Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 145 * 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 145 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 21 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 -78883.297 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 -78883.297

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 21 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 145 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 180232,6224.755,-1058.913,41,1.5,41,-10.6 TGT_NAME FW

_CALLS 1 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 3 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.205,-0.038

_SM_DEPTHo 4.14 KALMAN_X 158968.0,-651.5,-4105.4,-285441.0,-19412.5

_SM_ANGLEo -50.5 KALMAN_Y 122119.1,729.0,3766.7,-31068.8,12864.9

GPS2 181011,6224.737,-1058.818,11,2.3,30,-10.6 MHEAD_RNG_PITCHd_Wd 270.2,36541,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 21823,37.05,0.763,0,0,603,558.06 ALTIM_BOTTOM_PING 700.0,105.7

SM_GC 4.33,11.95,0.00,0.00,0.030,0.000,0.000,29,1886,604,-11.27,-0.40,558.06 _24V_AH 23.3,35.191

IRIDIUM_FIX 6158.08,-1058.57,111207,151511 _10V_AH 10.1,16.204

TT8_MAMPS 0.026078 DATA_FILE_SIZE 53761,1055

HUMID 2042 CFSIZE 260165632,249724928

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 16.80 GPS 121207,002337,6223.357,-1102.564,39,1.9,39,-10.7

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 110 65.56 SBE_CT 767 24 429.34

Roll_motor 81 62 120.02 SBE_O2 713 19 315.84

VBD_pump_during_apogee 470 1345 14740.41 WL_BB2F 644 105 1577.24

VBD_pump_during_surface 37 763 658.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.03 nil 0 0 0.00

Iridium_during_connect 42 160 156.78 nil 0 0 0.00

Iridium_during_xfer 261 223 1360.26

Transponder_ping 7 420 73.39

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.31

TT8 1828 19 365.63

LPSleep 17536 2 387.89

TT8_Active 679 19 135.92

TT8_Sampling 2169 39 872.26

TT8_CF8 525 45 243.21

TT8_Kalman 33 81 27.55

Analog_circuits 1728 12 209.52

GPS_charging 0 0 0.00

Compass 2120 8 171.35

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -22.10 0.000 2 0.000 0.000 34 1885 1121

47 -0.95 -146.6 4.4 -0.0 1 219 11.32 2.60 -151.88 0.000 4 0.110 0.059 2284 3304 3476

308 -0.95 -146.6 10.2 -10.3 13 315 0.00 2.55 0.00 0.000 6 0.000 0.042 2284 1898 3476

626 -0.95 -146.6 33.9 -5.0 29 630 0.00 2.60 0.00 0.000 4 0.000 0.063 2284 492 3476

854 -0.95 -146.6 51.6 -7.3 39 858 0.00 2.50 0.00 0.000 6 0.000 0.039 2284 1904 3476

1175 -0.95 -146.6 75.9 -7.1 55 1177 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1906 3476

1484 -0.95 -146.6 95.0 -6.5 70 1489 0.00 2.47 0.00 0.000 4 0.000 0.047 2284 3293 3476

1561 -0.95 -146.6 100.4 -7.2 73 1569 0.00 2.50 0.00 0.000 6 0.000 0.041 2284 1907 3476

1878 -0.95 -146.6 123.9 -7.8 89 1879 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1907 3476

2187 -0.95 -146.6 146.8 -5.8 104 2191 0.00 2.50 0.00 0.000 4 0.000 0.046 2284 3301 3476

2241 -0.95 -146.6 150.0 -5.0 106 2249 0.00 2.53 0.00 0.000 6 0.000 0.043 2284 1903 3476

2557 -0.95 -146.6 168.5 -6.2 122 2558 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1903 3476

2866 -0.95 -146.6 189.5 -6.5 137 2869 0.00 2.47 0.00 0.000 4 0.000 0.046 2284 3295 3476

2926 -0.95 -146.6 193.7 -6.8 139 2932 0.00 2.53 0.00 0.000 6 0.000 0.041 2284 1897 3476

3241 -0.95 -146.6 215.6 -7.6 155 3243 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3476

3550 -0.95 -146.6 239.7 -7.9 170 3555 0.00 2.50 0.00 0.000 4 0.000 0.047 2284 3302 3476

3612 -0.95 -146.6 244.5 -8.3 173 3616 0.00 2.50 0.00 0.000 6 0.000 0.043 2284 1900 3476

3938 -0.95 -146.6 267.0 -6.7 189 3939 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3476

4247 -0.95 -146.6 286.9 -6.5 204 4248 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3476

4556 -0.95 -146.6 307.9 -6.4 219 4560 0.00 2.50 0.00 0.000 4 0.000 0.048 2284 3294 3476

4627 -0.95 -146.6 312.4 -6.5 222 4631 0.00 2.50 0.00 0.000 6 0.000 0.042 2284 1897 3476

4948 -0.95 -146.6 336.3 -8.4 238 4949 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3476

5257 -0.95 -146.6 363.7 -9.1 253 5258 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3476

5567 -0.95 -146.6 390.1 -8.1 268 5571 0.00 2.53 0.00 0.000 4 0.000 0.049 2284 3295 3476

5643 -0.95 -146.6 396.6 -8.8 271 5650 0.00 2.53 0.00 0.000 6 0.000 0.044 2284 1905 3476

5959 -0.95 -146.6 418.6 -6.4 287 5960 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1905 3476

6268 -0.95 -146.6 438.9 -6.9 302 6272 0.00 2.50 0.00 0.000 4 0.000 0.050 2284 3294 3476

6356 -0.95 -146.6 445.6 -7.5 306 6360 0.00 2.53 0.00 0.000 6 0.000 0.045 2284 1902 3476

6682 -0.95 -146.6 469.6 -7.5 322 6684 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1902 3475

6992 -0.95 -146.6 490.6 -6.6 337 6993 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1902 3475

7301 -0.95 -146.6 509.9 -5.5 352 7302 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3475

7611 -0.95 -146.6 526.2 -5.5 367 7615 0.00 2.53 0.00 0.000 4 0.000 0.051 2284 3301 3475

7694 -0.95 -146.6 531.3 -6.0 371 7699 0.00 2.53 0.00 0.000 6 0.000 0.045 2284 1897 3475

8020 -0.95 -146.6 553.9 -7.5 387 8021 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3475

8330 -0.95 -146.6 578.0 -7.3 402 8331 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3474

8639 -0.95 -146.6 598.3 -6.8 417 8640 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1897 3474

8948 -0.95 -146.6 620.4 -6.6 432 8949 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1897 3474

9257 -0.95 -146.6 641.9 -7.2 447 9262 0.00 2.58 0.00 0.000 4 0.000 0.058 2284 3298 3474

9363 -0.95 -146.6 649.7 -7.3 452 9368 0.00 2.53 0.00 0.000 6 0.000 0.049 2283 1896 3475

9695 -0.95 -146.6 670.4 -5.9 468 9699 0.00 2.55 0.00 0.000 4 0.000 0.058 2284 3295 3474

9778 -0.95 -146.6 675.5 -6.3 472 9782 0.00 2.53 0.00 0.000 6 0.000 0.049 2284 1899 3474

10103 -0.95 -146.6 694.7 -5.3 488 10105 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3473

10413 -0.95 -146.6 712.4 -6.2 503 10414 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3474

10722 -0.95 -146.6 733.6 -7.1 518 10726 0.00 2.58 0.00 0.000 4 0.000 0.059 2284 3297 3474

10905 -0.95 -146.6 746.2 -6.9 526 10909 0.00 2.55 0.00 0.000 6 0.000 0.054 2284 1900 3473

11226 -0.95 -146.6 765.8 -6.2 542 11227 0.00 0.00 0.00 0.000 6 0.000 0.000 2284 1900 3473

11535 -0.95 -146.6 783.7 -5.8 557 11537 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 1900 3472

11720 end dive: BOTTOM_OBSTACLE_DETECTED

state 11720 begin apogee

11725 -0.36 0.0 796.2 7.1 566 11853 0.62 0.00 124.50 1.345 6 0.077 0.000 2419 2090 2878

11853 end apogee: CONTROL_FINISHED_OK

state 11854 begin climb

11855 0.95 146.6 799.0 0.0 572 11983 1.27 0.00 123.75 1.305 6 0.058 0.000 2699 2091 2280

12287 0.98 174.9 780.1 5.2 593 12314 0.00 0.00 24.65 1.306 6 0.000 0.000 2698 2091 2165

12615 0.98 174.9 759.3 7.1 609 12616 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2091 2164

12924 1.02 206.1 740.5 5.1 624 12953 0.00 0.00 27.23 1.324 6 0.000 0.000 2698 2091 2037

13253 1.02 206.1 719.3 6.9 640 13255 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2091 2036

13562 1.02 206.1 698.6 7.1 655 13567 0.00 2.60 0.00 0.000 4 0.000 0.060 2699 3501 2035

13679 1.02 206.1 689.5 7.2 660 13683 0.00 2.58 0.00 0.000 6 0.000 0.051 2699 2105 2035

14001 1.11 279.6 674.6 3.8 676 14070 0.15 2.65 61.10 1.295 4 0.048 0.055 2752 3502 1737

14181 1.11 279.6 659.7 9.3 684 14186 0.00 2.58 0.00 0.000 6 0.000 0.051 2753 2106 1737

14502 1.11 279.6 629.5 10.2 700 14504 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1737

14811 1.11 279.6 598.8 9.4 715 14813 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1737

15121 1.11 279.6 570.8 8.7 730 15122 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1737

15430 1.11 279.6 543.4 8.9 745 15431 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1737

15739 1.11 279.6 514.1 9.7 760 15740 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1737

16048 1.11 279.6 484.1 9.7 775 16050 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1738

16358 1.11 279.6 454.3 9.7 790 16359 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1739

16667 1.11 279.6 426.0 8.6 805 16668 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1739

16976 1.11 279.6 400.1 9.1 820 16977 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1739

17286 1.11 279.6 371.0 9.8 835 17287 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2106 1740

17595 1.11 279.6 340.9 9.0 850 17596 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1740

17904 1.11 279.6 313.4 9.2 865 17905 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1741

18214 1.11 279.6 283.7 9.5 880 18215 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1740

18523 1.11 279.6 256.4 8.8 895 18524 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1740

18832 1.11 279.6 229.0 9.0 910 18833 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1741

19141 1.11 279.6 203.2 8.4 925 19143 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2105 1741

19450 1.11 279.6 177.5 8.5 940 19455 0.00 2.60 0.00 0.000 4 0.000 0.061 2753 687 1741

19506 1.11 279.6 172.9 9.3 942 19512 0.00 2.47 0.00 0.000 6 0.000 0.038 2753 2110 1741

19821 1.11 279.6 146.4 8.4 958 19823 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2113 1742

20132 1.11 279.6 119.5 9.4 973 20133 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2114 1742

20440 1.11 279.6 93.1 7.6 988 20441 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2114 1742

20749 1.11 279.6 66.1 8.6 1003 20750 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2113 1742

21058 1.11 279.6 39.4 9.4 1018 21059 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2113 1742

21367 1.11 279.6 9.4 10.0 1033 21369 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2113 1743

21677 1.37 486.8 3.7 -0.2 1048 21790 0.15 0.00 109.03 0.779 6 0.053 0.000 2799 2115 893

21820 end climb: NO_VERTICAL_VELOCITY

state 21820 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	145	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	21	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	-78883.297	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	180232,6224.755,-1058.913,41,1.5,41,-10.6	TGT_NAME	FW
_CALLS	1	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	3	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.205,-0.038
_SM_DEPTHo	4.14	KALMAN_X	158968.0,-651.5,-4105.4,-285441.0,-19412.5
_SM_ANGLEo	-50.5	KALMAN_Y	122119.1,729.0,3766.7,-31068.8,12864.9
GPS2	181011,6224.737,-1058.818,11,2.3,30,-10.6	MHEAD_RNG_PITCHd_Wd	270.2,36541,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	21823,37.05,0.763,0,0,603,558.06	ALTIM_BOTTOM_PING	700.0,105.7
SM_GC	4.33,11.95,0.00,0.00,0.030,0.000,0.000,29,1886,604,-11.27,-0.40,558.06	_24V_AH	23.3,35.191
IRIDIUM_FIX	6158.08,-1058.57,111207,151511	_10V_AH	10.1,16.204
TT8_MAMPS	0.026078	DATA_FILE_SIZE	53761,1055
HUMID	2042	CFSIZE	260165632,249724928
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	16.80	GPS	121207,002337,6223.357,-1102.564,39,1.9,39,-10.7
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	110	65.56	SBE_CT	767	24	429.34
Roll_motor	81	62	120.02	SBE_O2	713	19	315.84
VBD_pump_during_apogee	470	1345	14740.41	WL_BB2F	644	105	1577.24
VBD_pump_during_surface	37	763	658.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.03	nil	0	0	0.00
Iridium_during_connect	42	160	156.78	nil	0	0	0.00
Iridium_during_xfer	261	223	1360.26
Transponder_ping	7	420	73.39
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.31
TT8	1828	19	365.63
LPSleep	17536	2	387.89
TT8_Active	679	19	135.92
TT8_Sampling	2169	39	872.26
TT8_CF8	525	45	243.21
TT8_Kalman	33	81	27.55
Analog_circuits	1728	12	209.52
GPS_charging	0	0	0.00
Compass	2120	8	171.35
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-22.10	0.000	2	0.000	0.000	34	1885	1121
47	-0.95	-146.6	4.4	-0.0	1	219	11.32	2.60	-151.88	0.000	4	0.110	0.059	2284	3304	3476
308	-0.95	-146.6	10.2	-10.3	13	315	0.00	2.55	0.00	0.000	6	0.000	0.042	2284	1898	3476
626	-0.95	-146.6	33.9	-5.0	29	630	0.00	2.60	0.00	0.000	4	0.000	0.063	2284	492	3476
854	-0.95	-146.6	51.6	-7.3	39	858	0.00	2.50	0.00	0.000	6	0.000	0.039	2284	1904	3476
1175	-0.95	-146.6	75.9	-7.1	55	1177	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1906	3476
1484	-0.95	-146.6	95.0	-6.5	70	1489	0.00	2.47	0.00	0.000	4	0.000	0.047	2284	3293	3476
1561	-0.95	-146.6	100.4	-7.2	73	1569	0.00	2.50	0.00	0.000	6	0.000	0.041	2284	1907	3476
1878	-0.95	-146.6	123.9	-7.8	89	1879	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1907	3476
2187	-0.95	-146.6	146.8	-5.8	104	2191	0.00	2.50	0.00	0.000	4	0.000	0.046	2284	3301	3476
2241	-0.95	-146.6	150.0	-5.0	106	2249	0.00	2.53	0.00	0.000	6	0.000	0.043	2284	1903	3476
2557	-0.95	-146.6	168.5	-6.2	122	2558	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1903	3476
2866	-0.95	-146.6	189.5	-6.5	137	2869	0.00	2.47	0.00	0.000	4	0.000	0.046	2284	3295	3476
2926	-0.95	-146.6	193.7	-6.8	139	2932	0.00	2.53	0.00	0.000	6	0.000	0.041	2284	1897	3476
3241	-0.95	-146.6	215.6	-7.6	155	3243	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3476
3550	-0.95	-146.6	239.7	-7.9	170	3555	0.00	2.50	0.00	0.000	4	0.000	0.047	2284	3302	3476
3612	-0.95	-146.6	244.5	-8.3	173	3616	0.00	2.50	0.00	0.000	6	0.000	0.043	2284	1900	3476
3938	-0.95	-146.6	267.0	-6.7	189	3939	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3476
4247	-0.95	-146.6	286.9	-6.5	204	4248	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3476
4556	-0.95	-146.6	307.9	-6.4	219	4560	0.00	2.50	0.00	0.000	4	0.000	0.048	2284	3294	3476
4627	-0.95	-146.6	312.4	-6.5	222	4631	0.00	2.50	0.00	0.000	6	0.000	0.042	2284	1897	3476
4948	-0.95	-146.6	336.3	-8.4	238	4949	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3476
5257	-0.95	-146.6	363.7	-9.1	253	5258	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3476
5567	-0.95	-146.6	390.1	-8.1	268	5571	0.00	2.53	0.00	0.000	4	0.000	0.049	2284	3295	3476
5643	-0.95	-146.6	396.6	-8.8	271	5650	0.00	2.53	0.00	0.000	6	0.000	0.044	2284	1905	3476
5959	-0.95	-146.6	418.6	-6.4	287	5960	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1905	3476
6268	-0.95	-146.6	438.9	-6.9	302	6272	0.00	2.50	0.00	0.000	4	0.000	0.050	2284	3294	3476
6356	-0.95	-146.6	445.6	-7.5	306	6360	0.00	2.53	0.00	0.000	6	0.000	0.045	2284	1902	3476
6682	-0.95	-146.6	469.6	-7.5	322	6684	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1902	3475
6992	-0.95	-146.6	490.6	-6.6	337	6993	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1902	3475
7301	-0.95	-146.6	509.9	-5.5	352	7302	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3475
7611	-0.95	-146.6	526.2	-5.5	367	7615	0.00	2.53	0.00	0.000	4	0.000	0.051	2284	3301	3475
7694	-0.95	-146.6	531.3	-6.0	371	7699	0.00	2.53	0.00	0.000	6	0.000	0.045	2284	1897	3475
8020	-0.95	-146.6	553.9	-7.5	387	8021	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3475
8330	-0.95	-146.6	578.0	-7.3	402	8331	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3474
8639	-0.95	-146.6	598.3	-6.8	417	8640	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1897	3474
8948	-0.95	-146.6	620.4	-6.6	432	8949	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1897	3474
9257	-0.95	-146.6	641.9	-7.2	447	9262	0.00	2.58	0.00	0.000	4	0.000	0.058	2284	3298	3474
9363	-0.95	-146.6	649.7	-7.3	452	9368	0.00	2.53	0.00	0.000	6	0.000	0.049	2283	1896	3475
9695	-0.95	-146.6	670.4	-5.9	468	9699	0.00	2.55	0.00	0.000	4	0.000	0.058	2284	3295	3474
9778	-0.95	-146.6	675.5	-6.3	472	9782	0.00	2.53	0.00	0.000	6	0.000	0.049	2284	1899	3474
10103	-0.95	-146.6	694.7	-5.3	488	10105	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3473
10413	-0.95	-146.6	712.4	-6.2	503	10414	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3474
10722	-0.95	-146.6	733.6	-7.1	518	10726	0.00	2.58	0.00	0.000	4	0.000	0.059	2284	3297	3474
10905	-0.95	-146.6	746.2	-6.9	526	10909	0.00	2.55	0.00	0.000	6	0.000	0.054	2284	1900	3473
11226	-0.95	-146.6	765.8	-6.2	542	11227	0.00	0.00	0.00	0.000	6	0.000	0.000	2284	1900	3473
11535	-0.95	-146.6	783.7	-5.8	557	11537	0.00	0.00	0.00	0.000	6	0.000	0.000	2283	1900	3472
11720	end dive: BOTTOM_OBSTACLE_DETECTED
state	11720	begin apogee
11725	-0.36	0.0	796.2	7.1	566	11853	0.62	0.00	124.50	1.345	6	0.077	0.000	2419	2090	2878
11853	end apogee: CONTROL_FINISHED_OK
state	11854	begin climb
11855	0.95	146.6	799.0	0.0	572	11983	1.27	0.00	123.75	1.305	6	0.058	0.000	2699	2091	2280
12287	0.98	174.9	780.1	5.2	593	12314	0.00	0.00	24.65	1.306	6	0.000	0.000	2698	2091	2165
12615	0.98	174.9	759.3	7.1	609	12616	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2091	2164
12924	1.02	206.1	740.5	5.1	624	12953	0.00	0.00	27.23	1.324	6	0.000	0.000	2698	2091	2037
13253	1.02	206.1	719.3	6.9	640	13255	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2091	2036
13562	1.02	206.1	698.6	7.1	655	13567	0.00	2.60	0.00	0.000	4	0.000	0.060	2699	3501	2035
13679	1.02	206.1	689.5	7.2	660	13683	0.00	2.58	0.00	0.000	6	0.000	0.051	2699	2105	2035
14001	1.11	279.6	674.6	3.8	676	14070	0.15	2.65	61.10	1.295	4	0.048	0.055	2752	3502	1737
14181	1.11	279.6	659.7	9.3	684	14186	0.00	2.58	0.00	0.000	6	0.000	0.051	2753	2106	1737
14502	1.11	279.6	629.5	10.2	700	14504	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1737
14811	1.11	279.6	598.8	9.4	715	14813	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1737
15121	1.11	279.6	570.8	8.7	730	15122	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1737
15430	1.11	279.6	543.4	8.9	745	15431	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1737
15739	1.11	279.6	514.1	9.7	760	15740	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1737
16048	1.11	279.6	484.1	9.7	775	16050	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1738
16358	1.11	279.6	454.3	9.7	790	16359	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1739
16667	1.11	279.6	426.0	8.6	805	16668	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1739
16976	1.11	279.6	400.1	9.1	820	16977	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1739
17286	1.11	279.6	371.0	9.8	835	17287	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2106	1740
17595	1.11	279.6	340.9	9.0	850	17596	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1740
17904	1.11	279.6	313.4	9.2	865	17905	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1741
18214	1.11	279.6	283.7	9.5	880	18215	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1740
18523	1.11	279.6	256.4	8.8	895	18524	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1740
18832	1.11	279.6	229.0	9.0	910	18833	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1741
19141	1.11	279.6	203.2	8.4	925	19143	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2105	1741
19450	1.11	279.6	177.5	8.5	940	19455	0.00	2.60	0.00	0.000	4	0.000	0.061	2753	687	1741
19506	1.11	279.6	172.9	9.3	942	19512	0.00	2.47	0.00	0.000	6	0.000	0.038	2753	2110	1741
19821	1.11	279.6	146.4	8.4	958	19823	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2113	1742
20132	1.11	279.6	119.5	9.4	973	20133	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2114	1742
20440	1.11	279.6	93.1	7.6	988	20441	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2114	1742
20749	1.11	279.6	66.1	8.6	1003	20750	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2113	1742
21058	1.11	279.6	39.4	9.4	1018	21059	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2113	1742
21367	1.11	279.6	9.4	10.0	1033	21369	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2113	1743
21677	1.37	486.8	3.7	-0.2	1048	21790	0.15	0.00	109.03	0.779	6	0.053	0.000	2799	2115	893
21820	end climb: NO_VERTICAL_VELOCITY
state	21820	begin surface