Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 148 * 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 148 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -78932.391 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 -78932.391

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 102 ROLL_MAX 3761 T_TURN_SAMPINT 5

C_PITCH 2495 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 150 UNCOM_BLEED 20

C_ROLL_DIVE 1900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2878 MASS 52000 R_PORT_OVSHOOT 27 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 28 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 148 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 143637,6226.613,-1102.838,27,1.6,27,-10.7 TGT_NAME FW

_CALLS 2 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.152,0.143

_SM_DEPTHo 4.40 KALMAN_X 161462.9,-508.9,548.6,-296238.3,5397.3

_SM_ANGLEo -57.5 KALMAN_Y 120914.3,427.0,76.7,-22505.3,-4783.0

GPS2 144550,6226.554,-1102.793,14,1.6,14,-10.7 MHEAD_RNG_PITCHd_Wd 323.8,32452,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23448,56.72,0.756,0,0,602,558.06 ALTIM_BOTTOM_PING 700.4,86.7

SM_GC 4.44,11.90,0.00,0.00,0.031,0.000,0.000,31,1886,603,-11.26,-0.28,558.06 _24V_AH 23.3,35.746

IRIDIUM_FIX 6202.67,-1059.45,121207,181834 _10V_AH 10.1,16.524

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56865,1133

HUMID 2019 CFSIZE 260165632,249499648

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,15,0,0

TCM_TEMP 16.90 GPS 121207,212715,6227.788,-1106.988,50,2.2,69,-10.7

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 110 64.98 SBE_CT 839 24 469.70

Roll_motor 117 78 214.09 SBE_O2 766 19 339.33

VBD_pump_during_apogee 441 1326 13637.33 WL_BB2F 694 105 1698.65

VBD_pump_during_surface 56 756 999.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 190.72 nil 0 0 0.00

Iridium_during_connect 67 160 253.27 nil 0 0 0.00

Iridium_during_xfer 231 223 1202.74

Transponder_ping 8 420 78.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.92

TT8 2007 19 401.49

LPSleep 18760 2 414.96

TT8_Active 675 19 135.05

TT8_Sampling 2446 39 983.57

TT8_CF8 587 45 271.97

TT8_Kalman 33 81 27.56

Analog_circuits 1879 12 227.83

GPS_charging 0 0 0.00

Compass 2410 8 194.78

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

20 -0.95 -146.6 0.0 0.0 0 43 0.00 0.00 -21.70 0.000 2 0.000 0.000 32 1894 1121

46 -0.95 -146.6 4.4 -0.0 1 214 11.23 2.62 -149.32 0.000 4 0.110 0.078 2287 506 3476

405 -0.95 -146.6 17.6 -8.7 17 412 0.00 2.47 0.00 0.000 6 0.000 0.040 2287 1906 3476

722 -0.95 -146.6 40.9 -7.6 33 723 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

1030 -0.95 -146.6 62.9 -7.6 48 1034 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3294 3476

1084 -0.95 -146.6 67.4 -8.8 50 1091 0.00 2.53 0.00 0.000 6 0.000 0.042 2288 1902 3476

1401 -0.95 -146.6 90.3 -6.7 66 1403 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3476

1709 -0.95 -146.6 112.0 -7.3 81 1711 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1902 3476

2018 -0.95 -146.6 135.2 -8.0 96 2023 0.00 2.50 0.00 0.000 4 0.000 0.045 2288 3294 3476

2084 -0.95 -146.6 140.8 -8.5 99 2089 0.00 2.50 0.00 0.000 6 0.000 0.041 2287 1893 3476

2411 -0.95 -146.6 167.1 -8.2 115 2412 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1893 3476

2720 -0.95 -146.6 192.1 -8.1 130 2725 0.00 2.50 0.00 0.000 4 0.000 0.046 2288 3294 3476

2804 -0.95 -146.6 199.2 -8.8 134 2808 0.00 2.50 0.00 0.000 6 0.000 0.042 2288 1892 3476

3130 -0.95 -146.6 225.2 -7.9 150 3131 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1892 3476

3439 -0.95 -146.6 249.6 -7.8 165 3446 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3295 3476

3524 -0.95 -146.6 257.0 -8.6 168 3530 0.00 2.53 0.00 0.000 6 0.000 0.043 2288 1898 3476

3839 -0.95 -146.6 282.3 -8.1 184 3840 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 1898 3476

4149 -0.95 -146.6 307.5 -8.0 199 4150 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3476

4458 -0.95 -146.6 331.5 -7.5 214 4462 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3293 3476

4529 -0.95 -146.6 337.2 -8.1 217 4534 0.00 2.50 0.00 0.000 6 0.000 0.043 2287 1907 3476

4850 -0.95 -146.6 361.3 -7.4 233 4851 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1907 3476

5159 -0.95 -146.6 384.5 -7.3 248 5164 0.00 2.50 0.00 0.000 4 0.000 0.049 2288 3293 3476

5221 -0.95 -146.6 389.0 -8.0 251 5225 0.00 2.50 0.00 0.000 6 0.000 0.044 2287 1899 3476

5546 -0.95 -146.6 413.3 -7.2 267 5547 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3476

5855 -0.95 -146.6 434.6 -6.5 282 5859 0.00 2.50 0.00 0.000 4 0.000 0.049 2287 3293 3476

5927 -0.95 -146.6 439.3 -7.1 285 5932 0.00 2.53 0.00 0.000 6 0.000 0.044 2288 1902 3475

6249 -0.95 -146.6 457.7 -5.5 301 6250 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

6558 -0.95 -146.6 475.0 -5.5 316 6559 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1902 3475

6868 -0.95 -146.6 491.1 -5.2 331 6872 0.00 2.50 0.00 0.000 4 0.000 0.050 2287 3292 3476

6961 -0.95 -146.6 496.8 -6.1 335 6965 0.00 2.50 0.00 0.000 6 0.000 0.044 2288 1894 3475

7282 -0.95 -146.6 516.2 -6.4 351 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3475

7592 -0.95 -146.6 537.8 -7.6 366 7593 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1891 3475

7901 -0.95 -146.6 560.8 -7.3 381 7905 0.00 2.55 0.00 0.000 4 0.000 0.052 2287 3298 3475

8039 -0.95 -146.6 570.4 -6.1 387 8044 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1901 3475

8361 -0.95 -146.6 590.7 -7.2 403 8362 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

8670 -0.95 -146.6 613.4 -6.7 418 8671 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3475

8979 -0.95 -146.6 634.1 -7.0 433 8983 0.00 2.55 0.00 0.000 4 0.000 0.056 2287 3295 3474

9055 -0.95 -146.6 639.9 -7.4 436 9062 0.00 2.55 0.00 0.000 6 0.000 0.048 2287 1900 3475

9371 -0.95 -146.6 665.5 -7.1 452 9372 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

9681 -0.95 -146.6 678.1 -3.3 467 9682 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

9990 -0.95 -146.6 689.6 -3.5 482 9994 0.00 2.55 0.00 0.000 4 0.000 0.056 2287 3295 3474

10089 -0.95 -146.6 694.2 -5.1 486 10095 0.00 2.53 0.00 0.000 6 0.000 0.050 2287 1900 3474

10405 -0.95 -146.6 713.5 -6.0 502 10406 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

10713 -0.95 -146.6 737.0 -9.0 517 10715 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1900 3474

11023 -0.95 -146.6 758.7 -6.1 532 11027 0.00 2.58 0.00 0.000 4 0.000 0.061 2287 3294 3474

11107 -0.95 -146.6 763.9 -6.8 536 11111 0.00 2.53 0.00 0.000 6 0.000 0.055 2287 1902 3473

11327 end dive: BOTTOM_OBSTACLE_DETECTED

state 11327 begin apogee

11332 -0.36 0.0 777.7 5.9 547 11460 0.60 0.00 124.53 1.326 6 0.072 0.000 2417 2094 2878

11461 end apogee: CONTROL_FINISHED_OK

state 11461 begin climb

11463 0.95 146.6 782.1 0.0 553 11591 1.27 0.00 123.72 1.292 6 0.051 0.000 2701 2094 2280

11894 0.95 146.6 762.0 6.2 574 11898 0.00 2.62 0.00 0.000 4 0.000 0.065 2701 3501 2279

11959 0.95 146.6 757.8 6.7 577 11963 0.00 2.60 0.00 0.000 6 0.000 0.054 2701 2094 2278

12285 0.95 146.6 737.9 6.2 593 12290 0.00 2.65 0.00 0.000 4 0.000 0.064 2701 3503 2277

12470 0.97 167.1 727.8 5.4 601 12494 0.00 2.58 17.77 1.309 6 0.000 0.054 2701 2101 2195

12811 0.99 185.3 710.4 5.5 618 12831 0.00 0.00 16.35 1.305 6 0.000 0.000 2701 2101 2122

13140 0.99 185.3 689.9 6.6 634 13141 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2101 2121

13449 0.99 185.3 668.4 6.8 649 13450 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2101 2121

13758 0.99 185.3 645.5 7.3 664 13759 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2101 2120

14067 0.99 185.3 623.5 6.7 679 14069 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2101 2120

14377 1.00 189.9 604.7 5.9 694 14387 0.00 2.62 4.88 1.195 4 0.000 0.054 2701 3507 2103

14488 1.00 189.9 597.6 6.3 699 14493 0.00 2.58 0.00 0.000 6 0.000 0.046 2701 2091 2103

14808 1.00 189.9 576.5 6.7 715 14809 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2091 2103

15117 1.00 189.9 555.7 6.7 730 15118 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2091 2102

15427 1.00 190.3 536.1 6.0 745 15431 0.00 2.60 0.00 0.000 4 0.000 0.054 2701 3504 2103

15510 1.00 190.3 530.5 6.7 749 15514 0.00 2.53 0.00 0.000 6 0.000 0.045 2701 2098 2103

15835 1.00 190.3 509.6 6.4 765 15836 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2098 2104

16144 1.00 190.3 489.4 6.4 780 16149 0.00 2.55 0.00 0.000 4 0.000 0.052 2701 3506 2104

16228 1.00 190.3 483.7 7.3 784 16233 0.00 2.53 0.00 0.000 6 0.000 0.044 2701 2092 2104

16554 1.00 191.6 463.8 6.0 800 16559 0.00 2.55 0.00 0.000 4 0.000 0.053 2701 3501 2104

16648 1.00 191.6 457.6 7.3 804 16653 0.00 2.53 0.00 0.000 6 0.000 0.044 2701 2104 2104

16969 1.00 191.6 437.0 6.5 820 16970 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2103 2105

17278 1.00 191.6 416.1 6.7 835 17279 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2104 2105

17588 1.00 191.6 395.8 6.5 850 17597 0.00 2.58 3.33 1.019 4 0.000 0.050 2701 3501 2096

17681 1.00 191.6 389.5 6.2 854 17685 0.00 2.50 0.00 0.000 6 0.000 0.042 2701 2099 2096

18008 1.01 198.0 370.3 5.8 870 18016 0.00 0.00 6.38 1.055 6 0.000 0.000 2701 2098 2070

18317 1.03 216.4 352.9 5.5 885 18338 0.00 0.00 16.25 1.045 6 0.000 0.000 2701 2098 1994

18647 1.06 242.1 335.4 5.2 901 18671 0.12 0.00 21.40 1.025 6 0.049 0.000 2746 2098 1890

18975 1.06 242.1 312.1 7.3 917 18977 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2098 1890

19285 1.06 242.1 286.6 8.5 932 19289 0.00 2.55 0.00 0.000 4 0.000 0.049 2746 3503 1889

19356 1.06 242.1 279.9 9.6 935 19360 0.00 2.53 0.00 0.000 6 0.000 0.042 2746 2102 1889

19677 1.06 242.1 252.6 8.4 951 19679 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1889

19986 1.06 242.1 227.2 8.1 966 19988 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1889

20296 1.06 242.1 202.3 7.6 981 20297 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1890

20605 1.06 242.1 179.4 7.2 996 20606 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2101 1890

20915 1.06 242.1 157.1 7.3 1011 20916 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1890

21224 1.06 242.1 133.7 7.8 1026 21225 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1890

21533 1.06 242.1 108.8 8.1 1041 21534 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2101 1890

21842 1.06 242.1 84.2 7.9 1056 21847 0.00 2.53 0.00 0.000 4 0.000 0.047 2746 3504 1890

21908 1.06 242.1 78.4 8.6 1059 21913 0.00 2.50 0.00 0.000 6 0.000 0.039 2746 2101 1890

22237 1.06 242.1 52.1 8.4 1075 22238 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2101 1890

22545 1.06 242.1 27.6 7.0 1090 22546 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2100 1891

22854 1.06 242.1 3.8 6.0 1105 22858 0.00 2.55 0.00 0.000 4 0.000 0.051 2746 3504 1891

23110 1.32 446.9 3.7 -0.1 1116 23224 0.12 2.53 106.75 0.768 6 0.048 0.042 2785 2100 1055

23446 end climb: NO_VERTICAL_VELOCITY

state 23446 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	148	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-78932.391	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	143637,6226.613,-1102.838,27,1.6,27,-10.7	TGT_NAME	FW
_CALLS	2	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.152,0.143
_SM_DEPTHo	4.40	KALMAN_X	161462.9,-508.9,548.6,-296238.3,5397.3
_SM_ANGLEo	-57.5	KALMAN_Y	120914.3,427.0,76.7,-22505.3,-4783.0
GPS2	144550,6226.554,-1102.793,14,1.6,14,-10.7	MHEAD_RNG_PITCHd_Wd	323.8,32452,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23448,56.72,0.756,0,0,602,558.06	ALTIM_BOTTOM_PING	700.4,86.7
SM_GC	4.44,11.90,0.00,0.00,0.031,0.000,0.000,31,1886,603,-11.26,-0.28,558.06	_24V_AH	23.3,35.746
IRIDIUM_FIX	6202.67,-1059.45,121207,181834	_10V_AH	10.1,16.524
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56865,1133
HUMID	2019	CFSIZE	260165632,249499648
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,15,0,0
TCM_TEMP	16.90	GPS	121207,212715,6227.788,-1106.988,50,2.2,69,-10.7
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	110	64.98	SBE_CT	839	24	469.70
Roll_motor	117	78	214.09	SBE_O2	766	19	339.33
VBD_pump_during_apogee	441	1326	13637.33	WL_BB2F	694	105	1698.65
VBD_pump_during_surface	56	756	999.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	190.72	nil	0	0	0.00
Iridium_during_connect	67	160	253.27	nil	0	0	0.00
Iridium_during_xfer	231	223	1202.74
Transponder_ping	8	420	78.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.92
TT8	2007	19	401.49
LPSleep	18760	2	414.96
TT8_Active	675	19	135.05
TT8_Sampling	2446	39	983.57
TT8_CF8	587	45	271.97
TT8_Kalman	33	81	27.56
Analog_circuits	1879	12	227.83
GPS_charging	0	0	0.00
Compass	2410	8	194.78
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
20	-0.95	-146.6	0.0	0.0	0	43	0.00	0.00	-21.70	0.000	2	0.000	0.000	32	1894	1121
46	-0.95	-146.6	4.4	-0.0	1	214	11.23	2.62	-149.32	0.000	4	0.110	0.078	2287	506	3476
405	-0.95	-146.6	17.6	-8.7	17	412	0.00	2.47	0.00	0.000	6	0.000	0.040	2287	1906	3476
722	-0.95	-146.6	40.9	-7.6	33	723	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
1030	-0.95	-146.6	62.9	-7.6	48	1034	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3294	3476
1084	-0.95	-146.6	67.4	-8.8	50	1091	0.00	2.53	0.00	0.000	6	0.000	0.042	2288	1902	3476
1401	-0.95	-146.6	90.3	-6.7	66	1403	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3476
1709	-0.95	-146.6	112.0	-7.3	81	1711	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1902	3476
2018	-0.95	-146.6	135.2	-8.0	96	2023	0.00	2.50	0.00	0.000	4	0.000	0.045	2288	3294	3476
2084	-0.95	-146.6	140.8	-8.5	99	2089	0.00	2.50	0.00	0.000	6	0.000	0.041	2287	1893	3476
2411	-0.95	-146.6	167.1	-8.2	115	2412	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1893	3476
2720	-0.95	-146.6	192.1	-8.1	130	2725	0.00	2.50	0.00	0.000	4	0.000	0.046	2288	3294	3476
2804	-0.95	-146.6	199.2	-8.8	134	2808	0.00	2.50	0.00	0.000	6	0.000	0.042	2288	1892	3476
3130	-0.95	-146.6	225.2	-7.9	150	3131	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1892	3476
3439	-0.95	-146.6	249.6	-7.8	165	3446	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3295	3476
3524	-0.95	-146.6	257.0	-8.6	168	3530	0.00	2.53	0.00	0.000	6	0.000	0.043	2288	1898	3476
3839	-0.95	-146.6	282.3	-8.1	184	3840	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	1898	3476
4149	-0.95	-146.6	307.5	-8.0	199	4150	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3476
4458	-0.95	-146.6	331.5	-7.5	214	4462	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3293	3476
4529	-0.95	-146.6	337.2	-8.1	217	4534	0.00	2.50	0.00	0.000	6	0.000	0.043	2287	1907	3476
4850	-0.95	-146.6	361.3	-7.4	233	4851	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1907	3476
5159	-0.95	-146.6	384.5	-7.3	248	5164	0.00	2.50	0.00	0.000	4	0.000	0.049	2288	3293	3476
5221	-0.95	-146.6	389.0	-8.0	251	5225	0.00	2.50	0.00	0.000	6	0.000	0.044	2287	1899	3476
5546	-0.95	-146.6	413.3	-7.2	267	5547	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3476
5855	-0.95	-146.6	434.6	-6.5	282	5859	0.00	2.50	0.00	0.000	4	0.000	0.049	2287	3293	3476
5927	-0.95	-146.6	439.3	-7.1	285	5932	0.00	2.53	0.00	0.000	6	0.000	0.044	2288	1902	3475
6249	-0.95	-146.6	457.7	-5.5	301	6250	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
6558	-0.95	-146.6	475.0	-5.5	316	6559	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1902	3475
6868	-0.95	-146.6	491.1	-5.2	331	6872	0.00	2.50	0.00	0.000	4	0.000	0.050	2287	3292	3476
6961	-0.95	-146.6	496.8	-6.1	335	6965	0.00	2.50	0.00	0.000	6	0.000	0.044	2288	1894	3475
7282	-0.95	-146.6	516.2	-6.4	351	7284	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3475
7592	-0.95	-146.6	537.8	-7.6	366	7593	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1891	3475
7901	-0.95	-146.6	560.8	-7.3	381	7905	0.00	2.55	0.00	0.000	4	0.000	0.052	2287	3298	3475
8039	-0.95	-146.6	570.4	-6.1	387	8044	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1901	3475
8361	-0.95	-146.6	590.7	-7.2	403	8362	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
8670	-0.95	-146.6	613.4	-6.7	418	8671	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3475
8979	-0.95	-146.6	634.1	-7.0	433	8983	0.00	2.55	0.00	0.000	4	0.000	0.056	2287	3295	3474
9055	-0.95	-146.6	639.9	-7.4	436	9062	0.00	2.55	0.00	0.000	6	0.000	0.048	2287	1900	3475
9371	-0.95	-146.6	665.5	-7.1	452	9372	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
9681	-0.95	-146.6	678.1	-3.3	467	9682	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
9990	-0.95	-146.6	689.6	-3.5	482	9994	0.00	2.55	0.00	0.000	4	0.000	0.056	2287	3295	3474
10089	-0.95	-146.6	694.2	-5.1	486	10095	0.00	2.53	0.00	0.000	6	0.000	0.050	2287	1900	3474
10405	-0.95	-146.6	713.5	-6.0	502	10406	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
10713	-0.95	-146.6	737.0	-9.0	517	10715	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1900	3474
11023	-0.95	-146.6	758.7	-6.1	532	11027	0.00	2.58	0.00	0.000	4	0.000	0.061	2287	3294	3474
11107	-0.95	-146.6	763.9	-6.8	536	11111	0.00	2.53	0.00	0.000	6	0.000	0.055	2287	1902	3473
11327	end dive: BOTTOM_OBSTACLE_DETECTED
state	11327	begin apogee
11332	-0.36	0.0	777.7	5.9	547	11460	0.60	0.00	124.53	1.326	6	0.072	0.000	2417	2094	2878
11461	end apogee: CONTROL_FINISHED_OK
state	11461	begin climb
11463	0.95	146.6	782.1	0.0	553	11591	1.27	0.00	123.72	1.292	6	0.051	0.000	2701	2094	2280
11894	0.95	146.6	762.0	6.2	574	11898	0.00	2.62	0.00	0.000	4	0.000	0.065	2701	3501	2279
11959	0.95	146.6	757.8	6.7	577	11963	0.00	2.60	0.00	0.000	6	0.000	0.054	2701	2094	2278
12285	0.95	146.6	737.9	6.2	593	12290	0.00	2.65	0.00	0.000	4	0.000	0.064	2701	3503	2277
12470	0.97	167.1	727.8	5.4	601	12494	0.00	2.58	17.77	1.309	6	0.000	0.054	2701	2101	2195
12811	0.99	185.3	710.4	5.5	618	12831	0.00	0.00	16.35	1.305	6	0.000	0.000	2701	2101	2122
13140	0.99	185.3	689.9	6.6	634	13141	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2101	2121
13449	0.99	185.3	668.4	6.8	649	13450	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2101	2121
13758	0.99	185.3	645.5	7.3	664	13759	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2101	2120
14067	0.99	185.3	623.5	6.7	679	14069	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2101	2120
14377	1.00	189.9	604.7	5.9	694	14387	0.00	2.62	4.88	1.195	4	0.000	0.054	2701	3507	2103
14488	1.00	189.9	597.6	6.3	699	14493	0.00	2.58	0.00	0.000	6	0.000	0.046	2701	2091	2103
14808	1.00	189.9	576.5	6.7	715	14809	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2091	2103
15117	1.00	189.9	555.7	6.7	730	15118	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2091	2102
15427	1.00	190.3	536.1	6.0	745	15431	0.00	2.60	0.00	0.000	4	0.000	0.054	2701	3504	2103
15510	1.00	190.3	530.5	6.7	749	15514	0.00	2.53	0.00	0.000	6	0.000	0.045	2701	2098	2103
15835	1.00	190.3	509.6	6.4	765	15836	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2098	2104
16144	1.00	190.3	489.4	6.4	780	16149	0.00	2.55	0.00	0.000	4	0.000	0.052	2701	3506	2104
16228	1.00	190.3	483.7	7.3	784	16233	0.00	2.53	0.00	0.000	6	0.000	0.044	2701	2092	2104
16554	1.00	191.6	463.8	6.0	800	16559	0.00	2.55	0.00	0.000	4	0.000	0.053	2701	3501	2104
16648	1.00	191.6	457.6	7.3	804	16653	0.00	2.53	0.00	0.000	6	0.000	0.044	2701	2104	2104
16969	1.00	191.6	437.0	6.5	820	16970	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2103	2105
17278	1.00	191.6	416.1	6.7	835	17279	0.00	0.00	0.00	0.000	6	0.000	0.000	2701	2104	2105
17588	1.00	191.6	395.8	6.5	850	17597	0.00	2.58	3.33	1.019	4	0.000	0.050	2701	3501	2096
17681	1.00	191.6	389.5	6.2	854	17685	0.00	2.50	0.00	0.000	6	0.000	0.042	2701	2099	2096
18008	1.01	198.0	370.3	5.8	870	18016	0.00	0.00	6.38	1.055	6	0.000	0.000	2701	2098	2070
18317	1.03	216.4	352.9	5.5	885	18338	0.00	0.00	16.25	1.045	6	0.000	0.000	2701	2098	1994
18647	1.06	242.1	335.4	5.2	901	18671	0.12	0.00	21.40	1.025	6	0.049	0.000	2746	2098	1890
18975	1.06	242.1	312.1	7.3	917	18977	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2098	1890
19285	1.06	242.1	286.6	8.5	932	19289	0.00	2.55	0.00	0.000	4	0.000	0.049	2746	3503	1889
19356	1.06	242.1	279.9	9.6	935	19360	0.00	2.53	0.00	0.000	6	0.000	0.042	2746	2102	1889
19677	1.06	242.1	252.6	8.4	951	19679	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1889
19986	1.06	242.1	227.2	8.1	966	19988	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1889
20296	1.06	242.1	202.3	7.6	981	20297	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1890
20605	1.06	242.1	179.4	7.2	996	20606	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2101	1890
20915	1.06	242.1	157.1	7.3	1011	20916	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1890
21224	1.06	242.1	133.7	7.8	1026	21225	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1890
21533	1.06	242.1	108.8	8.1	1041	21534	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2101	1890
21842	1.06	242.1	84.2	7.9	1056	21847	0.00	2.53	0.00	0.000	4	0.000	0.047	2746	3504	1890
21908	1.06	242.1	78.4	8.6	1059	21913	0.00	2.50	0.00	0.000	6	0.000	0.039	2746	2101	1890
22237	1.06	242.1	52.1	8.4	1075	22238	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2101	1890
22545	1.06	242.1	27.6	7.0	1090	22546	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2100	1891
22854	1.06	242.1	3.8	6.0	1105	22858	0.00	2.55	0.00	0.000	4	0.000	0.051	2746	3504	1891
23110	1.32	446.9	3.7	-0.1	1116	23224	0.12	2.53	106.75	0.768	6	0.048	0.042	2785	2100	1055
23446	end climb: NO_VERTICAL_VELOCITY
state	23446	begin surface