Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 149 * 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 149 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -78975.32 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 -78975.32

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 31 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 149 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 212715,6227.788,-1106.988,50,2.2,69,-10.7 TGT_NAME FW

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 2 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,0.065

_SM_DEPTHo 4.34 KALMAN_X 164353.5,690.2,-2404.1,-300971.6,8175.8

_SM_ANGLEo -50.0 KALMAN_Y 117994.2,-547.9,1950.9,-17984.4,-8386.6

GPS2 214107,6227.903,-1106.866,29,1.8,40,-10.7 MHEAD_RNG_PITCHd_Wd 298.9,28600,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22407,45.30,0.758,0,0,602,558.06 ALTIM_BOTTOM_PING 650.2,106.5

SM_GC 4.33,11.85,0.00,0.00,0.028,0.000,0.000,35,1885,604,-11.26,-0.42,557.81 _24V_AH 23.3,35.929

IRIDIUM_FIX 6202.67,-1114.04,131207,010157 _10V_AH 10.1,16.627

TT8_MAMPS 0.027612 DATA_FILE_SIZE 53714,1083

HUMID 2037 CFSIZE 260165632,249438208

INTERNAL_PRESSURE 9.15074 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 16.90 GPS 131207,040426,6229.487,-1110.544,37,1.7,37,-10.8

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 104 61.13 SBE_CT 803 24 449.26

Roll_motor 97 64 146.33 SBE_O2 733 19 324.66

VBD_pump_during_apogee 453 1300 13729.63 WL_BB2F 658 105 1610.72

VBD_pump_during_surface 45 757 799.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 111 103 268.71 nil 0 0 0.00

Iridium_during_connect 198 160 741.66 nil 0 0 0.00

Iridium_during_xfer 258 223 1340.85

Transponder_ping 7 420 70.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 42 50 21.37

TT8 1898 19 379.60

LPSleep 18112 2 400.64

TT8_Active 647 19 129.54

TT8_Sampling 2279 39 916.25

TT8_CF8 766 45 354.38

TT8_Kalman 33 81 27.56

Analog_circuits 1761 12 213.51

GPS_charging 0 0 0.00

Compass 2217 8 179.19

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 -21.92 0.000 2 0.000 0.000 30 1885 1121

46 -0.95 -146.6 4.3 -0.0 1 211 11.10 2.60 -142.60 0.000 4 0.104 0.059 2286 3302 3477

464 -0.95 -146.6 25.7 -9.2 20 468 0.00 2.47 0.00 0.000 6 0.000 0.041 2286 1905 3477

791 -0.95 -146.6 53.3 -7.0 36 795 0.00 2.53 0.00 0.000 4 0.000 0.046 2286 3306 3477

884 -0.95 -146.6 60.7 -7.1 40 889 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1896 3476

1205 -0.95 -146.6 83.9 -8.1 56 1207 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3477

1515 -0.95 -146.6 107.4 -7.4 71 1519 0.00 2.55 0.00 0.000 4 0.000 0.046 2286 3314 3477

1586 -0.95 -146.6 112.8 -7.6 74 1590 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1894 3477

1908 -0.95 -146.6 134.1 -6.5 90 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1894 3477

2216 -0.95 -146.6 154.2 -6.5 105 2220 0.00 2.55 0.00 0.000 4 0.000 0.046 2286 3314 3477

2304 -0.95 -146.6 160.5 -7.1 109 2308 0.00 2.53 0.00 0.000 6 0.000 0.041 2286 1895 3477

2631 -0.95 -146.6 182.7 -6.9 125 2632 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3477

2939 -0.95 -146.6 204.8 -7.1 140 2941 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3477

3250 -0.95 -146.6 226.0 -6.9 155 3254 0.00 2.53 0.00 0.000 4 0.000 0.047 2286 3305 3477

3333 -0.95 -146.6 232.1 -7.3 159 3337 0.00 2.50 0.00 0.000 6 0.000 0.043 2286 1899 3476

3658 -0.95 -146.6 255.5 -7.3 175 3659 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3476

3967 -0.95 -146.6 277.0 -6.9 190 3971 0.00 2.53 0.00 0.000 4 0.000 0.047 2286 3309 3477

4039 -0.95 -146.6 282.1 -7.4 193 4043 0.00 2.55 0.00 0.000 6 0.000 0.044 2286 1901 3476

4360 -0.95 -146.6 303.5 -6.7 209 4361 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

4669 -0.95 -146.6 323.7 -6.3 224 4673 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3305 3476

4730 -0.95 -146.6 327.8 -6.5 227 4734 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1896 3477

5055 -0.95 -146.6 348.1 -6.0 243 5056 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3476

5364 -0.95 -146.6 367.9 -6.7 258 5368 0.00 2.55 0.00 0.000 4 0.000 0.049 2286 3307 3476

5452 -0.95 -146.6 374.0 -6.8 262 5456 0.00 2.55 0.00 0.000 6 0.000 0.045 2286 1903 3476

5779 -0.95 -146.6 394.2 -6.1 278 5780 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3476

6088 -0.95 -146.6 413.9 -6.5 293 6089 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1903 3476

6397 -0.95 -146.6 436.1 -7.4 308 6401 0.00 2.55 0.00 0.000 4 0.000 0.050 2286 3312 3476

6464 -0.95 -146.6 441.1 -8.0 311 6468 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1901 3476

6783 -0.95 -146.6 464.2 -6.9 327 6784 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

7092 -0.95 -146.6 484.7 -6.8 342 7094 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

7402 -0.95 -146.6 506.8 -7.5 357 7403 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3476

7711 -0.95 -146.6 531.6 -8.8 372 7712 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1899 3475

8020 -0.95 -146.6 557.4 -8.5 387 8024 0.00 2.53 0.00 0.000 4 0.000 0.052 2285 3303 3475

8149 -0.95 -146.6 568.3 -7.9 393 8154 0.00 2.53 0.00 0.000 6 0.000 0.047 2286 1902 3475

8475 -0.95 -146.6 589.0 -5.5 409 8476 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1902 3475

8784 -0.95 -146.6 605.4 -5.6 424 8788 0.00 2.55 0.00 0.000 4 0.000 0.054 2286 3302 3475

8855 -0.95 -146.6 609.7 -6.7 427 8860 0.00 2.55 0.00 0.000 6 0.000 0.049 2286 1905 3475

9176 -0.95 -146.6 629.0 -6.3 443 9177 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1905 3475

9485 -0.95 -146.6 649.1 -7.0 458 9490 0.00 2.55 0.00 0.000 4 0.000 0.056 2286 3304 3474

9558 -0.95 -146.6 654.7 -7.6 461 9563 0.00 2.58 0.00 0.000 6 0.000 0.049 2286 1900 3474

9880 -0.95 -146.6 675.5 -6.6 477 9884 0.00 2.58 0.00 0.000 4 0.000 0.058 2286 3309 3474

9974 -0.95 -146.6 682.4 -7.5 481 9978 0.00 2.55 0.00 0.000 6 0.000 0.051 2286 1901 3474

10294 -0.95 -146.6 704.9 -6.7 497 10296 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3474

10604 -0.95 -146.6 725.1 -6.3 512 10605 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3473

10913 -0.95 -146.6 743.7 -5.6 527 10915 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3473

10973 end dive: BOTTOM_OBSTACLE_DETECTED

state 10974 begin apogee

10978 -0.36 0.0 747.7 6.3 530 11105 0.60 0.00 124.18 1.300 6 0.074 0.000 2416 2106 2879

11106 end apogee: CONTROL_FINISHED_OK

state 11106 begin climb

11108 0.95 146.6 751.6 0.0 536 11237 1.30 0.00 123.03 1.268 6 0.052 0.000 2705 2106 2280

11545 0.96 160.7 733.9 5.6 558 11560 0.00 0.00 12.98 1.257 6 0.000 0.000 2705 2106 2222

11854 0.96 160.7 713.1 7.0 573 11855 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2106 2221

12164 0.96 160.7 692.9 6.4 588 12165 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2106 2220

12473 0.96 160.7 674.2 6.3 603 12474 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2106 2219

12782 0.96 160.7 652.5 7.2 618 12786 0.00 2.60 0.00 0.000 4 0.000 0.061 2704 3507 2218

12903 0.96 160.7 642.5 8.3 623 12910 0.00 2.58 0.00 0.000 6 0.000 0.051 2705 2098 2218

13219 0.96 160.7 619.1 6.8 639 13220 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2098 2217

13529 0.97 164.2 599.4 5.9 654 13534 0.00 0.00 3.33 1.147 6 0.000 0.000 2705 2098 2207

13838 1.02 203.4 584.2 4.8 669 13880 0.00 2.67 33.08 1.249 4 0.000 0.056 2705 3496 2048

13957 1.02 203.4 576.9 6.9 674 13961 0.00 2.55 0.00 0.000 6 0.000 0.046 2705 2102 2048

14278 1.02 203.4 557.3 6.4 690 14279 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2102 2048

14587 1.02 203.4 537.6 6.2 705 14588 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2102 2048

14897 1.02 203.4 518.4 6.5 720 14901 0.00 2.55 0.00 0.000 4 0.000 0.051 2705 3506 2048

14984 1.02 203.4 511.9 7.3 724 14989 0.00 2.53 0.00 0.000 6 0.000 0.044 2705 2097 2047

15311 1.02 203.4 488.7 6.8 740 15312 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 2048

15620 1.02 203.4 468.9 6.4 755 15622 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 2048

15929 1.02 203.4 448.5 6.9 770 15931 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 2049

16239 1.02 203.4 425.8 7.3 785 16240 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 2049

16548 1.02 203.4 404.1 7.2 800 16549 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 2049

16858 1.03 213.3 384.3 5.7 815 16869 0.00 0.00 9.52 1.118 6 0.000 0.000 2705 2097 2008

17167 1.06 236.4 367.7 5.3 830 17188 0.00 0.00 19.38 1.092 6 0.000 0.000 2705 2097 1914

17496 1.06 236.4 347.7 6.2 846 17498 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 1914

17805 1.06 236.4 327.6 6.5 861 17807 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2097 1914

18115 1.06 236.4 307.8 6.3 876 18119 0.00 2.60 0.00 0.000 4 0.000 0.064 2705 687 1914

18180 1.06 236.4 303.2 6.9 879 18185 0.00 2.47 0.00 0.000 6 0.000 0.040 2705 2104 1914

18507 1.06 236.4 281.8 6.3 895 18508 0.00 0.00 0.00 0.000 6 0.000 0.000 2705 2108 1914

18816 1.08 255.7 263.6 5.4 910 18839 0.12 2.67 16.60 1.018 4 0.049 0.061 2751 690 1834

18877 1.08 255.7 259.1 7.5 912 18884 0.00 2.47 0.00 0.000 6 0.000 0.040 2751 2099 1834

19193 1.08 255.7 235.1 7.8 928 19194 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

19502 1.08 255.7 207.8 9.2 943 19503 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1834

19812 1.08 255.7 179.9 9.0 958 19813 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

20121 1.08 255.7 152.8 8.8 973 20122 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

20430 1.08 255.7 124.6 8.8 988 20431 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

20740 1.08 255.7 102.1 7.1 1003 20741 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

21050 1.08 255.7 80.3 6.9 1018 21051 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

21358 1.08 255.7 55.3 7.8 1033 21359 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

21668 1.08 255.7 31.2 8.9 1048 21669 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2103 1835

21977 1.08 255.7 4.6 7.0 1063 21981 0.00 2.58 0.00 0.000 4 0.000 0.055 2751 687 1835

22061 1.34 469.9 3.8 -0.4 1067 22179 0.17 2.47 111.18 0.764 6 0.064 0.041 2792 2100 962

22404 end climb: NO_VERTICAL_VELOCITY

state 22404 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	149	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-78975.32	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	212715,6227.788,-1106.988,50,2.2,69,-10.7	TGT_NAME	FW
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	2	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,0.065
_SM_DEPTHo	4.34	KALMAN_X	164353.5,690.2,-2404.1,-300971.6,8175.8
_SM_ANGLEo	-50.0	KALMAN_Y	117994.2,-547.9,1950.9,-17984.4,-8386.6
GPS2	214107,6227.903,-1106.866,29,1.8,40,-10.7	MHEAD_RNG_PITCHd_Wd	298.9,28600,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22407,45.30,0.758,0,0,602,558.06	ALTIM_BOTTOM_PING	650.2,106.5
SM_GC	4.33,11.85,0.00,0.00,0.028,0.000,0.000,35,1885,604,-11.26,-0.42,557.81	_24V_AH	23.3,35.929
IRIDIUM_FIX	6202.67,-1114.04,131207,010157	_10V_AH	10.1,16.627
TT8_MAMPS	0.027612	DATA_FILE_SIZE	53714,1083
HUMID	2037	CFSIZE	260165632,249438208
INTERNAL_PRESSURE	9.15074	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	16.90	GPS	131207,040426,6229.487,-1110.544,37,1.7,37,-10.8
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	104	61.13	SBE_CT	803	24	449.26
Roll_motor	97	64	146.33	SBE_O2	733	19	324.66
VBD_pump_during_apogee	453	1300	13729.63	WL_BB2F	658	105	1610.72
VBD_pump_during_surface	45	757	799.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	111	103	268.71	nil	0	0	0.00
Iridium_during_connect	198	160	741.66	nil	0	0	0.00
Iridium_during_xfer	258	223	1340.85
Transponder_ping	7	420	70.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	42	50	21.37
TT8	1898	19	379.60
LPSleep	18112	2	400.64
TT8_Active	647	19	129.54
TT8_Sampling	2279	39	916.25
TT8_CF8	766	45	354.38
TT8_Kalman	33	81	27.56
Analog_circuits	1761	12	213.51
GPS_charging	0	0	0.00
Compass	2217	8	179.19
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	-21.92	0.000	2	0.000	0.000	30	1885	1121
46	-0.95	-146.6	4.3	-0.0	1	211	11.10	2.60	-142.60	0.000	4	0.104	0.059	2286	3302	3477
464	-0.95	-146.6	25.7	-9.2	20	468	0.00	2.47	0.00	0.000	6	0.000	0.041	2286	1905	3477
791	-0.95	-146.6	53.3	-7.0	36	795	0.00	2.53	0.00	0.000	4	0.000	0.046	2286	3306	3477
884	-0.95	-146.6	60.7	-7.1	40	889	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1896	3476
1205	-0.95	-146.6	83.9	-8.1	56	1207	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3477
1515	-0.95	-146.6	107.4	-7.4	71	1519	0.00	2.55	0.00	0.000	4	0.000	0.046	2286	3314	3477
1586	-0.95	-146.6	112.8	-7.6	74	1590	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1894	3477
1908	-0.95	-146.6	134.1	-6.5	90	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1894	3477
2216	-0.95	-146.6	154.2	-6.5	105	2220	0.00	2.55	0.00	0.000	4	0.000	0.046	2286	3314	3477
2304	-0.95	-146.6	160.5	-7.1	109	2308	0.00	2.53	0.00	0.000	6	0.000	0.041	2286	1895	3477
2631	-0.95	-146.6	182.7	-6.9	125	2632	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3477
2939	-0.95	-146.6	204.8	-7.1	140	2941	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3477
3250	-0.95	-146.6	226.0	-6.9	155	3254	0.00	2.53	0.00	0.000	4	0.000	0.047	2286	3305	3477
3333	-0.95	-146.6	232.1	-7.3	159	3337	0.00	2.50	0.00	0.000	6	0.000	0.043	2286	1899	3476
3658	-0.95	-146.6	255.5	-7.3	175	3659	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3476
3967	-0.95	-146.6	277.0	-6.9	190	3971	0.00	2.53	0.00	0.000	4	0.000	0.047	2286	3309	3477
4039	-0.95	-146.6	282.1	-7.4	193	4043	0.00	2.55	0.00	0.000	6	0.000	0.044	2286	1901	3476
4360	-0.95	-146.6	303.5	-6.7	209	4361	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
4669	-0.95	-146.6	323.7	-6.3	224	4673	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3305	3476
4730	-0.95	-146.6	327.8	-6.5	227	4734	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1896	3477
5055	-0.95	-146.6	348.1	-6.0	243	5056	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3476
5364	-0.95	-146.6	367.9	-6.7	258	5368	0.00	2.55	0.00	0.000	4	0.000	0.049	2286	3307	3476
5452	-0.95	-146.6	374.0	-6.8	262	5456	0.00	2.55	0.00	0.000	6	0.000	0.045	2286	1903	3476
5779	-0.95	-146.6	394.2	-6.1	278	5780	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3476
6088	-0.95	-146.6	413.9	-6.5	293	6089	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1903	3476
6397	-0.95	-146.6	436.1	-7.4	308	6401	0.00	2.55	0.00	0.000	4	0.000	0.050	2286	3312	3476
6464	-0.95	-146.6	441.1	-8.0	311	6468	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1901	3476
6783	-0.95	-146.6	464.2	-6.9	327	6784	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
7092	-0.95	-146.6	484.7	-6.8	342	7094	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
7402	-0.95	-146.6	506.8	-7.5	357	7403	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3476
7711	-0.95	-146.6	531.6	-8.8	372	7712	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1899	3475
8020	-0.95	-146.6	557.4	-8.5	387	8024	0.00	2.53	0.00	0.000	4	0.000	0.052	2285	3303	3475
8149	-0.95	-146.6	568.3	-7.9	393	8154	0.00	2.53	0.00	0.000	6	0.000	0.047	2286	1902	3475
8475	-0.95	-146.6	589.0	-5.5	409	8476	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1902	3475
8784	-0.95	-146.6	605.4	-5.6	424	8788	0.00	2.55	0.00	0.000	4	0.000	0.054	2286	3302	3475
8855	-0.95	-146.6	609.7	-6.7	427	8860	0.00	2.55	0.00	0.000	6	0.000	0.049	2286	1905	3475
9176	-0.95	-146.6	629.0	-6.3	443	9177	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1905	3475
9485	-0.95	-146.6	649.1	-7.0	458	9490	0.00	2.55	0.00	0.000	4	0.000	0.056	2286	3304	3474
9558	-0.95	-146.6	654.7	-7.6	461	9563	0.00	2.58	0.00	0.000	6	0.000	0.049	2286	1900	3474
9880	-0.95	-146.6	675.5	-6.6	477	9884	0.00	2.58	0.00	0.000	4	0.000	0.058	2286	3309	3474
9974	-0.95	-146.6	682.4	-7.5	481	9978	0.00	2.55	0.00	0.000	6	0.000	0.051	2286	1901	3474
10294	-0.95	-146.6	704.9	-6.7	497	10296	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3474
10604	-0.95	-146.6	725.1	-6.3	512	10605	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3473
10913	-0.95	-146.6	743.7	-5.6	527	10915	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3473
10973	end dive: BOTTOM_OBSTACLE_DETECTED
state	10974	begin apogee
10978	-0.36	0.0	747.7	6.3	530	11105	0.60	0.00	124.18	1.300	6	0.074	0.000	2416	2106	2879
11106	end apogee: CONTROL_FINISHED_OK
state	11106	begin climb
11108	0.95	146.6	751.6	0.0	536	11237	1.30	0.00	123.03	1.268	6	0.052	0.000	2705	2106	2280
11545	0.96	160.7	733.9	5.6	558	11560	0.00	0.00	12.98	1.257	6	0.000	0.000	2705	2106	2222
11854	0.96	160.7	713.1	7.0	573	11855	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2106	2221
12164	0.96	160.7	692.9	6.4	588	12165	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2106	2220
12473	0.96	160.7	674.2	6.3	603	12474	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2106	2219
12782	0.96	160.7	652.5	7.2	618	12786	0.00	2.60	0.00	0.000	4	0.000	0.061	2704	3507	2218
12903	0.96	160.7	642.5	8.3	623	12910	0.00	2.58	0.00	0.000	6	0.000	0.051	2705	2098	2218
13219	0.96	160.7	619.1	6.8	639	13220	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2098	2217
13529	0.97	164.2	599.4	5.9	654	13534	0.00	0.00	3.33	1.147	6	0.000	0.000	2705	2098	2207
13838	1.02	203.4	584.2	4.8	669	13880	0.00	2.67	33.08	1.249	4	0.000	0.056	2705	3496	2048
13957	1.02	203.4	576.9	6.9	674	13961	0.00	2.55	0.00	0.000	6	0.000	0.046	2705	2102	2048
14278	1.02	203.4	557.3	6.4	690	14279	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2102	2048
14587	1.02	203.4	537.6	6.2	705	14588	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2102	2048
14897	1.02	203.4	518.4	6.5	720	14901	0.00	2.55	0.00	0.000	4	0.000	0.051	2705	3506	2048
14984	1.02	203.4	511.9	7.3	724	14989	0.00	2.53	0.00	0.000	6	0.000	0.044	2705	2097	2047
15311	1.02	203.4	488.7	6.8	740	15312	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	2048
15620	1.02	203.4	468.9	6.4	755	15622	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	2048
15929	1.02	203.4	448.5	6.9	770	15931	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	2049
16239	1.02	203.4	425.8	7.3	785	16240	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	2049
16548	1.02	203.4	404.1	7.2	800	16549	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	2049
16858	1.03	213.3	384.3	5.7	815	16869	0.00	0.00	9.52	1.118	6	0.000	0.000	2705	2097	2008
17167	1.06	236.4	367.7	5.3	830	17188	0.00	0.00	19.38	1.092	6	0.000	0.000	2705	2097	1914
17496	1.06	236.4	347.7	6.2	846	17498	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	1914
17805	1.06	236.4	327.6	6.5	861	17807	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2097	1914
18115	1.06	236.4	307.8	6.3	876	18119	0.00	2.60	0.00	0.000	4	0.000	0.064	2705	687	1914
18180	1.06	236.4	303.2	6.9	879	18185	0.00	2.47	0.00	0.000	6	0.000	0.040	2705	2104	1914
18507	1.06	236.4	281.8	6.3	895	18508	0.00	0.00	0.00	0.000	6	0.000	0.000	2705	2108	1914
18816	1.08	255.7	263.6	5.4	910	18839	0.12	2.67	16.60	1.018	4	0.049	0.061	2751	690	1834
18877	1.08	255.7	259.1	7.5	912	18884	0.00	2.47	0.00	0.000	6	0.000	0.040	2751	2099	1834
19193	1.08	255.7	235.1	7.8	928	19194	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
19502	1.08	255.7	207.8	9.2	943	19503	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1834
19812	1.08	255.7	179.9	9.0	958	19813	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
20121	1.08	255.7	152.8	8.8	973	20122	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
20430	1.08	255.7	124.6	8.8	988	20431	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
20740	1.08	255.7	102.1	7.1	1003	20741	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
21050	1.08	255.7	80.3	6.9	1018	21051	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
21358	1.08	255.7	55.3	7.8	1033	21359	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
21668	1.08	255.7	31.2	8.9	1048	21669	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2103	1835
21977	1.08	255.7	4.6	7.0	1063	21981	0.00	2.58	0.00	0.000	4	0.000	0.055	2751	687	1835
22061	1.34	469.9	3.8	-0.4	1067	22179	0.17	2.47	111.18	0.764	6	0.064	0.041	2792	2100	962
22404	end climb: NO_VERTICAL_VELOCITY
state	22404	begin surface