Glider dive log

Faroes Nov07 * SG102 * Dive index * Mission links * Dive 157 * 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 157 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -79111.977 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 -79111.977

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 22 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 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 157 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 230938,6228.557,-1127.109,26,1.5,26,-10.9 TGT_NAME FW

_CALLS 3 TGT_LATLONG 6230.000,-1140.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,-0.110

_SM_DEPTHo 4.36 KALMAN_X 206125.7,-691.5,-15249.5,-346246.5,89744.1

_SM_ANGLEo -55.0 KALMAN_Y 135068.4,-541.8,-12502.6,-19241.6,65618.5

GPS2 232333,6228.616,-1126.995,12,1.9,12,-10.9 MHEAD_RNG_PITCHd_Wd 249.0,11413,-10.7,-6.000

SPEED_LIMITS 0.104,0.209 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 22073,0.00,0.000,0,0,603,558.30 ALTIM_BOTTOM_PING 751.0,68.4

SM_GC 4.74,12.20,0.00,0.00,0.033,0.000,0.000,31,1884,603,-11.27,-0.45,558.30 _24V_AH 23.3,37.370

IRIDIUM_FIX 6202.67,-1123.15,151207,030334 _10V_AH 10.1,17.402

TT8_MAMPS 0.026845 DATA_FILE_SIZE 53739,1045

HUMID 2049 CFSIZE 260165632,248905728

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,14,0,0

TCM_TEMP 16.70 GPS 151207,053332,6224.018,-1132.395,37,1.7,37,-10.9

XPDR_PINGS 7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 108 65.66 SBE_CT 769 24 430.47

Roll_motor 134 77 242.05 SBE_O2 705 19 312.18

VBD_pump_during_apogee 503 1347 15808.09 WL_BB2F 637 105 1558.49

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 115 103 276.03 nil 0 0 0.00

Iridium_during_connect 160 160 599.46 nil 0 0 0.00

Iridium_during_xfer 326 223 1696.66

Transponder_ping 8 420 80.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.18

TT8 1874 19 374.93

LPSleep 17210 2 380.68

TT8_Active 674 19 134.84

TT8_Sampling 2341 39 941.13

TT8_CF8 806 45 372.94

TT8_Kalman 33 81 27.57

Analog_circuits 1850 12 224.31

GPS_charging 0 0 0.00

Compass 2299 8 185.78

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 -21.83 0.000 2 0.000 0.000 28 1884 1117

46 -0.95 -146.6 4.3 -0.0 1 217 11.23 2.58 -153.85 0.000 4 0.109 0.075 2285 495 3475

469 -0.95 -146.6 22.9 -8.6 20 476 0.00 2.47 0.00 0.000 6 0.000 0.040 2286 1898 3475

785 -0.95 -146.6 49.7 -8.7 36 789 0.00 2.53 0.00 0.000 4 0.000 0.049 2286 3294 3475

1042 -0.95 -146.6 69.4 -7.0 47 1049 0.00 2.53 0.00 0.000 6 0.000 0.044 2285 1905 3475

1360 -0.95 -146.6 91.0 -7.4 63 1364 0.00 2.53 0.00 0.000 4 0.000 0.047 2286 3304 3475

1481 -0.95 -146.6 100.7 -8.7 68 1488 0.00 2.55 0.00 0.000 6 0.000 0.043 2285 1897 3475

1798 -0.95 -146.6 129.5 -8.8 84 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

2106 -0.95 -146.6 154.6 -8.4 99 2107 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

2415 -0.95 -146.6 179.1 -7.7 114 2419 0.00 2.53 0.00 0.000 4 0.000 0.048 2286 3297 3475

2476 -0.95 -146.6 183.7 -7.8 117 2480 0.00 2.50 0.00 0.000 6 0.000 0.043 2285 1899 3475

2801 -0.95 -146.6 209.3 -8.1 133 2802 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

3110 -0.95 -146.6 233.1 -7.6 148 3111 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

3420 -0.95 -146.6 254.6 -6.6 163 3421 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3475

3729 -0.95 -146.6 274.0 -6.5 178 3733 0.00 2.53 0.00 0.000 4 0.000 0.048 2285 3300 3475

3812 -0.95 -146.6 279.4 -6.4 182 3817 0.00 2.53 0.00 0.000 6 0.000 0.045 2285 1897 3475

4138 -0.95 -146.6 302.5 -7.4 198 4139 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

4448 -0.95 -146.6 325.1 -7.2 213 4449 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 1897 3475

4756 -0.95 -146.6 346.4 -6.7 228 4761 0.00 2.55 0.00 0.000 4 0.000 0.049 2285 3304 3475

4834 -0.95 -146.6 351.9 -7.3 231 4840 0.00 2.53 0.00 0.000 6 0.000 0.044 2286 1896 3475

5150 -0.95 -146.6 375.7 -8.0 247 5151 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1897 3475

5461 -0.95 -146.6 400.1 -8.0 262 5465 0.00 2.53 0.00 0.000 4 0.000 0.050 2285 3295 3475

5577 -0.95 -146.6 409.6 -7.8 267 5582 0.00 2.50 0.00 0.000 6 0.000 0.047 2285 1902 3475

5898 -0.95 -146.6 433.3 -7.2 283 5899 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3475

6207 -0.95 -146.6 456.0 -8.0 298 6212 0.00 2.53 0.00 0.000 4 0.000 0.051 2285 3295 3475

6285 -0.95 -146.6 462.3 -7.8 301 6291 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1894 3475

6600 -0.95 -146.6 484.2 -7.8 317 6601 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1890 3474

6909 -0.95 -146.6 505.9 -6.9 332 6914 0.00 2.55 0.00 0.000 4 0.000 0.052 2285 3298 3474

6975 -0.95 -146.6 510.6 -7.8 335 6980 0.00 2.55 0.00 0.000 6 0.000 0.048 2285 1899 3474

7302 -0.95 -146.6 534.1 -7.8 351 7303 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1899 3474

7612 -0.95 -146.6 556.5 -6.9 366 7616 0.00 2.53 0.00 0.000 4 0.000 0.053 2285 3295 3474

7683 -0.95 -146.6 561.6 -6.7 369 7687 0.00 2.53 0.00 0.000 6 0.000 0.047 2285 1905 3474

8004 -0.95 -146.6 585.1 -7.7 385 8005 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3474

8313 -0.95 -146.6 606.1 -6.3 400 8314 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1905 3474

8622 -0.95 -146.6 626.4 -7.0 415 8626 0.00 2.55 0.00 0.000 4 0.000 0.056 2285 3298 3474

8728 -0.95 -146.6 633.6 -6.6 420 8733 0.00 2.55 0.00 0.000 6 0.000 0.050 2285 1894 3474

9055 -0.95 -146.6 652.5 -6.4 436 9059 0.00 2.58 0.00 0.000 4 0.000 0.058 2285 3300 3474

9171 -0.95 -146.6 661.0 -7.2 441 9175 0.00 2.58 0.00 0.000 6 0.000 0.051 2285 1899 3474

9492 -0.95 -146.6 687.2 -8.5 457 9496 0.00 2.58 0.00 0.000 4 0.000 0.058 2285 3300 3474

9591 -0.95 -146.6 695.5 -8.6 461 9598 0.00 2.58 0.00 0.000 6 0.000 0.052 2285 1903 3474

9907 -0.95 -146.6 714.8 -5.5 477 9908 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1903 3474

10216 -0.95 -146.6 732.0 -5.5 492 10220 0.00 2.58 0.00 0.000 4 0.000 0.061 2285 3293 3474

10327 -0.95 -146.6 738.8 -6.0 497 10331 0.00 2.55 0.00 0.000 6 0.000 0.054 2285 1895 3474

10654 -0.95 -146.6 758.7 -6.3 513 10658 0.00 2.60 0.00 0.000 4 0.000 0.064 2285 3295 3474

10726 -0.95 -146.6 763.4 -6.8 516 10731 0.00 2.55 0.00 0.000 6 0.000 0.056 2285 1902 3474

11041 -0.95 -146.6 782.7 -6.4 531 11042 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3473

11351 -0.95 -146.6 800.4 -6.5 546 11352 0.00 0.00 0.00 0.000 6 0.000 0.000 2285 1902 3472

11493 end dive: BOTTOM_OBSTACLE_DETECTED

state 11493 begin apogee

11498 -0.36 0.0 810.5 5.9 553 11625 0.62 0.00 124.35 1.348 6 0.072 0.000 2421 2088 2878

11626 end apogee: CONTROL_FINISHED_OK

state 11626 begin climb

11628 0.95 146.6 815.3 0.0 559 11761 1.30 2.80 123.45 1.305 4 0.058 0.077 2703 679 2280

11932 1.00 186.8 807.6 4.8 573 11972 0.00 2.62 34.55 1.304 6 0.000 0.057 2703 2096 2116

12282 1.00 186.8 782.5 7.1 590 12284 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 2096 2116

12591 1.00 186.8 763.3 6.6 605 12595 0.00 2.65 0.00 0.000 4 0.000 0.071 2703 3509 2114

12651 1.00 186.8 758.7 8.9 608 12656 0.00 2.62 0.00 0.000 6 0.000 0.061 2703 2103 2113

12977 1.00 186.8 735.2 6.8 624 12982 0.00 2.65 0.00 0.000 4 0.000 0.067 2703 3506 2112

13061 1.10 272.2 731.0 3.5 628 13139 0.15 2.62 70.95 1.322 6 0.045 0.059 2751 2092 1768

13447 1.10 272.2 699.5 11.3 646 13448 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2092 1767

13756 1.10 272.2 670.2 8.4 661 13761 0.00 2.62 0.00 0.000 4 0.000 0.060 2751 3511 1766

13788 1.10 272.2 667.2 8.4 662 13795 0.00 2.60 0.00 0.000 6 0.000 0.053 2752 2087 1767

14104 1.10 272.2 639.6 8.5 678 14105 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2087 1766

14413 1.10 272.2 614.8 8.3 693 14417 0.00 2.60 0.00 0.000 4 0.000 0.056 2751 3512 1766

14478 1.10 272.2 608.6 9.1 696 14483 0.00 2.58 0.00 0.000 6 0.000 0.048 2751 2090 1767

14805 1.10 272.2 579.8 8.7 712 14806 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2091 1767

15114 1.10 272.2 552.4 8.9 727 15115 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2090 1767

15423 1.10 272.2 524.3 8.9 742 15425 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2090 1768

15733 1.10 272.2 495.8 9.3 757 15734 0.00 0.00 0.00 0.000 6 0.000 0.000 2752 2090 1768

16042 1.10 272.2 466.9 9.5 772 16043 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2090 1769

16351 1.10 272.2 437.3 9.6 787 16352 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2091 1770

16661 1.10 272.2 408.6 9.0 802 16665 0.00 2.60 0.00 0.000 4 0.000 0.068 2751 688 1771

16709 1.10 272.2 403.8 10.4 804 16714 0.00 2.53 0.00 0.000 6 0.000 0.042 2751 2114 1771

17030 1.10 272.2 373.4 9.8 820 17031 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2117 1771

17340 1.10 272.2 344.3 9.1 835 17341 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2117 1771

17649 1.10 272.2 315.4 9.5 850 17650 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2117 1771

17958 1.10 272.2 284.8 10.1 865 17962 0.00 2.65 0.00 0.000 4 0.000 0.063 2751 687 1771

18019 1.10 272.2 278.3 11.2 868 18023 0.00 2.47 0.00 0.000 6 0.000 0.041 2751 2103 1771

18344 1.10 272.2 246.4 9.7 884 18345 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2106 1772

18653 1.10 272.2 217.9 8.8 899 18654 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2106 1772

18963 1.10 272.2 190.4 8.4 914 18967 0.00 2.62 0.00 0.000 4 0.000 0.063 2751 686 1772

19011 1.10 272.2 185.9 8.4 916 19016 0.00 2.53 0.00 0.000 6 0.000 0.040 2751 2104 1772

19332 1.10 272.2 159.5 8.1 932 19333 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2106 1772

19642 1.10 272.2 135.2 7.6 947 19643 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2106 1772

19951 1.10 272.2 110.7 7.9 962 19955 0.00 2.62 0.00 0.000 4 0.000 0.061 2751 683 1773

20012 1.10 272.2 105.5 8.0 965 20016 0.00 2.50 0.00 0.000 6 0.000 0.040 2752 2106 1773

20339 1.10 272.2 79.5 7.9 981 20340 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2109 1773

20648 1.10 272.2 54.1 8.1 996 20652 0.00 2.62 0.00 0.000 4 0.000 0.061 2751 687 1773

20702 1.10 272.2 49.3 8.6 998 20709 0.00 2.47 0.00 0.000 6 0.000 0.039 2751 2095 1773

21018 1.10 272.2 23.8 8.0 1014 21019 0.00 0.00 0.00 0.000 6 0.000 0.000 2751 2099 1773

21327 1.30 435.7 3.8 1.1 1029 21423 0.12 2.67 88.07 0.775 4 0.067 0.059 2784 692 1101

21434 1.57 652.6 3.6 -0.5 1034 21502 0.25 2.47 62.08 0.736 6 0.053 0.038 2842 2105 603

21651 end climb: NO_VERTICAL_VELOCITY

state 21652 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	157	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-79111.977	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	230938,6228.557,-1127.109,26,1.5,26,-10.9	TGT_NAME	FW
_CALLS	3	TGT_LATLONG	6230.000,-1140.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,-0.110
_SM_DEPTHo	4.36	KALMAN_X	206125.7,-691.5,-15249.5,-346246.5,89744.1
_SM_ANGLEo	-55.0	KALMAN_Y	135068.4,-541.8,-12502.6,-19241.6,65618.5
GPS2	232333,6228.616,-1126.995,12,1.9,12,-10.9	MHEAD_RNG_PITCHd_Wd	249.0,11413,-10.7,-6.000
SPEED_LIMITS	0.104,0.209	D_GRID	990

SM_CCo	22073,0.00,0.000,0,0,603,558.30	ALTIM_BOTTOM_PING	751.0,68.4
SM_GC	4.74,12.20,0.00,0.00,0.033,0.000,0.000,31,1884,603,-11.27,-0.45,558.30	_24V_AH	23.3,37.370
IRIDIUM_FIX	6202.67,-1123.15,151207,030334	_10V_AH	10.1,17.402
TT8_MAMPS	0.026845	DATA_FILE_SIZE	53739,1045
HUMID	2049	CFSIZE	260165632,248905728
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
TCM_TEMP	16.70	GPS	151207,053332,6224.018,-1132.395,37,1.7,37,-10.9
XPDR_PINGS	7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	108	65.66	SBE_CT	769	24	430.47
Roll_motor	134	77	242.05	SBE_O2	705	19	312.18
VBD_pump_during_apogee	503	1347	15808.09	WL_BB2F	637	105	1558.49
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	115	103	276.03	nil	0	0	0.00
Iridium_during_connect	160	160	599.46	nil	0	0	0.00
Iridium_during_xfer	326	223	1696.66
Transponder_ping	8	420	80.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.18
TT8	1874	19	374.93
LPSleep	17210	2	380.68
TT8_Active	674	19	134.84
TT8_Sampling	2341	39	941.13
TT8_CF8	806	45	372.94
TT8_Kalman	33	81	27.57
Analog_circuits	1850	12	224.31
GPS_charging	0	0	0.00
Compass	2299	8	185.78
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	-21.83	0.000	2	0.000	0.000	28	1884	1117
46	-0.95	-146.6	4.3	-0.0	1	217	11.23	2.58	-153.85	0.000	4	0.109	0.075	2285	495	3475
469	-0.95	-146.6	22.9	-8.6	20	476	0.00	2.47	0.00	0.000	6	0.000	0.040	2286	1898	3475
785	-0.95	-146.6	49.7	-8.7	36	789	0.00	2.53	0.00	0.000	4	0.000	0.049	2286	3294	3475
1042	-0.95	-146.6	69.4	-7.0	47	1049	0.00	2.53	0.00	0.000	6	0.000	0.044	2285	1905	3475
1360	-0.95	-146.6	91.0	-7.4	63	1364	0.00	2.53	0.00	0.000	4	0.000	0.047	2286	3304	3475
1481	-0.95	-146.6	100.7	-8.7	68	1488	0.00	2.55	0.00	0.000	6	0.000	0.043	2285	1897	3475
1798	-0.95	-146.6	129.5	-8.8	84	1800	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
2106	-0.95	-146.6	154.6	-8.4	99	2107	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
2415	-0.95	-146.6	179.1	-7.7	114	2419	0.00	2.53	0.00	0.000	4	0.000	0.048	2286	3297	3475
2476	-0.95	-146.6	183.7	-7.8	117	2480	0.00	2.50	0.00	0.000	6	0.000	0.043	2285	1899	3475
2801	-0.95	-146.6	209.3	-8.1	133	2802	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
3110	-0.95	-146.6	233.1	-7.6	148	3111	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
3420	-0.95	-146.6	254.6	-6.6	163	3421	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3475
3729	-0.95	-146.6	274.0	-6.5	178	3733	0.00	2.53	0.00	0.000	4	0.000	0.048	2285	3300	3475
3812	-0.95	-146.6	279.4	-6.4	182	3817	0.00	2.53	0.00	0.000	6	0.000	0.045	2285	1897	3475
4138	-0.95	-146.6	302.5	-7.4	198	4139	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
4448	-0.95	-146.6	325.1	-7.2	213	4449	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	1897	3475
4756	-0.95	-146.6	346.4	-6.7	228	4761	0.00	2.55	0.00	0.000	4	0.000	0.049	2285	3304	3475
4834	-0.95	-146.6	351.9	-7.3	231	4840	0.00	2.53	0.00	0.000	6	0.000	0.044	2286	1896	3475
5150	-0.95	-146.6	375.7	-8.0	247	5151	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1897	3475
5461	-0.95	-146.6	400.1	-8.0	262	5465	0.00	2.53	0.00	0.000	4	0.000	0.050	2285	3295	3475
5577	-0.95	-146.6	409.6	-7.8	267	5582	0.00	2.50	0.00	0.000	6	0.000	0.047	2285	1902	3475
5898	-0.95	-146.6	433.3	-7.2	283	5899	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3475
6207	-0.95	-146.6	456.0	-8.0	298	6212	0.00	2.53	0.00	0.000	4	0.000	0.051	2285	3295	3475
6285	-0.95	-146.6	462.3	-7.8	301	6291	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1894	3475
6600	-0.95	-146.6	484.2	-7.8	317	6601	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1890	3474
6909	-0.95	-146.6	505.9	-6.9	332	6914	0.00	2.55	0.00	0.000	4	0.000	0.052	2285	3298	3474
6975	-0.95	-146.6	510.6	-7.8	335	6980	0.00	2.55	0.00	0.000	6	0.000	0.048	2285	1899	3474
7302	-0.95	-146.6	534.1	-7.8	351	7303	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1899	3474
7612	-0.95	-146.6	556.5	-6.9	366	7616	0.00	2.53	0.00	0.000	4	0.000	0.053	2285	3295	3474
7683	-0.95	-146.6	561.6	-6.7	369	7687	0.00	2.53	0.00	0.000	6	0.000	0.047	2285	1905	3474
8004	-0.95	-146.6	585.1	-7.7	385	8005	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3474
8313	-0.95	-146.6	606.1	-6.3	400	8314	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1905	3474
8622	-0.95	-146.6	626.4	-7.0	415	8626	0.00	2.55	0.00	0.000	4	0.000	0.056	2285	3298	3474
8728	-0.95	-146.6	633.6	-6.6	420	8733	0.00	2.55	0.00	0.000	6	0.000	0.050	2285	1894	3474
9055	-0.95	-146.6	652.5	-6.4	436	9059	0.00	2.58	0.00	0.000	4	0.000	0.058	2285	3300	3474
9171	-0.95	-146.6	661.0	-7.2	441	9175	0.00	2.58	0.00	0.000	6	0.000	0.051	2285	1899	3474
9492	-0.95	-146.6	687.2	-8.5	457	9496	0.00	2.58	0.00	0.000	4	0.000	0.058	2285	3300	3474
9591	-0.95	-146.6	695.5	-8.6	461	9598	0.00	2.58	0.00	0.000	6	0.000	0.052	2285	1903	3474
9907	-0.95	-146.6	714.8	-5.5	477	9908	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1903	3474
10216	-0.95	-146.6	732.0	-5.5	492	10220	0.00	2.58	0.00	0.000	4	0.000	0.061	2285	3293	3474
10327	-0.95	-146.6	738.8	-6.0	497	10331	0.00	2.55	0.00	0.000	6	0.000	0.054	2285	1895	3474
10654	-0.95	-146.6	758.7	-6.3	513	10658	0.00	2.60	0.00	0.000	4	0.000	0.064	2285	3295	3474
10726	-0.95	-146.6	763.4	-6.8	516	10731	0.00	2.55	0.00	0.000	6	0.000	0.056	2285	1902	3474
11041	-0.95	-146.6	782.7	-6.4	531	11042	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3473
11351	-0.95	-146.6	800.4	-6.5	546	11352	0.00	0.00	0.00	0.000	6	0.000	0.000	2285	1902	3472
11493	end dive: BOTTOM_OBSTACLE_DETECTED
state	11493	begin apogee
11498	-0.36	0.0	810.5	5.9	553	11625	0.62	0.00	124.35	1.348	6	0.072	0.000	2421	2088	2878
11626	end apogee: CONTROL_FINISHED_OK
state	11626	begin climb
11628	0.95	146.6	815.3	0.0	559	11761	1.30	2.80	123.45	1.305	4	0.058	0.077	2703	679	2280
11932	1.00	186.8	807.6	4.8	573	11972	0.00	2.62	34.55	1.304	6	0.000	0.057	2703	2096	2116
12282	1.00	186.8	782.5	7.1	590	12284	0.00	0.00	0.00	0.000	6	0.000	0.000	2703	2096	2116
12591	1.00	186.8	763.3	6.6	605	12595	0.00	2.65	0.00	0.000	4	0.000	0.071	2703	3509	2114
12651	1.00	186.8	758.7	8.9	608	12656	0.00	2.62	0.00	0.000	6	0.000	0.061	2703	2103	2113
12977	1.00	186.8	735.2	6.8	624	12982	0.00	2.65	0.00	0.000	4	0.000	0.067	2703	3506	2112
13061	1.10	272.2	731.0	3.5	628	13139	0.15	2.62	70.95	1.322	6	0.045	0.059	2751	2092	1768
13447	1.10	272.2	699.5	11.3	646	13448	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2092	1767
13756	1.10	272.2	670.2	8.4	661	13761	0.00	2.62	0.00	0.000	4	0.000	0.060	2751	3511	1766
13788	1.10	272.2	667.2	8.4	662	13795	0.00	2.60	0.00	0.000	6	0.000	0.053	2752	2087	1767
14104	1.10	272.2	639.6	8.5	678	14105	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2087	1766
14413	1.10	272.2	614.8	8.3	693	14417	0.00	2.60	0.00	0.000	4	0.000	0.056	2751	3512	1766
14478	1.10	272.2	608.6	9.1	696	14483	0.00	2.58	0.00	0.000	6	0.000	0.048	2751	2090	1767
14805	1.10	272.2	579.8	8.7	712	14806	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2091	1767
15114	1.10	272.2	552.4	8.9	727	15115	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2090	1767
15423	1.10	272.2	524.3	8.9	742	15425	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2090	1768
15733	1.10	272.2	495.8	9.3	757	15734	0.00	0.00	0.00	0.000	6	0.000	0.000	2752	2090	1768
16042	1.10	272.2	466.9	9.5	772	16043	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2090	1769
16351	1.10	272.2	437.3	9.6	787	16352	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2091	1770
16661	1.10	272.2	408.6	9.0	802	16665	0.00	2.60	0.00	0.000	4	0.000	0.068	2751	688	1771
16709	1.10	272.2	403.8	10.4	804	16714	0.00	2.53	0.00	0.000	6	0.000	0.042	2751	2114	1771
17030	1.10	272.2	373.4	9.8	820	17031	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2117	1771
17340	1.10	272.2	344.3	9.1	835	17341	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2117	1771
17649	1.10	272.2	315.4	9.5	850	17650	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2117	1771
17958	1.10	272.2	284.8	10.1	865	17962	0.00	2.65	0.00	0.000	4	0.000	0.063	2751	687	1771
18019	1.10	272.2	278.3	11.2	868	18023	0.00	2.47	0.00	0.000	6	0.000	0.041	2751	2103	1771
18344	1.10	272.2	246.4	9.7	884	18345	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2106	1772
18653	1.10	272.2	217.9	8.8	899	18654	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2106	1772
18963	1.10	272.2	190.4	8.4	914	18967	0.00	2.62	0.00	0.000	4	0.000	0.063	2751	686	1772
19011	1.10	272.2	185.9	8.4	916	19016	0.00	2.53	0.00	0.000	6	0.000	0.040	2751	2104	1772
19332	1.10	272.2	159.5	8.1	932	19333	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2106	1772
19642	1.10	272.2	135.2	7.6	947	19643	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2106	1772
19951	1.10	272.2	110.7	7.9	962	19955	0.00	2.62	0.00	0.000	4	0.000	0.061	2751	683	1773
20012	1.10	272.2	105.5	8.0	965	20016	0.00	2.50	0.00	0.000	6	0.000	0.040	2752	2106	1773
20339	1.10	272.2	79.5	7.9	981	20340	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2109	1773
20648	1.10	272.2	54.1	8.1	996	20652	0.00	2.62	0.00	0.000	4	0.000	0.061	2751	687	1773
20702	1.10	272.2	49.3	8.6	998	20709	0.00	2.47	0.00	0.000	6	0.000	0.039	2751	2095	1773
21018	1.10	272.2	23.8	8.0	1014	21019	0.00	0.00	0.00	0.000	6	0.000	0.000	2751	2099	1773
21327	1.30	435.7	3.8	1.1	1029	21423	0.12	2.67	88.07	0.775	4	0.067	0.059	2784	692	1101
21434	1.57	652.6	3.6	-0.5	1034	21502	0.25	2.47	62.08	0.736	6	0.053	0.038	2842	2105	603
21651	end climb: NO_VERTICAL_VELOCITY
state	21652	begin surface