5.9 720 14877 0.00 2.65 3.62 1.046 4 0.000 0.063 2703 694 1926

14944 1.07 247.6 423.0 5.6 723 14965 0.12 2.47 12.52 1.091 6 0.050 0.041 2750 2107 1867

15286 1.07 247.6 398.6 7.4 740 15288 0.12 0.00 0.00 0.000 6 0.085 0.000 2725 2111 1868

15594 1.11 280.3 381.2 5.0 755 15624 0.00 0.00 27.33 1.051 6 0.000 0.000 2725 2110 1735

15924 1.12 289.1 362.7 5.7 771 15934 0.00 0.00 8.50 1.049 6 0.000 0.000 2725 2110 1698

16234 1.12 289.1 343.8 6.2 786 16238 0.00 2.65 0.00 0.000 4 0.000 0.063 2725 685 1698

16288 1.12 289.1 340.2 6.4 788 16295 0.00 2.50 0.00 0.000 6 0.000 0.040 2725 2091 1698

16603 1.12 289.1 320.0 6.6 804 16604 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2095 1699

16913 1.12 289.1 299.0 6.8 819 16917 0.00 2.60 0.00 0.000 4 0.000 0.061 2725 690 1699

16961 1.12 289.1 295.3 7.5 821 16966 0.00 2.50 0.00 0.000 6 0.000 0.039 2725 2096 1699

17282 1.12 289.1 271.0 7.9 837 17287 0.00 2.60 0.00 0.000 4 0.000 0.061 2725 690 1699

17326 1.12 289.1 267.2 8.3 839 17330 0.00 2.47 0.00 0.000 6 0.000 0.039 2725 2103 1699

17652 1.12 289.1 239.6 8.4 855 17653 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2106 1699

17961 1.12 289.1 214.1 8.0 870 17966 0.00 2.62 0.00 0.000 4 0.000 0.061 2725 685 1699

18018 1.12 289.1 209.5 7.6 872 18024 0.00 2.47 0.00 0.000 6 0.000 0.039 2725 2098 1699

18332 1.12 289.1 182.2 8.7 888 18333 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2102 1699

18641 1.12 289.1 156.9 8.3 903 18646 0.00 2.60 0.00 0.000 4 0.000 0.060 2725 689 1699

18685 1.12 289.1 153.3 8.5 905 18689 0.00 2.47 0.00 0.000 6 0.000 0.038 2725 2104 1699

19012 1.12 289.1 127.4 7.8 921 19013 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2106 1699

19321 1.12 289.1 104.2 7.2 936 19325 0.00 2.60 0.00 0.000 4 0.000 0.060 2724 690 1700

19382 1.12 289.1 99.3 7.7 939 19386 0.00 2.47 0.00 0.000 6 0.000 0.038 2725 2105 1700

19708 1.12 289.1 73.3 7.7 955 19709 0.00 0.00 0.00 0.000 6 0.000 0.000 2725 2108 1700

20017 1.12 289.1 47.8 8.5 970 20021 0.00 2.62 0.00 0.000 4 0.000 0.061 2725 683 1700

20078 1.12 289.1 42.6 8.7 973 20083 0.00 2.47 0.00 0.000 6 0.000 0.038 2724 2098 1700

20405 1.15 313.1 19.2 5.3 989 20426 0.00 0.00 19.88 0.840 6 0.000 0.000 2725 2102 1601

20736 1.40 518.4 3.7 -0.1 1005 20848 0.32 0.00 108.82 0.762 6 0.039 0.000 2809 2104 763

20978 end climb: NO_VERTICAL_VELOCITY

state 20978 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	139	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	24	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	-78774.18	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	045508,6220.286,-1047.274,29,1.0,29,-10.5	TGT_NAME	EW
_CALLS	4	TGT_LATLONG	6225.000,-1100.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.039,0.205
_SM_DEPTHo	4.17	KALMAN_X	131776.1,-76.4,3183.5,-255913.0,-8042.7
_SM_ANGLEo	-54.7	KALMAN_Y	140623.4,323.7,-1362.0,-51856.5,130.6
GPS2	051402,6220.513,-1047.234,10,1.0,10,-10.5	MHEAD_RNG_PITCHd_Wd	359.7,13744,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	20981,21.08,0.765,0,0,602,558.06	ALTIM_BOTTOM_PING	651.5,92.9
SM_GC	4.18,11.95,0.00,0.00,0.028,0.000,0.000,34,1883,602,-11.25,-0.48,558.30	_24V_AH	23.3,34.079
IRIDIUM_FIX	6158.08,-956.72,101207,090942	_10V_AH	10.2,15.627
TT8_MAMPS	0.026078	DATA_FILE_SIZE	50480,1017
HUMID	2034	CFSIZE	260165632,250109952
INTERNAL_PRESSURE	9.15074	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	16.80	GPS	101207,111308,6223.999,-1041.678,33,1.1,33,-10.5
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	109	65.61	SBE_CT	746	24	417.57
Roll_motor	112	73	193.44	SBE_O2	688	19	304.66
VBD_pump_during_apogee	498	1277	14841.98	WL_BB2F	617	105	1509.82
VBD_pump_during_surface	21	764	375.50	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	148	103	355.99	nil	0	0	0.00
Iridium_during_connect	214	160	797.87	nil	0	0	0.00
Iridium_during_xfer	476	223	2477.52
Transponder_ping	6	420	66.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.15
TT8	1776	19	358.84
LPSleep	16994	2	379.63
TT8_Active	707	19	142.97
TT8_Sampling	2039	39	827.82
TT8_CF8	1040	45	486.22
TT8_Kalman	33	81	27.84
Analog_circuits	1734	12	212.25
GPS_charging	0	0	0.00
Compass	2014	8	164.41
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	26	1889	1120
46	-0.95	-146.6	4.2	-0.0	1	212	11.25	2.58	-147.65	0.000	4	0.110	0.057	2285	3300	3476
307	-0.95	-146.6	13.1	-6.9	13	312	0.00	2.53	0.00	0.000	6	0.000	0.040	2285	1904	3476
636	-0.95	-146.6	41.8	-13.6	29	640	0.00	2.50	0.00	0.000	4	0.000	0.044	2285	3301	3476
662	-0.95	-146.6	46.8	-17.7	30	666	0.00	2.53	0.00	0.000	6	0.000	0.041	2285	1902	3475
983	-0.95	-146.6	77.1	-8.5	46	984	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
1292	-0.95	-146.6	104.9	-10.9	61	1297	0.00	2.53	0.00	0.000	4	0.000	0.045	2285	3307	3476
1347	-0.95	-146.6	111.6	-10.6	63	1354	0.00	2.55	0.00	0.000	6	0.000	0.041	2285	1897	3475
1663	-0.95	-146.6	138.9	-8.5	79	1667	0.00	2.53	0.00	0.000	4	0.000	0.046	2285	3302	3475
1711	-0.95	-146.6	142.2	-6.3	81	1716	0.00	2.53	0.00	0.000	6	0.000	0.041	2284	1905	3475
2032	-0.95	-146.6	166.0	-6.6	97	2034	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3475
2342	-0.95	-146.6	187.1	-6.2	112	2346	0.00	2.60	0.00	0.000	4	0.000	0.065	2284	497	3475
2384	-0.95	-146.6	190.1	-7.4	114	2389	0.00	2.50	0.00	0.000	6	0.000	0.041	2285	1905	3475
2711	-0.95	-146.6	212.0	-6.8	130	2715	0.00	2.50	0.00	0.000	4	0.000	0.048	2285	3300	3475
2760	-0.95	-146.6	215.9	-8.3	132	2765	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1902	3475
3081	-0.95	-146.6	238.6	-6.9	148	3082	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
3390	-0.95	-146.6	259.1	-7.5	163	3391	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
3700	-0.95	-146.6	279.1	-6.5	178	3701	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
4010	-0.95	-146.6	300.5	-7.2	193	4011	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3475
4318	-0.95	-146.6	321.9	-6.6	208	4322	0.00	2.50	0.00	0.000	4	0.000	0.047	2285	3303	3475
4401	-0.95	-146.6	327.7	-6.7	212	4406	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1895	3475
4728	-0.95	-146.6	350.5	-7.1	228	4732	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3299	3475
4771	-0.95	-146.6	353.8	-7.9	230	4775	0.00	2.50	0.00	0.000	6	0.000	0.044	2285	1901	3475
5098	-0.95	-146.6	377.3	-7.1	246	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3475
5407	-0.95	-146.6	399.9	-7.4	261	5408	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
5716	-0.95	-146.6	424.6	-8.2	276	5718	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6025	-0.95	-146.6	449.8	-8.0	291	6027	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6335	-0.95	-146.6	471.9	-6.9	306	6336	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6645	-0.95	-146.6	492.0	-6.4	321	6649	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3298	3475
6687	-0.95	-146.6	495.1	-7.0	323	6692	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1906	3474
7014	-0.95	-146.6	517.3	-7.2	339	7015	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1906	3474
7323	-0.95	-146.6	539.0	-6.8	354	7328	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3301	3474
7378	-0.95	-146.6	542.7	-7.3	356	7385	0.00	2.55	0.00	0.000	6	0.000	0.047	2285	1903	3474
7693	-0.95	-146.6	564.5	-6.5	372	7695	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3473
8003	-0.95	-146.6	587.4	-6.8	387	8004	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3473
8312	-0.95	-146.6	609.4	-7.2	402	8313	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3473
8621	-0.95	-146.6	634.3	-7.9	417	8622	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1900	3473
8931	-0.95	-146.6	659.2	-7.6	432	8935	0.00	2.60	0.00	0.000	4	0.000	0.069	2285	493	3473
8996	-0.95	-146.6	665.1	-8.5	435	9001	0.00	2.50	0.00	0.000	6	0.000	0.046	2285	1899	3473
9323	-0.95	-146.6	687.1	-6.8	451	9324	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3473
9633	-0.95	-146.6	711.2	-8.7	466	9634	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3473
9942	-0.95	-146.6	733.9	-4.8	481	9943	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1901	3472
9960	end dive: BOTTOM_OBSTACLE_DETECTED
state	9961	begin apogee
9965	-0.36	0.0	734.9	4.4	482	10092	0.62	0.00	123.15	1.277	6	0.076	0.000	2421	2105	2878
10092	end apogee: CONTROL_FINISHED_OK
state	10092	begin climb
10094	0.95	146.6	738.1	0.0	488	10223	1.27	0.00	122.53	1.241	6	0.051	0.000	2703	2104	2280
10532	0.97	167.5	717.2	5.4	510	10557	0.00	2.67	18.10	1.261	4	0.000	0.063	2703	3496	2195
10620	1.03	210.5	711.8	4.7	514	10662	0.00	2.58	36.15	1.256	6	0.000	0.053	2703	2099	2020
10970	1.03	210.5	687.4	8.7	531	10972	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2019
11279	1.03	210.5	665.5	6.6	546	11284	0.00	2.65	0.00	0.000	4	0.000	0.074	2703	689	2018
11368	1.03	210.5	659.0	7.3	550	11372	0.00	2.53	0.00	0.000	6	0.000	0.048	2703	2096	2018
11695	1.03	210.5	636.4	7.1	566	11696	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2097	2017
12004	1.03	210.5	613.5	7.8	581	12005	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2098	2017
12314	1.03	210.5	591.2	7.3	596	12315	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2099	2017
12623	1.03	210.5	568.3	7.8	611	12624	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2017
12932	1.03	210.5	545.0	7.1	626	12933	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2101	2017
13241	1.03	210.5	525.0	6.1	641	13246	0.00	2.62	0.00	0.000	4	0.000	0.064	2703	686	2017
13296	1.03	210.5	521.2	6.5	643	13303	0.00	2.53	0.00	0.000	6	0.000	0.043	2703	2100	2017
13611	1.03	210.5	501.4	6.4	659	13612	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2100	2017
13921	1.04	226.0	483.1	5.5	674	13940	0.00	0.00	13.35	1.166	6	0.000	0.000	2703	2101	1956
14249	1.05	230.5	464.3	5.9	690	14256	0.00	0.00	4.85	1.100	6	0.000	0.000	2703	2103	1938
14558	1.05	230.5	446.2	6.0	705	14559	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2103	1938
14868	1.05	233.3	427.5	5.9	720	14877	0.00	2.65	3.62	1.046	4	0.000	0.063	2703	694	1926
14944	1.07	247.6	423.0	5.6	723	14965	0.12	2.47	12.52	1.091	6	0.050	0.041	2750	2107	1867
15286	1.07	247.6	398.6	7.4	740	15288	0.12	0.00	0.00	0.000	6	0.085	0.000	2725	2111	1868
15594	1.11	280.3	381.2	5.0	755	15624	0.00	0.00	27.33	1.051	6	0.000	0.000	2725	2110	1735
15924	1.12	289.1	362.7	5.7	771	15934	0.00	0.00	8.50	1.049	6	0.000	0.000	2725	2110	1698
16234	1.12	289.1	343.8	6.2	786	16238	0.00	2.65	0.00	0.000	4	0.000	0.063	2725	685	1698
16288	1.12	289.1	340.2	6.4	788	16295	0.00	2.50	0.00	0.000	6	0.000	0.040	2725	2091	1698
16603	1.12	289.1	320.0	6.6	804	16604	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2095	1699
16913	1.12	289.1	299.0	6.8	819	16917	0.00	2.60	0.00	0.000	4	0.000	0.061	2725	690	1699
16961	1.12	289.1	295.3	7.5	821	16966	0.00	2.50	0.00	0.000	6	0.000	0.039	2725	2096	1699
17282	1.12	289.1	271.0	7.9	837	17287	0.00	2.60	0.00	0.000	4	0.000	0.061	2725	690	1699
17326	1.12	289.1	267.2	8.3	839	17330	0.00	2.47	0.00	0.000	6	0.000	0.039	2725	2103	1699
17652	1.12	289.1	239.6	8.4	855	17653	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2106	1699
17961	1.12	289.1	214.1	8.0	870	17966	0.00	2.62	0.00	0.000	4	0.000	0.061	2725	685	1699
18018	1.12	289.1	209.5	7.6	872	18024	0.00	2.47	0.00	0.000	6	0.000	0.039	2725	2098	1699
18332	1.12	289.1	182.2	8.7	888	18333	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2102	1699
18641	1.12	289.1	156.9	8.3	903	18646	0.00	2.60	0.00	0.000	4	0.000	0.060	2725	689	1699
18685	1.12	289.1	153.3	8.5	905	18689	0.00	2.47	0.00	0.000	6	0.000	0.038	2725	2104	1699
19012	1.12	289.1	127.4	7.8	921	19013	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2106	1699
19321	1.12	289.1	104.2	7.2	936	19325	0.00	2.60	0.00	0.000	4	0.000	0.060	2724	690	1700
19382	1.12	289.1	99.3	7.7	939	19386	0.00	2.47	0.00	0.000	6	0.000	0.038	2725	2105	1700
19708	1.12	289.1	73.3	7.7	955	19709	0.00	0.00	0.00	0.000	6	0.000	0.000	2725	2108	1700
20017	1.12	289.1	47.8	8.5	970	20021	0.00	2.62	0.00	0.000	4	0.000	0.061	2725	683	1700
20078	1.12	289.1	42.6	8.7	973	20083	0.00	2.47	0.00	0.000	6	0.000	0.038	2724	2098	1700
20405	1.15	313.1	19.2	5.3	989	20426	0.00	0.00	19.88	0.840	6	0.000	0.000	2725	2102	1601
20736	1.40	518.4	3.7	-0.1	1005	20848	0.32	0.00	108.82	0.762	6	0.039	0.000	2809	2104	763
20978	end climb: NO_VERTICAL_VELOCITY
state	20978	begin surface