Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 156 * 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 156 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -79097.133 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 -79097.133

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 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 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 156 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 162108,6233.433,-1126.295,36,1.5,36,-11.0 TGT_NAME FW

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.130,-0.164

_SM_DEPTHo 4.20 KALMAN_X 216905.1,-544.7,-27738.3,-344096.2,20836.6

_SM_ANGLEo -49.1 KALMAN_Y 157364.3,-650.8,-29046.9,-16019.9,14077.2

GPS2 163408,6233.418,-1126.283,19,1.4,30,-11.0 MHEAD_RNG_PITCHd_Wd 229.4,13330,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 23138,57.88,0.745,0,0,603,558.06 ALTIM_BOTTOM_PING 701.0,75.9

SM_GC 4.31,11.85,0.00,0.00,0.028,0.000,0.000,30,1894,605,-11.26,-0.20,557.81 _24V_AH 23.3,37.174

IRIDIUM_FIX 6207.28,-1130.49,141207,202040 _10V_AH 10.1,17.300

TT8_MAMPS 0.026845 DATA_FILE_SIZE 56849,1120

HUMID 2030 CFSIZE 260165632,248979456

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,11,0,0

TCM_TEMP 15.30 GPS 141207,230938,6228.557,-1127.109,26,1.5,26,-10.9

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 107 62.92 SBE_CT 822 24 460.18

Roll_motor 118 76 211.55 SBE_O2 757 19 335.20

VBD_pump_during_apogee 437 1341 13677.09 WL_BB2F 699 105 1711.56

VBD_pump_during_surface 57 744 1004.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 114 103 275.70 nil 0 0 0.00

Iridium_during_connect 126 160 471.45 nil 0 0 0.00

Iridium_during_xfer 287 223 1494.10

Transponder_ping 8 420 83.18

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.08

TT8 1967 19 393.42

LPSleep 18669 2 412.94

TT8_Active 670 19 134.18

TT8_Sampling 2341 39 941.25

TT8_CF8 747 45 345.84

TT8_Kalman 33 81 27.55

Analog_circuits 1819 12 220.53

GPS_charging 0 0 0.00

Compass 2289 8 184.95

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

22 -0.95 -146.6 0.0 0.0 0 44 0.00 0.00 -20.77 0.000 2 0.000 0.000 29 1885 1083

47 -0.95 -146.6 4.1 -0.0 1 212 11.15 2.60 -144.35 0.000 4 0.107 0.077 2286 499 3477

224 -0.95 -146.6 6.3 -4.4 9 228 0.00 2.47 0.00 0.000 6 0.000 0.040 2287 1906 3476

545 -0.95 -146.6 41.3 -10.9 25 546 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1908 3476

854 -0.95 -146.6 68.8 -7.2 40 855 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1908 3476

1164 -0.95 -146.6 94.3 -8.6 55 1168 0.00 2.50 0.00 0.000 4 0.000 0.048 2287 3297 3476

1225 -0.95 -146.6 99.4 -7.3 58 1230 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3476

1552 -0.95 -146.6 120.7 -5.3 74 1553 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1895 3476

1861 -0.95 -146.6 140.5 -5.8 89 1865 0.00 2.53 0.00 0.000 4 0.000 0.046 2287 3300 3476

1960 -0.95 -146.6 148.2 -8.0 93 1967 0.00 2.53 0.00 0.000 6 0.000 0.043 2287 1906 3476

2276 -0.95 -146.6 169.4 -5.0 109 2277 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1906 3476

2585 -0.95 -146.6 189.1 -7.5 124 2586 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1906 3476

2894 -0.95 -146.6 216.9 -9.1 139 2898 0.00 2.53 0.00 0.000 4 0.000 0.048 2287 3303 3476

2961 -0.95 -146.6 223.1 -9.5 142 2965 0.00 2.53 0.00 0.000 6 0.000 0.044 2287 1894 3476

3280 -0.95 -146.6 251.9 -8.6 158 3282 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

3590 -0.95 -146.6 278.0 -8.3 173 3591 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

3900 -0.95 -146.6 301.3 -7.4 188 3901 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1894 3476

4208 -0.95 -146.6 324.0 -7.0 203 4213 0.00 2.55 0.00 0.000 4 0.000 0.049 2286 3302 3476

4262 -0.95 -146.6 328.1 -7.5 205 4270 0.00 2.55 0.00 0.000 6 0.000 0.045 2287 1898 3476

4579 -0.95 -146.6 349.5 -6.6 221 4580 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1898 3476

4888 -0.95 -146.6 369.6 -6.7 236 4892 0.00 2.53 0.00 0.000 4 0.000 0.049 2286 3298 3476

4948 -0.95 -146.6 373.8 -7.1 239 4953 0.00 2.50 0.00 0.000 6 0.000 0.045 2286 1896 3476

5275 -0.95 -146.6 393.3 -5.5 255 5276 0.00 0.00 0.00 0.000 6 0.000 0.000 2287 1896 3476

5583 -0.95 -146.6 412.0 -6.4 270 5584 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3476

5893 -0.95 -146.6 431.4 -5.9 285 5897 0.00 2.53 0.00 0.000 4 0.000 0.050 2287 3299 3476

5970 -0.95 -146.6 436.4 -6.7 288 5976 0.00 2.50 0.00 0.000 6 0.000 0.045 2287 1902 3476

6285 -0.95 -146.6 455.0 -6.1 304 6289 0.00 2.53 0.00 0.000 4 0.000 0.051 2287 3298 3476

6327 -0.95 -146.6 457.9 -6.8 306 6332 0.00 2.55 0.00 0.000 6 0.000 0.047 2287 1900 3476

6654 -0.95 -146.6 479.4 -7.0 322 6656 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3475

6963 -0.95 -146.6 503.4 -7.9 337 6965 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3474

7273 -0.95 -146.6 526.4 -7.3 352 7275 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1898 3475

7582 -0.95 -146.6 546.5 -6.4 367 7587 0.00 2.53 0.00 0.000 4 0.000 0.051 2286 3305 3475

7682 -0.95 -146.6 553.3 -7.1 371 7688 0.00 2.55 0.00 0.000 6 0.000 0.046 2286 1901 3475

7998 -0.95 -146.6 576.1 -8.0 387 7999 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

8309 -0.95 -146.6 600.2 -7.1 402 8310 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

8616 -0.95 -146.6 619.1 -6.0 417 8620 0.00 2.55 0.00 0.000 4 0.000 0.057 2286 3296 3475

8737 -0.95 -146.6 627.6 -7.8 422 8744 0.00 2.53 0.00 0.000 6 0.000 0.049 2286 1902 3475

9053 -0.95 -146.6 650.8 -7.2 438 9055 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1901 3475

9362 -0.95 -146.6 664.6 -3.9 453 9367 0.00 2.58 0.00 0.000 4 0.000 0.059 2286 3299 3474

9484 -0.95 -146.6 671.7 -7.2 458 9491 0.00 2.53 0.00 0.000 6 0.000 0.053 2286 1900 3474

9800 -0.95 -146.6 691.8 -6.5 474 9801 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1900 3474

10109 -0.95 -146.6 714.2 -6.8 489 10114 0.00 2.58 0.00 0.000 4 0.000 0.064 2286 3295 3473

10170 -0.95 -146.6 718.3 -6.9 492 10175 0.00 2.58 0.00 0.000 6 0.000 0.057 2286 1896 3474

10495 -0.95 -146.6 739.1 -6.4 508 10497 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1895 3472

10805 -0.95 -146.6 758.1 -6.3 523 10806 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1896 3471

10948 end dive: BOTTOM_OBSTACLE_DETECTED

state 10948 begin apogee

10953 -0.36 0.0 768.1 6.9 530 11079 0.60 0.00 123.40 1.341 6 0.072 0.000 2416 2100 2878

11080 end apogee: CONTROL_FINISHED_OK

state 11080 begin climb

11082 0.95 146.6 771.8 0.0 536 11213 1.30 2.75 123.12 1.292 4 0.054 0.076 2702 692 2279

11450 0.95 147.2 757.6 6.0 553 11455 0.00 2.58 0.00 0.000 6 0.000 0.054 2702 2094 2278

11765 0.98 175.1 741.6 5.2 568 11792 0.00 0.00 24.33 1.313 6 0.000 0.000 2702 2094 2164

12094 0.98 175.1 721.2 6.3 584 12095 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2094 2163

12403 0.98 175.1 700.9 6.8 599 12405 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2162

12713 0.98 175.1 681.9 6.3 614 12717 0.00 2.62 0.00 0.000 4 0.000 0.065 2702 3505 2161

12778 0.98 175.1 677.1 7.7 617 12782 0.00 2.62 0.00 0.000 6 0.000 0.058 2702 2084 2161

13105 0.98 175.1 653.3 6.2 633 13109 0.00 2.67 0.00 0.000 4 0.000 0.064 2702 3512 2161

13215 1.01 195.5 647.2 5.4 638 13240 0.00 2.60 18.02 1.309 6 0.000 0.054 2702 2094 2079

13561 1.01 199.9 629.4 5.9 655 13568 0.00 0.00 4.80 1.256 6 0.000 0.000 2702 2094 2062

13870 1.01 199.9 608.0 7.1 670 13872 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2094 2062

14180 1.02 207.7 589.1 5.8 685 14194 0.00 2.67 7.35 1.267 4 0.000 0.058 2702 3499 2031

14222 1.02 207.7 586.4 6.1 687 14227 0.00 2.58 0.00 0.000 6 0.000 0.049 2702 2092 2031

14548 1.02 207.7 565.5 6.3 703 14549 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2092 2031

14857 1.02 207.7 546.6 6.4 718 14858 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2092 2031

15167 1.02 207.9 527.8 6.0 733 15168 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2092 2032

15475 1.02 207.9 507.5 6.6 748 15476 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2092 2032

15785 1.02 207.9 484.3 7.8 763 15789 0.00 2.60 0.00 0.000 4 0.000 0.054 2702 3513 2032

15823 1.02 207.9 481.0 9.6 765 15827 0.00 2.55 0.00 0.000 6 0.000 0.044 2702 2089 2033

16149 1.02 207.9 455.8 7.5 781 16150 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2090 2033

16458 1.02 207.9 433.5 6.9 796 16459 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2090 2034

16767 1.02 207.9 411.9 6.8 811 16768 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2090 2034

17077 1.02 207.9 390.7 6.9 826 17081 0.00 2.60 0.00 0.000 4 0.000 0.052 2702 3513 2035

17115 1.02 207.9 387.7 7.5 828 17119 0.00 2.53 0.00 0.000 6 0.000 0.043 2702 2097 2036

17440 1.02 207.9 364.1 7.4 844 17441 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2036

17749 1.02 207.9 341.0 7.6 859 17750 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2037

18058 1.02 207.9 319.2 6.5 874 18059 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2098 2037

18368 1.02 207.9 298.4 6.3 889 18372 0.00 2.58 0.00 0.000 4 0.000 0.064 2703 693 2037

18411 1.04 223.8 295.7 5.5 891 18431 0.00 2.50 14.98 1.026 6 0.000 0.041 2703 2116 1965

18758 1.04 223.8 271.0 7.0 908 18759 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2120 1965

19067 1.04 223.8 249.2 7.1 923 19072 0.00 2.62 0.00 0.000 4 0.000 0.060 2703 692 1965

19140 1.04 223.8 243.7 7.5 926 19145 0.00 2.47 0.00 0.000 6 0.000 0.040 2703 2103 1965

19455 1.04 223.8 220.7 6.9 941 19456 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2105 1966

19764 1.04 223.8 198.1 7.7 956 19769 0.00 2.60 0.00 0.000 4 0.000 0.061 2703 693 1966

19826 1.04 223.8 193.0 7.5 959 19830 0.00 2.47 0.00 0.000 6 0.000 0.040 2703 2105 1966

20151 1.04 223.8 167.1 8.4 975 20152 0.00 0.00 0.00 0.000 6 0.000 0.000 2702 2108 1966

20461 1.04 223.8 143.0 7.4 990 20466 0.00 2.60 0.00 0.000 4 0.000 0.061 2703 693 1966

20500 1.04 223.8 140.3 6.9 992 20505 0.00 2.47 0.00 0.000 6 0.000 0.039 2702 2104 1966

20826 1.04 223.8 119.4 6.3 1008 20828 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2106 1966

21136 1.04 223.8 99.2 6.2 1023 21140 0.00 2.60 0.00 0.000 4 0.000 0.061 2703 692 1966

21213 1.04 225.5 94.1 6.0 1026 21220 0.00 2.50 0.00 0.000 6 0.000 0.039 2703 2098 1966

21530 1.04 225.5 75.3 6.7 1042 21531 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2102 1966

21838 1.06 241.3 59.2 5.5 1057 21859 0.10 0.00 15.10 0.877 6 0.054 0.000 2746 2102 1893

22168 1.06 241.3 37.1 6.9 1073 22170 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1893

22476 1.06 241.3 18.1 7.4 1088 22478 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2102 1893

22786 1.31 444.7 3.8 -0.1 1103 22896 0.15 0.00 106.47 0.757 6 0.071 0.000 2784 2104 1063

23135 end climb: NO_VERTICAL_VELOCITY

state 23136 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	156	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-79097.133	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	162108,6233.433,-1126.295,36,1.5,36,-11.0	TGT_NAME	FW
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.130,-0.164
_SM_DEPTHo	4.20	KALMAN_X	216905.1,-544.7,-27738.3,-344096.2,20836.6
_SM_ANGLEo	-49.1	KALMAN_Y	157364.3,-650.8,-29046.9,-16019.9,14077.2
GPS2	163408,6233.418,-1126.283,19,1.4,30,-11.0	MHEAD_RNG_PITCHd_Wd	229.4,13330,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	23138,57.88,0.745,0,0,603,558.06	ALTIM_BOTTOM_PING	701.0,75.9
SM_GC	4.31,11.85,0.00,0.00,0.028,0.000,0.000,30,1894,605,-11.26,-0.20,557.81	_24V_AH	23.3,37.174
IRIDIUM_FIX	6207.28,-1130.49,141207,202040	_10V_AH	10.1,17.300
TT8_MAMPS	0.026845	DATA_FILE_SIZE	56849,1120
HUMID	2030	CFSIZE	260165632,248979456
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
TCM_TEMP	15.30	GPS	141207,230938,6228.557,-1127.109,26,1.5,26,-10.9
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	107	62.92	SBE_CT	822	24	460.18
Roll_motor	118	76	211.55	SBE_O2	757	19	335.20
VBD_pump_during_apogee	437	1341	13677.09	WL_BB2F	699	105	1711.56
VBD_pump_during_surface	57	744	1004.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	114	103	275.70	nil	0	0	0.00
Iridium_during_connect	126	160	471.45	nil	0	0	0.00
Iridium_during_xfer	287	223	1494.10
Transponder_ping	8	420	83.18
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.08
TT8	1967	19	393.42
LPSleep	18669	2	412.94
TT8_Active	670	19	134.18
TT8_Sampling	2341	39	941.25
TT8_CF8	747	45	345.84
TT8_Kalman	33	81	27.55
Analog_circuits	1819	12	220.53
GPS_charging	0	0	0.00
Compass	2289	8	184.95
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
22	-0.95	-146.6	0.0	0.0	0	44	0.00	0.00	-20.77	0.000	2	0.000	0.000	29	1885	1083
47	-0.95	-146.6	4.1	-0.0	1	212	11.15	2.60	-144.35	0.000	4	0.107	0.077	2286	499	3477
224	-0.95	-146.6	6.3	-4.4	9	228	0.00	2.47	0.00	0.000	6	0.000	0.040	2287	1906	3476
545	-0.95	-146.6	41.3	-10.9	25	546	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1908	3476
854	-0.95	-146.6	68.8	-7.2	40	855	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1908	3476
1164	-0.95	-146.6	94.3	-8.6	55	1168	0.00	2.50	0.00	0.000	4	0.000	0.048	2287	3297	3476
1225	-0.95	-146.6	99.4	-7.3	58	1230	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3476
1552	-0.95	-146.6	120.7	-5.3	74	1553	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1895	3476
1861	-0.95	-146.6	140.5	-5.8	89	1865	0.00	2.53	0.00	0.000	4	0.000	0.046	2287	3300	3476
1960	-0.95	-146.6	148.2	-8.0	93	1967	0.00	2.53	0.00	0.000	6	0.000	0.043	2287	1906	3476
2276	-0.95	-146.6	169.4	-5.0	109	2277	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1906	3476
2585	-0.95	-146.6	189.1	-7.5	124	2586	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1906	3476
2894	-0.95	-146.6	216.9	-9.1	139	2898	0.00	2.53	0.00	0.000	4	0.000	0.048	2287	3303	3476
2961	-0.95	-146.6	223.1	-9.5	142	2965	0.00	2.53	0.00	0.000	6	0.000	0.044	2287	1894	3476
3280	-0.95	-146.6	251.9	-8.6	158	3282	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
3590	-0.95	-146.6	278.0	-8.3	173	3591	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
3900	-0.95	-146.6	301.3	-7.4	188	3901	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1894	3476
4208	-0.95	-146.6	324.0	-7.0	203	4213	0.00	2.55	0.00	0.000	4	0.000	0.049	2286	3302	3476
4262	-0.95	-146.6	328.1	-7.5	205	4270	0.00	2.55	0.00	0.000	6	0.000	0.045	2287	1898	3476
4579	-0.95	-146.6	349.5	-6.6	221	4580	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1898	3476
4888	-0.95	-146.6	369.6	-6.7	236	4892	0.00	2.53	0.00	0.000	4	0.000	0.049	2286	3298	3476
4948	-0.95	-146.6	373.8	-7.1	239	4953	0.00	2.50	0.00	0.000	6	0.000	0.045	2286	1896	3476
5275	-0.95	-146.6	393.3	-5.5	255	5276	0.00	0.00	0.00	0.000	6	0.000	0.000	2287	1896	3476
5583	-0.95	-146.6	412.0	-6.4	270	5584	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3476
5893	-0.95	-146.6	431.4	-5.9	285	5897	0.00	2.53	0.00	0.000	4	0.000	0.050	2287	3299	3476
5970	-0.95	-146.6	436.4	-6.7	288	5976	0.00	2.50	0.00	0.000	6	0.000	0.045	2287	1902	3476
6285	-0.95	-146.6	455.0	-6.1	304	6289	0.00	2.53	0.00	0.000	4	0.000	0.051	2287	3298	3476
6327	-0.95	-146.6	457.9	-6.8	306	6332	0.00	2.55	0.00	0.000	6	0.000	0.047	2287	1900	3476
6654	-0.95	-146.6	479.4	-7.0	322	6656	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3475
6963	-0.95	-146.6	503.4	-7.9	337	6965	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3474
7273	-0.95	-146.6	526.4	-7.3	352	7275	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1898	3475
7582	-0.95	-146.6	546.5	-6.4	367	7587	0.00	2.53	0.00	0.000	4	0.000	0.051	2286	3305	3475
7682	-0.95	-146.6	553.3	-7.1	371	7688	0.00	2.55	0.00	0.000	6	0.000	0.046	2286	1901	3475
7998	-0.95	-146.6	576.1	-8.0	387	7999	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
8309	-0.95	-146.6	600.2	-7.1	402	8310	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
8616	-0.95	-146.6	619.1	-6.0	417	8620	0.00	2.55	0.00	0.000	4	0.000	0.057	2286	3296	3475
8737	-0.95	-146.6	627.6	-7.8	422	8744	0.00	2.53	0.00	0.000	6	0.000	0.049	2286	1902	3475
9053	-0.95	-146.6	650.8	-7.2	438	9055	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1901	3475
9362	-0.95	-146.6	664.6	-3.9	453	9367	0.00	2.58	0.00	0.000	4	0.000	0.059	2286	3299	3474
9484	-0.95	-146.6	671.7	-7.2	458	9491	0.00	2.53	0.00	0.000	6	0.000	0.053	2286	1900	3474
9800	-0.95	-146.6	691.8	-6.5	474	9801	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1900	3474
10109	-0.95	-146.6	714.2	-6.8	489	10114	0.00	2.58	0.00	0.000	4	0.000	0.064	2286	3295	3473
10170	-0.95	-146.6	718.3	-6.9	492	10175	0.00	2.58	0.00	0.000	6	0.000	0.057	2286	1896	3474
10495	-0.95	-146.6	739.1	-6.4	508	10497	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1895	3472
10805	-0.95	-146.6	758.1	-6.3	523	10806	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1896	3471
10948	end dive: BOTTOM_OBSTACLE_DETECTED
state	10948	begin apogee
10953	-0.36	0.0	768.1	6.9	530	11079	0.60	0.00	123.40	1.341	6	0.072	0.000	2416	2100	2878
11080	end apogee: CONTROL_FINISHED_OK
state	11080	begin climb
11082	0.95	146.6	771.8	0.0	536	11213	1.30	2.75	123.12	1.292	4	0.054	0.076	2702	692	2279
11450	0.95	147.2	757.6	6.0	553	11455	0.00	2.58	0.00	0.000	6	0.000	0.054	2702	2094	2278
11765	0.98	175.1	741.6	5.2	568	11792	0.00	0.00	24.33	1.313	6	0.000	0.000	2702	2094	2164
12094	0.98	175.1	721.2	6.3	584	12095	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2094	2163
12403	0.98	175.1	700.9	6.8	599	12405	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2162
12713	0.98	175.1	681.9	6.3	614	12717	0.00	2.62	0.00	0.000	4	0.000	0.065	2702	3505	2161
12778	0.98	175.1	677.1	7.7	617	12782	0.00	2.62	0.00	0.000	6	0.000	0.058	2702	2084	2161
13105	0.98	175.1	653.3	6.2	633	13109	0.00	2.67	0.00	0.000	4	0.000	0.064	2702	3512	2161
13215	1.01	195.5	647.2	5.4	638	13240	0.00	2.60	18.02	1.309	6	0.000	0.054	2702	2094	2079
13561	1.01	199.9	629.4	5.9	655	13568	0.00	0.00	4.80	1.256	6	0.000	0.000	2702	2094	2062
13870	1.01	199.9	608.0	7.1	670	13872	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2094	2062
14180	1.02	207.7	589.1	5.8	685	14194	0.00	2.67	7.35	1.267	4	0.000	0.058	2702	3499	2031
14222	1.02	207.7	586.4	6.1	687	14227	0.00	2.58	0.00	0.000	6	0.000	0.049	2702	2092	2031
14548	1.02	207.7	565.5	6.3	703	14549	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2092	2031
14857	1.02	207.7	546.6	6.4	718	14858	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2092	2031
15167	1.02	207.9	527.8	6.0	733	15168	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2092	2032
15475	1.02	207.9	507.5	6.6	748	15476	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2092	2032
15785	1.02	207.9	484.3	7.8	763	15789	0.00	2.60	0.00	0.000	4	0.000	0.054	2702	3513	2032
15823	1.02	207.9	481.0	9.6	765	15827	0.00	2.55	0.00	0.000	6	0.000	0.044	2702	2089	2033
16149	1.02	207.9	455.8	7.5	781	16150	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2090	2033
16458	1.02	207.9	433.5	6.9	796	16459	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2090	2034
16767	1.02	207.9	411.9	6.8	811	16768	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2090	2034
17077	1.02	207.9	390.7	6.9	826	17081	0.00	2.60	0.00	0.000	4	0.000	0.052	2702	3513	2035
17115	1.02	207.9	387.7	7.5	828	17119	0.00	2.53	0.00	0.000	6	0.000	0.043	2702	2097	2036
17440	1.02	207.9	364.1	7.4	844	17441	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2036
17749	1.02	207.9	341.0	7.6	859	17750	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2037
18058	1.02	207.9	319.2	6.5	874	18059	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2098	2037
18368	1.02	207.9	298.4	6.3	889	18372	0.00	2.58	0.00	0.000	4	0.000	0.064	2703	693	2037
18411	1.04	223.8	295.7	5.5	891	18431	0.00	2.50	14.98	1.026	6	0.000	0.041	2703	2116	1965
18758	1.04	223.8	271.0	7.0	908	18759	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2120	1965
19067	1.04	223.8	249.2	7.1	923	19072	0.00	2.62	0.00	0.000	4	0.000	0.060	2703	692	1965
19140	1.04	223.8	243.7	7.5	926	19145	0.00	2.47	0.00	0.000	6	0.000	0.040	2703	2103	1965
19455	1.04	223.8	220.7	6.9	941	19456	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2105	1966
19764	1.04	223.8	198.1	7.7	956	19769	0.00	2.60	0.00	0.000	4	0.000	0.061	2703	693	1966
19826	1.04	223.8	193.0	7.5	959	19830	0.00	2.47	0.00	0.000	6	0.000	0.040	2703	2105	1966
20151	1.04	223.8	167.1	8.4	975	20152	0.00	0.00	0.00	0.000	6	0.000	0.000	2702	2108	1966
20461	1.04	223.8	143.0	7.4	990	20466	0.00	2.60	0.00	0.000	4	0.000	0.061	2703	693	1966
20500	1.04	223.8	140.3	6.9	992	20505	0.00	2.47	0.00	0.000	6	0.000	0.039	2702	2104	1966
20826	1.04	223.8	119.4	6.3	1008	20828	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2106	1966
21136	1.04	223.8	99.2	6.2	1023	21140	0.00	2.60	0.00	0.000	4	0.000	0.061	2703	692	1966
21213	1.04	225.5	94.1	6.0	1026	21220	0.00	2.50	0.00	0.000	6	0.000	0.039	2703	2098	1966
21530	1.04	225.5	75.3	6.7	1042	21531	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2102	1966
21838	1.06	241.3	59.2	5.5	1057	21859	0.10	0.00	15.10	0.877	6	0.054	0.000	2746	2102	1893
22168	1.06	241.3	37.1	6.9	1073	22170	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1893
22476	1.06	241.3	18.1	7.4	1088	22478	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2102	1893
22786	1.31	444.7	3.8	-0.1	1103	22896	0.15	0.00	106.47	0.757	6	0.071	0.000	2784	2104	1063
23135	end climb: NO_VERTICAL_VELOCITY
state	23136	begin surface